Photo-thermal hemostasis puncture control device and method

Abstract

The invention discloses a photo-thermal hemostasis puncture control device and method, and relates to the technical field of medical instruments, and the device comprises a hemostasis assembly, a control terminal, a puncture needle, a laser, a mechanical arm and a position acquisition module; acquiring to-be-detected data through a position acquisition module, and transmitting the to-be-detected data to a control terminal; the mechanical arm is controlled to drive the puncture needle and the hemostasis assembly to move in the puncture channel, whether the laser works or not is controlled, and laser generated by the laser is transmitted to the site to be subjected to hemostasis through the hemostasis assembly and the puncture channel. The method comprises the steps that a CT image in the puncture operation process is obtained through the position obtaining module; the hemostasis assembly is fed into the body through the puncture needle; starting a hemostasis assembly, controlling a laser to work, and heating for hemostasis; the mechanical arm drives the hemostasis assembly and the puncture needle to do in-vitro movement in the opposite direction of puncture; and ending the puncture hemostasis process. By adopting the mechanical arm, the working efficiency of photo-thermal hemostasis after the puncture operation and the control precision can be improved, and the risk of complications such as pneumothorax is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a photothermal hemostasis puncture control device and method. Background Art

[0002] Traditional photothermal therapy equipment mainly relies on the absorption of laser by tissues to convert light energy into heat energy to denature blood vessels at the wound surface to achieve the purpose of hemostasis. For example, the Chinese invention patent with publication number CN115804642A discloses an implantable hemostatic device for puncture surgery, which achieves hemostasis at the puncture wound site through the photothermal effect. When this implantable hemostatic device is used to stop bleeding at the puncture wound of percutaneous lung puncture biopsy, the operator needs to control whether the photothermal hemostatic device works according to the position of the puncture needle during use to avoid the photothermal hemostatic device from working when passing through the pleural cavity and outside the parietal pleura. However, if the operation is improper, the photothermal hemostatic device working at the pleura and outside the parietal pleura will cause the denaturation of pleural tissue proteins, which will expand the area of ​​the pleural wound caused by the puncture, thereby increasing the possibility of gas entering the pleural cavity and causing pneumothorax.

[0003] For another example, the Chinese invention patent with publication number CN118806420A discloses a puncture low-radiation photothermal hemostasis device based on closed-loop control feedback, whose structure includes a laser, an optical fiber, a photothermal conversion module, a temperature acquisition module, a state controller, a control module, a display, etc. The structure adjusts the laser output intensity in real time through closed-loop control, so that the puncture wound site can quickly reach the target temperature of protein denaturation under low radiation, avoiding the harm to the human body caused by the lack of work experience of the physician, achieving the purpose of rapid hemostasis, and having the characteristics of low radiation. However, it is impossible to control the puncture distance more accurately during the operation, so there is still the possibility that the pleural wound area caused by the puncture will be enlarged due to improper operation, thereby increasing the possibility of gas entering the pleural cavity and causing pneumothorax.

[0004] Among them, pneumothorax refers to the accumulation of air in the pleural cavity. According to the different characteristics of pleural injury, pneumothorax can generally be divided into three categories: closed pneumothorax, open pneumothorax and tension pneumothorax. Closed pneumothorax is less harmful. It may be asymptomatic in mild cases, but there may be obvious breathing difficulties in severe cases. Open pneumothorax can cause mediastinal flutter and displacement, affecting the venous caval return blood flow, and then cause severe circulatory dysfunction, which may be life-threatening in severe cases. Tension pneumothorax is a critical and severe disease that can quickly lead to death.

[0005] For patients with closed pneumothorax with a small amount of air accumulation, no special treatment is usually required, and the air accumulated in the chest cavity can usually be absorbed by itself within 1-2 weeks. For the first aid of open pneumothorax, it is necessary to cover the suction wound before the patient exhales forcefully, and apply pressure bandage. Convert open pneumothorax to closed pneumothorax; subsequent treatment can be pleural puncture, or closed chest drainage, to remove the accumulated air and promote lung expansion as soon as possible. The first aid of tension pneumothorax requires rapid use of a thick needle to puncture the pleural cavity to decompress it, and an external one-way valve device; further treatment should be placed in a closed chest drainage to promote lung expansion.

