Photothermally hemostatic puncture control device and method

Abstract

The application discloses a kind of photothermal hemostasis puncture control device and method, it is related to medical instrument technical field, device includes hemostasis component, control terminal, puncture needle, laser, mechanical arm and position acquisition module;Through position acquisition module obtains measured data, and transmits to control terminal;Control mechanical arm drives puncture needle and hemostasis component to move in puncture channel, and control whether laser works, laser is generated by laser through hemostasis component into to the puncture channel to the hemostasis site to be stopped.Behavior method includes obtaining CT image in puncture operation process by position acquisition module;Hemostasis component is sent into body through puncture needle;Start hemostasis component, control laser works, and carry out heating hemostasis;Mechanical arm drives hemostasis component, puncture needle and moves along the puncture reverse direction from body movement;End puncture hemostasis process.The application can improve the working efficiency of photothermal hemostasis after puncture operation and the precision of control by using mechanical arm, reduce the risk of causing pneumothorax and other complications.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, specifically to a photothermal hemostasis puncture control device and method. Background Technology

[0002] Traditional photothermal therapy devices primarily rely on tissue absorption of laser light, converting light energy into heat energy to denature blood vessels at the wound site, thereby achieving hemostasis. For example, Chinese invention patent 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 applied to hemostasis of the puncture wound in percutaneous lung biopsy, the operator needs to control the operation of the photothermal hemostatic device according to the position of the puncture needle to avoid the device working when passing through the pleural cavity or on the outer side of the parietal pleura. However, improper operation can cause protein denaturation in the pleural tissue if the photothermal hemostatic device works at the pleura or on the outer side of the parietal pleura, thus enlarging the pleural wound area caused by the puncture and increasing the possibility of air entering the pleural cavity and causing pneumothorax.

[0003] For example, Chinese invention patent CN118806420A discloses a low-radiation photothermal hemostasis device based on closed-loop control feedback. Its structure includes a laser, optical fiber, photothermal conversion module, temperature acquisition module, status controller, control module, and display. This structure adjusts the laser output intensity in real time through closed-loop control, enabling the puncture site to quickly reach the target temperature for protein denaturation under low radiation, avoiding potential harm to the body due to insufficient physician experience, and achieving rapid hemostasis while also featuring low radiation. However, it cannot precisely control the puncture distance during operation, thus still carries the risk of improper operation leading to an enlarged pleural wound area, increasing the possibility of air entering the pleural cavity and causing pneumothorax.

[0004] Pneumothorax refers to the accumulation of air in the pleural cavity. Based on 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 dangerous; mild cases may be asymptomatic, while severe cases can cause significant respiratory distress. Open pneumothorax can cause mediastinal shift and displacement, affecting venous return to the heart and leading to severe circulatory dysfunction, which can be life-threatening. Tension pneumothorax is a rapidly fatal and critical condition.

[0005] For patients with closed pneumothorax and small amounts of air accumulation, no special treatment is usually required, and the air in the pleural cavity will generally be absorbed spontaneously within 1-2 weeks. For emergency treatment of open pneumothorax, the suction wound should be sealed at the end of the patient's forceful exhalation, and a pressure bandage should be applied. This will convert the open pneumothorax into a closed pneumothorax. Subsequent treatment may involve thoracentesis or closed chest drainage to remove the air and promote early lung expansion. Emergency treatment of tension pneumothorax requires rapid pleural cavity decompression using a large-bore needle, followed by the connection of a one-way valve. Further treatment should include placement of a closed chest drain to promote lung expansion.

[0006] Existing photothermal hemostasis devices have several drawbacks. Firstly, they may cause pneumothorax in patients. Secondly, if operators are overly cautious and prematurely shut off the device at a point far from the pleura, the hemostatic effect will be compromised. Therefore, a method and device structure for intelligent control of photothermal hemostasis devices are needed to address these existing problems. Summary of the Invention

[0007] This invention addresses the problems existing in the prior art by providing a photothermal hemostasis puncture control device and method.

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

[0009] A photothermal hemostasis and puncture control device includes a hemostasis component, a control terminal, a puncture needle, a laser, a robotic arm, and a position acquisition module. The position acquisition module acquires data of the human body to be tested and transmits the acquired data to the control terminal. The robotic 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 robotic arm to move the puncture needle and the hemostasis component in the puncture channel, and the control terminal can control whether the laser is working. The laser light generated by the laser is transmitted to the hemostasis site through the puncture channel via the hemostasis component.

[0010] Based on the above technical solution, the hemostatic component further 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 acquire 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, the photothermal conversion module is further inserted along the needle sheath of the puncture needle, and the photothermal conversion module is exposed to 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 robotic arm is fixedly connected to the end of the puncture needle, and the movement of the robotic arm drives the movement of the puncture needle and hemostasis components.

[0013] Based on the above technical solution, the control terminal further 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 communicatively connected to the temperature acquisition module, the position acquisition module, the robotic arm control module, and the laser control module, and 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, the control terminal is further provided with an image processing module, which includes an image segmentation unit and a distance calculation unit, and is used to process the image data acquired by the location acquisition module.

[0015] Based on the above technical solution, the position acquisition module is a CT imaging device. When the hemostasis component is in the initial position, the puncture target point is subjected to CT imaging by the CT imaging device to obtain the corresponding CT image, and the obtained CT image data is transmitted to the image processing module for processing.

[0016] Based on the above technical solution, the image segmentation unit further adopts the threshold segmentation method, and segments the CT image into the lung region, the puncture needle region and other regions by setting the segmentation threshold HU1 and the segmentation threshold HU2, wherein the edge of the lung region 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, the photothermal hemostasis and puncture control device further includes a preoperative CT imaging device, the position acquisition module adopts an electromagnetic navigation imaging device, a binocular vision imaging device, or a C-arm X-ray imaging device, and the image processing module further includes an image registration unit, which performs image registration processing between the position acquisition module and the preoperative CT imaging device.