[0006] For the existing puncture photothermal hemostasis equipment, in addition to the possibility of causing pneumothorax in patients, on the other hand, if the operator is too cautious and turns off the photothermal hemostasis equipment in advance at a position far away from the pleura, it will affect the hemostasis effect of the equipment. Therefore, it is necessary to design a method and device structure that can intelligently control the photothermal hemostasis equipment to solve the existing problems. Summary of the invention

[0007] In view of the problems existing in the prior art, the present invention provides a photothermal hemostasis puncture control device and method.

[0008] To achieve the above purpose, the technical solution adopted by the present invention is as follows:

[0009] A photothermal hemostasis puncture control device comprises a hemostasis component, a control terminal, a puncture needle, a laser, a mechanical arm and a position acquisition module; the data of a human body to be tested is acquired through the position acquisition module, and the acquired data is transmitted to the control terminal; wherein the mechanical arm is connected to the puncture needle, the hemostasis component is inserted into the needle sheath of the puncture needle, the control terminal controls the mechanical arm to drive the puncture needle and the hemostasis component to move in the puncture channel, the control terminal can control whether the laser is working, and the laser generated by the laser is transmitted through the hemostasis component into the puncture channel to the site to be hemostatic.

[0010] Based on the above technical solution, further, the hemostasis component includes an optical fiber, a photothermal conversion module and a temperature acquisition module. The photothermal conversion module is connected to the head of the optical fiber, and the temperature acquisition module is connected to the photothermal conversion module. The temperature acquisition module is used to monitor and collect the temperature of the photothermal conversion module in real time, and transmit the temperature data to the control terminal.

[0011] Based on the above technical solution, further, the photothermal conversion module is inserted along the needle sheath of the puncture needle, and the photothermal conversion module is exposed from the tip of the puncture needle by a length of ΔXmm.

[0012] Based on the above technical solution, further, the optical fiber is connected and fixed to the puncture needle, the mechanical arm is fixedly connected to the end of the puncture needle, and the movement of the mechanical arm drives the puncture needle and the hemostasis component to move.

[0013] Based on the above technical solution, further, the control terminal includes a display, a laser control module and a robotic arm control module, the laser control module is used to control the laser; the robotic arm control module is used to control the movement of the robotic arm; the display is respectively communicated with the temperature acquisition module, the position acquisition module, the robotic arm control module, and the laser control module, and the display is used to display real-time temperature information, position information, robotic arm movement status information, and laser working status information.

[0014] Based on the above technical solution, further, an image processing module is also provided inside the control terminal, the image processing module includes an image segmentation unit and a distance calculation unit, and the image processing module is used to process the image data acquired by the position acquisition module.

[0015] Based on the above technical solution, further, the position acquisition module is a CT imaging device. Through the CT imaging device, when the hemostasis component is located at the initial position, CT imaging of the puncture target is performed to obtain a corresponding CT image, and the obtained CT image data is communicated to the image processing module for processing.

[0016] Based on the above technical solution, further, the image segmentation unit adopts a threshold segmentation method to segment the CT image into lung area, puncture needle area and other areas by setting the segmentation threshold HU1 and the segmentation threshold HU2, wherein the edge of the lung area is the pleura; the distance calculation module is used to calculate the distance between the photothermal conversion module and the pleura.

[0017] Based on the above technical solution, further, the photothermal hemostasis puncture control device also includes a preoperative CT imaging device, the position acquisition module adopts an electromagnetic navigation imaging device or a binocular vision imaging device or a C-arm X-ray imaging device, and the image processing module also includes an image registration unit, and the image registration unit performs image registration processing on the position acquisition module and the preoperative CT imaging device.

[0018] A photothermal hemostasis puncture control method uses a photothermal hemostasis puncture control device, including the following steps: step S1, perform CT imaging operation through a position acquisition module to obtain sample data; step S2, send the hemostasis component into the body through a puncture needle; step S3, start the hemostasis component, control the laser to start working at the initial position, and perform photothermal hemostasis operation on the hemostasis site; when the control terminal monitors that the returned temperature is higher than the set temperature value T1°C, control the temperature to be between the set temperature value T1-T2°C through the control terminal, maintain the set value ts, and the machine The mechanical arm drives the puncture needle and the hemostasis component to move ΔXmm outside the body; at this time, observe whether the hemostasis component moves to the end position; when it moves to the end position, stop moving; otherwise, loop step S3 until the hemostasis component moves to a threshold distance X0mm away from the pleura; then control the laser and the mechanical arm to stop working; step S4, when the temperature acquisition module collects a temperature lower than the set temperature value T3℃, the mechanical arm drives the hemostasis component and the puncture needle to continue to move out of the body at a uniform speed in the opposite direction of puncture; after leaving the body, the puncture hemostasis process ends; wherein, T2>T1>T3.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] (1) The control method and control system of the present invention utilize temperature information and the position information of the photothermal conversion module during the operation to perform real-time control on whether the photothermal hemostasis device is working and the movement of the mechanical arm during the hemostasis component and the puncture needle removal process. When applied to wound hemostasis during percutaneous lung puncture biopsy, a more automated mechanical arm control method is used to improve work efficiency and control accuracy. Compared with traditional manual operation, it can greatly reduce the possibility of pneumothorax caused by improper operation of the photothermal hemostasis device.

[0021] (2) The preoperative and intraoperative CT image information used in the present invention can be used for puncture navigation at the same time, achieving the control of the photothermal hemostasis range without significantly increasing the complexity of the system. Compared with the existing mechanism, the present invention adds a puncture photothermal hemostasis structure and a motion control structure during the puncture needle leaving the body, as well as the control of whether the laser is working during the motion, which optimizes the control effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the overall structure of the control device of the present invention;

[0023] Figure 2 It is a schematic diagram of the connection of each module of the control device of the present invention;

[0024] Figure 3 It is a schematic diagram of the motion control state of the control device of the present invention;

[0025] Figure 4It is a structural schematic diagram of a position acquisition module in the control device of the present invention;

[0026] Figure 5 is a flow chart of the control method of the present invention;

[0027] Figure numerals: 1. hemostasis component; 11. optical fiber; 12. photothermal conversion module; 13. temperature acquisition module; 2. puncture needle; 3. laser; 4. position acquisition module; 5. robotic arm; 6. control terminal. DETAILED DESCRIPTION

[0028] The present invention is further described and illustrated below in conjunction with the accompanying drawings and specific embodiments. The technical features of each embodiment of the present invention can be combined accordingly without conflicting with each other.

[0029] In order to make the above-mentioned purpose, features and advantages of the present invention more obvious and easy to understand, the specific implementation mode of the present invention is described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below. The technical features in each embodiment of the present invention can be combined accordingly without conflicting with each other.

[0030] In the description of the present invention, it is to be understood that when an element is considered to be "connected" to another element, it may be directly connected to the other element or indirectly connected, i.e., there are intermediate elements. Conversely, when an element is said to be "directly" connected to another element, there are no intermediate elements. In addition, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, device or unit, which may be electrical, mechanical or other forms.

[0031] For the convenience and simplicity of description, only the division of each functional unit and module is used as an example. In actual application, the function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device is divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated into a processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit, and the integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other and are not used to limit the scope of protection.

[0032] Example 1

[0033] Combination Figure 1-Figure 4 As shown, this embodiment provides a photothermal hemostasis puncture control device, which can not only be used for lung puncture hemostasis, but also for reducing the occurrence of postoperative pneumothorax; it can also be used for puncture surgery in other parts to ensure the hemostasis effect and avoid the photothermal hemostasis module from damaging key human structures such as nerves and arteries. The specific structure includes a hemostasis component 1, a control terminal 6, a puncture needle 2, a laser 3, a mechanical arm 5 and a position acquisition module 4; the position information of the hemostasis component is obtained by the position acquisition module 4, and the obtained data is transmitted to the control terminal 6, the mechanical arm 5 is connected to the puncture needle 2, the hemostasis component 1 is inserted into the needle sheath of the puncture needle 2, and the control terminal 6 controls the mechanical arm 5 to drive the puncture needle 2 and the hemostasis component 1 to move in the puncture channel, and controls whether the laser is working. And the laser generated by the laser 3 is transmitted through the hemostasis component 1 to the puncture target point. It should be noted that the puncture target point refers to the part to be punctured for hemostasis.

[0034] In this embodiment, the hemostasis component 1 includes an optical fiber 11, a light-to-heat conversion module 12 and a temperature acquisition module 13. The light-to-heat conversion module 12 is connected to the head of the optical fiber 11, and the temperature acquisition module 13 is connected to the light-to-heat conversion module 12. The connection mode can be wired or wireless to achieve information transmission. The temperature acquisition module 13 is used to monitor and collect the temperature of the light-to-heat conversion module 12 in real time, and communicate the temperature data to the control terminal 6. It should be noted that the temperature acquisition module 13 can select a temperature sensor.

[0035] In this embodiment, the photothermal conversion module 12 is inserted along the needle sheath of the puncture needle 2, so that the photothermal conversion module 12 is exposed from the needle tip of the puncture needle 2 by a length of ΔXmm. It should be noted that the ΔXmm can be set according to actual conditions. Among them, the optical fiber 11 penetrates the needle sheath of the puncture needle 2 and is connected to the end of the puncture needle 2. The mechanical arm 5 is fixedly connected to the end of the puncture needle 2. The movement of the mechanical arm 5 can drive the puncture needle 2 and the hemostasis component 1 to move. Among them, the specific movement process should be: the mechanical arm 5 drives the assembly formed by the puncture needle 2, the optical fiber 11, the photothermal conversion module 12 and the temperature collection module 13 to move, the photothermal conversion module 12 is attached to the head of the optical fiber 11 and connected thereto, and the temperature collection module 13 is attached to the photothermal conversion module 12 and connected thereto. The connection between the puncture needle 2 and the optical fiber 11 is to control the puncture needle 2 and the optical fiber 11 to move out of the body together in the subsequent photothermal hemostasis process.

[0036] In this embodiment, the control terminal 6 can be a computer, which includes a display, a laser control module and a mechanical arm control module, wherein the laser control module is used to control the laser 3; the mechanical arm control module is used to control the movement of the mechanical arm 5; and the display can be used to display all data. Specifically, the display is respectively connected to the temperature acquisition module 13, the position acquisition module 4, the mechanical arm control module, and the laser control module for displaying real-time temperature information, position information, mechanical arm 5 movement status information, and laser 3 working status information.

[0037] In this embodiment, the position acquisition module 4 is used to obtain the initial position of the hemostatic device and its position at several moments during its movement. In some embodiments, the position acquisition module 4 is a CT imaging device, and the control terminal 6 is also provided with an image processing module. Through the CT imaging device, when the hemostatic component 1 is located at the initial position, the puncture target point can be imaged by CT to obtain the corresponding CT image, and the obtained CT image data is transmitted to the image processing module in the control terminal 6 for processing. Specifically, the image processing module includes an image segmentation unit and a distance calculation unit, wherein, since the CT value of the lung is between -900HU and -650HU, the CT value of the soft tissue is between 20HU and 70HU, and the CT value of the bone is about 1000HU; the puncture needle 2 is generally made of stainless steel, and its CT value is 10000HU. Since the CT values ​​of the lung and the puncture needle 2 are greatly different from those of the rest of the tissues, the image segmentation unit adopts a threshold segmentation method, and the CT image can be segmented into a lung area, a puncture needle 2 area, and other areas by setting the segmentation threshold HU1 and the segmentation threshold HU2, wherein the edge of the lung area is the pleura. The distance calculation module is used to calculate the distance between the photothermal conversion module 12 and the pleura. Specifically, the central pixel A of the intersection area of ​​the puncture needle 2 and the pleura is first obtained, and the pixel B farthest from the pixel A is calculated by traversing all pixels in the puncture needle 2 area, and then the distance X1 between the pixel A and the pixel B is calculated. X1 is added to the exposed length ΔX of the needle tip of the photothermal conversion module 12 at the puncture needle 2 to obtain the distance between the photothermal conversion module 12 and the pleura.

[0038] In this embodiment, the temperature acquisition module 13 and the position acquisition module 4 communicate the acquired data to the control terminal 6, and the mechanical arm control module in the control terminal 6 sends control instructions to the movement of the mechanical arm 5 to perform corresponding control. Using the signals of the temperature acquisition module 13 and the position acquisition module 4, the laser control module can control in real time whether the laser 3 is working.

[0039] Specifically, at the initial position, the laser control module controls the laser 3 to start working, and uses the photothermal conversion module 12 to stop bleeding of the surrounding tissue. When the temperature returned by the temperature acquisition module 13 is higher than the set temperature value T1°C, the laser control module controls the temperature to be between T1°C-T2°C, and maintains ts. It should be noted that T1°C, T2°C, and t are all set values, and T2°C is greater than T1°C. At this time, observe whether the photothermal conversion module 12 moves to the end position; when it moves to the end position, it stops moving; otherwise, it cycles, that is, the robot arm control module controls the robot arm 5 again to drive the puncture needle 2 and the hemostasis component 1 to move at a uniform speed of ΔXmm and then stop, using the light The heat conversion module 12 stops bleeding of the surrounding tissues. When the temperature returned by the temperature acquisition module 13 is higher than T1°C, the laser control module controls the temperature to be between T1°C and T2°C, and maintains ts. The mechanical arm control module controls the mechanical arm 5 to drive the puncture needle 2 and the hemostasis component 1 to move at a constant speed of ΔXmm and then stop; this cycle is repeated until the photothermal conversion module 12 moves to the end position, wherein, during the cycle, when reaching the new position, the temperature collected by the temperature acquisition module 13 is lower than T1°C, and the timing ts is started after the temperature reaches T1. It should be further explained that the end position refers to the position when the distance between the photothermal conversion module 12 and the pleura is the threshold distance X0, at which time, the laser control module controls the laser 3 to stop working. When the temperature signal output by the temperature acquisition module 13 is less than the threshold temperature T3°C, the mechanical arm control module controls the mechanical arm 5 to move at a constant speed, driving the puncture needle 2 and the hemostasis component 1 out of the body.

[0040] Example 2

[0041] Different from Example 1, the position acquisition module 4 can adopt an intraoperative real-time electromagnetic navigation imaging device or a binocular vision imaging device or a C-arm X-ray imaging device, that is, the CT imaging device in Example 1 is replaced, and the image processing module composed of the image segmentation unit and the distance calculation unit is replaced by an image processing module composed of an image registration unit, an image segmentation unit and a distance calculation unit.

[0042] In this embodiment, it is necessary to add a preoperative CT imaging device, wherein the image registration unit is used to realize the image registration of the intraoperative real-time electromagnetic navigation / binocular vision / C-arm X-ray imaging device and the preoperative CT imaging device.

[0043] It should be noted that, except for the replacement scheme, other schemes and principles are exactly the same as those described in Example 1. No further details will be given here.

[0044] Example 3

[0045] Different from Example 1 and Example 2, electromagnetic navigation imaging equipment, binocular vision imaging equipment, C-arm X-ray imaging equipment, or CT imaging equipment are not used to obtain a three-dimensional image of the puncture site during the operation, but cone beam computed tomography (CBCT) technology, ultrasound imaging technology, positron emission computed tomography (PET), or a combination of several modalities thereof are used to obtain the puncture site image. It should be noted that, except for the replacement scheme, the other schemes and principles are exactly the same as those described in Example 1. No further elaboration is made here.

[0046] Example 4

[0047] Combination Figure 5 As shown, based on the structure of the control device in Example 1 to Example 3, this embodiment also provides a photothermal hemostasis puncture control method, including the following steps:

[0048] Step S1: Perform chest CT imaging on the patient before lung puncture, perform percutaneous lung puncture biopsy under CT navigation, and take out the human tissue sample to be tested.

[0049] Step S2, insert the optical fiber 11 and the photothermal conversion module 12 into the body through the needle sheath of the puncture needle 2, so that the photothermal conversion module 12 is located at the head of the puncture track. Connect the optical fiber 11 to the puncture needle 2, and fix the puncture needle 2 to the front end of the robotic arm 5. Perform intraoperative CT imaging operation, and the image processing unit processes the CT image. Calculate the distance X of the photothermal conversion module 12 from the pleura along the puncture direction. If the photothermal conversion module 12 is required to stop working when the distance from the pleura is X0, the distance X1 for the photothermal conversion module 12 to perform hemostasis is X-X0, in mm.

[0050] Step S3, start the hemostasis component 1. When it is in the initial position, the laser control module controls the laser 3 to start working, and the photothermal conversion module 12 heats the wound surface to stop bleeding. When the temperature returned by the temperature acquisition module 13 is higher than the set temperature value T1°C, the laser control module controls the temperature to be between T1°C and T2°C, and maintains ts. It should be noted that T1°C, T2°C, and t are all set values, and T2°C is greater than T1°C. At this time, observe whether the photothermal conversion module 12 moves to the end position; when it moves to the end position, it stops moving; otherwise, it cycles, that is, the mechanical arm control module controls the mechanical arm 5 to drive the puncture needle 2 and the hemostasis component 1 to move at a uniform speed of ΔXmm and then stop, and the photothermal conversion module 12 is used to stop bleeding of the surrounding tissue. When the temperature returned by the temperature acquisition module 13 is higher than T1°C, the laser control module controls the temperature to be between T1°C and T2°C, and maintains ts. The mechanical arm control module controls the mechanical arm 5 to drive the puncture needle 2 and the hemostasis component 1 to move at a uniform speed of ΔXmm and then stop. This cycle is repeated until the light-to-heat conversion module 12 moves to a distance from the pleura that is a threshold distance X0 mm. The laser control module controls the laser 3 to stop working. The robot control module controls the robot 5 to stop moving.

[0051] Step S4: When the temperature acquisition module 13 acquires a temperature lower than T3°C, the mechanical arm 5 drives the photothermal conversion module 12 and the puncture needle 2 to continue to move out of the body at a uniform speed in the opposite direction of the puncture. After leaving the body, the puncture hemostasis process ends. Among them, T3°C is the set temperature value, and T2>T1>T3 is satisfied.

[0052] Finally, it should be noted that the above content is only used to illustrate the technical solution of the present invention, rather than to limit the scope of protection of the present invention. Simple modifications or equivalent substitutions of the technical solution of the present invention by ordinary technicians in this field do not deviate from the essence and scope of the technical solution of the present invention.

Claims

1. A photothermal hemostasis puncture control device, characterized in that: It includes a hemostasis component, a control terminal, a puncture needle, a laser, a mechanical arm and a position acquisition module; the position data of the hemostasis module is acquired through the position acquisition module, and the acquired data is transmitted to the control terminal; wherein the mechanical arm is connected to the puncture needle, the hemostasis component is inserted into the needle sheath of the puncture needle, the control terminal controls the mechanical arm to drive the puncture needle and the hemostasis component to move in the puncture channel, the control terminal controls whether the laser is working, and the laser generated by the laser passes through the hemostasis component through the puncture channel to the site to be hemostatic.

2. A photothermal hemostasis puncture control device according to claim 1, characterized in that: The hemostasis component includes an optical fiber, a photothermal conversion module and a temperature acquisition module. The photothermal conversion module is connected to the head of the optical fiber, and the temperature acquisition module is connected to the photothermal conversion module. The temperature acquisition module is used to monitor and collect the temperature of the photothermal conversion module in real time, and transmit the temperature data to the control terminal.

3. A photothermal hemostasis puncture control device according to claim 2, characterized in that: The photothermal conversion module is inserted along the needle sheath of the puncture needle, and the photothermal conversion module is exposed from the needle tip of the puncture needle by a length of ΔXmm.

4. A photothermal hemostasis puncture control device according to claim 2, characterized in that: The optical fiber is connected and fixed to the puncture needle, the mechanical arm is fixedly connected to the end of the puncture needle, and the movement of the mechanical arm drives the puncture needle and the hemostasis component to move.

5. The photothermal hemostasis puncture control device according to claim 2, characterized in that: The control terminal includes a display, a laser control module and a robotic arm control module. The laser control module is used to control the laser; the robotic arm control module is used to control the movement of the robotic arm; the display is respectively communicated with the temperature acquisition module, the position acquisition module, the robotic arm control module, and the laser control module, and the display is used to display real-time temperature information, position information, robotic arm movement status information, and laser working status information.

6. The photothermal hemostasis puncture control device according to claim 1, characterized in that: An image processing module is also provided inside the control terminal. The image processing module includes an image segmentation unit and a distance calculation unit. The image processing module is used to process the image data acquired by the position acquisition module.

7. The photothermal hemostasis puncture control device according to claim 6, characterized in that: The position acquisition module is a CT imaging device. When the hemostasis component is located at the initial position, the puncture target point is imaged by CT imaging to obtain a corresponding CT image, and the obtained CT image data is communicated to the image processing module for processing.

8. The photothermal hemostasis puncture control device according to claim 7, characterized in that: The image segmentation unit adopts the threshold segmentation method to segment the CT image into the lung area, the puncture needle area and other areas by setting the segmentation threshold HU1 and the segmentation threshold HU2, wherein the edge of the lung area is the pleura; the distance calculation module is used to calculate the distance between the photothermal conversion module and the pleura.

9. The photothermal hemostasis puncture control device according to claim 6, characterized in that: The photothermal hemostasis puncture control device also includes a preoperative CT imaging device, the position acquisition module uses an electromagnetic navigation imaging device or a binocular vision imaging device or a C-arm X-ray imaging device, and the image processing module also includes an image registration unit, which performs image registration processing on the position acquisition module and the preoperative CT imaging device.

10. A photothermal hemostasis puncture control method, characterized in that: Using a photothermal hemostasis puncture control device according to any one of claims 1 to 9 comprises the following steps: Step S1, performing CT imaging operation through a position acquisition module to obtain sample data; Step S2, delivering the hemostatic component into the body through the puncture needle sheath; Step S3, start the hemostasis component, when it is in the initial position, control the laser to start working, and perform photothermal hemostasis operation on the hemostasis site; when the control terminal detects that the returned temperature is higher than the set temperature value T1°C, the temperature is controlled by the control terminal to be between the set temperature value T1°C-T2°C, and the set value ts is maintained, and the mechanical arm drives the puncture needle and the hemostasis component to move ΔXmm outside the body; at this time, observe whether the hemostasis component moves to the end position; when it moves to the end position, stop moving; otherwise, loop step S3 until the hemostasis component moves to a threshold distance X0mm away from the pleura; then control the laser and the mechanical arm to stop working; Step S4, when the temperature acquisition module collects a temperature lower than the set temperature value T3°C, the robotic arm drives the hemostasis component and the puncture needle to continue to move out of the body at a uniform speed in the opposite direction of the puncture; after leaving the body, the puncture hemostasis process ends; wherein, T2>T1>T3.

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