[0018] A photothermal hemostasis puncture control method, using a photothermal hemostasis puncture control device, includes the following steps: Step S1, performing CT imaging via a position acquisition module to obtain sample data; Step S2, inserting the hemostasis component into the body via a puncture needle; Step S3, activating the hemostasis component, controlling the laser to start working in the initial position, and performing photothermal hemostasis on the hemostasis site; when the control terminal detects that the returned temperature is higher than the set temperature value T1℃, controlling the temperature to be between the set temperature values ​​T1-T2℃ via the control terminal, maintaining the set value ts, and the machine... The robotic arm moves the puncture needle and hemostasis component outward by ΔXmm; at this time, observe whether the hemostasis component has moved to the termination position; when it moves to the termination position, stop moving; otherwise, repeat step S3 until the hemostasis component moves to a distance of the threshold distance X0mm from the pleura; then control the laser and robotic arm to stop working; in step S4, when the temperature acquisition module acquires a temperature lower than the set temperature value T3℃, the robotic arm moves the hemostasis component and puncture needle outward at a constant speed in the opposite direction of puncture; after leaving the body, the puncture hemostasis process ends; where 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 intraoperative position information of the photothermal conversion module to control in real time whether the photothermal hemostasis device is working and the movement of the robotic arm during the removal of the hemostasis components and the puncture needle. When applied to wound hemostasis in percutaneous lung biopsy, the use of a more automated robotic arm control method improves 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 this invention can be used simultaneously for puncture navigation, achieving control of the photothermal hemostasis range without significantly increasing the complexity of the system. Moreover, compared with existing mechanisms, this invention adds a puncture photothermal hemostasis structure and a motion control structure during the removal of the puncture needle, as well as control over whether the laser works during the motion, thus optimizing the control effect. Attached Figure Description

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

[0023] Figure 2 This is a schematic diagram showing the connections of the various modules of the control device of the present invention;

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

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

[0026] Figure 5 This is a flowchart of the control method of the present invention;

[0027] Reference 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 Implementation

[0028] The present invention will be further described and illustrated below with reference to the accompanying drawings and specific embodiments. The technical features of each embodiment of the present invention can be combined accordingly, provided that there is no mutual conflict.

[0029] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of the present invention. However, the present invention can be practiced in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below. Technical features in the various embodiments of the present invention can be combined accordingly without mutual conflict.

[0030] In the description of this invention, it should be understood that when an element is considered to be "connected" to another element, it can be a direct connection to the other element or an indirect connection, i.e., an intermediate element is present. Conversely, when an element is referred to as being "directly" connected to another element, no intermediate element is present. Furthermore, the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interface, device, or unit, and can be electrical, mechanical, or other forms.

[0031] For the sake of convenience and brevity, only the division of functional units and modules is illustrated. In practical applications, functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection.

[0032] Example 1

[0033] Combination Figures 1-4 As shown, this embodiment provides a photothermal hemostasis puncture control device. This device can be applied not only to lung puncture hemostasis to reduce the incidence of postoperative pneumothorax, but also to puncture surgeries in other locations to ensure hemostasis and prevent the photothermal hemostasis module from damaging nerves, arteries, and other critical human structures. The specific structure includes a hemostasis component 1, a control terminal 6, a puncture needle 2, a laser 3, a robotic arm 5, and a position acquisition module 4. The position acquisition module 4 acquires the position information of the hemostasis component and transmits the acquired data to the control terminal 6. The robotic arm 5 is connected to the puncture needle 2, and the hemostasis component 1 is inserted into the sheath of the puncture needle 2. The control terminal 6 controls the robotic arm 5 to move the puncture needle 2 and the hemostasis component 1 within the puncture channel and controls whether the laser is working. Furthermore, the laser generated by the laser 3 is transmitted through the hemostasis component 1 to the puncture target point via the puncture channel. It should be noted that the puncture target point refers to the site where hemostasis is to be achieved.

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

[0035] In this embodiment, the photothermal conversion module 12 is inserted along the sheath of the puncture needle 2, such that the photothermal conversion module 12 protrudes from the tip of the puncture needle 2 by a length of ΔXmm. It should be noted that this ΔXmm can be set according to actual conditions. The optical fiber 11 passes through the sheath of the puncture needle 2 and connects to the end of the puncture needle 2. The robotic arm 5 is fixedly connected to the end of the puncture needle 2, and its movement can drive the movement of the puncture needle 2 and the hemostasis component 1. Specifically, the movement process is as follows: the robotic arm 5 drives the assembly consisting of the puncture needle 2, the optical fiber 11, the photothermal conversion module 12, and the temperature acquisition module 13. The photothermal conversion module 12 is attached to and connected to the head of the optical fiber 11, and the temperature acquisition module 13 is attached to and connected to the photothermal conversion module 12. The connection between the puncture needle 2 and the optical fiber 11 is for controlling the movement of the puncture needle 2 and the optical fiber 11 together outside the body during subsequent photothermal hemostasis.

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

[0037] In this embodiment, the position acquisition module 4 is used to acquire the initial position of the hemostasis 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 equipped with an image processing module. Through the CT imaging device, when the hemostasis component 1 is in the initial position, CT imaging can be performed on the puncture target point to obtain the corresponding CT image, and the obtained CT image data can be 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. Since the CT value of the lung is between -900HU and -650HU, the CT value of soft tissue is between 20HU and 70HU, and the CT value of 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 differ greatly from those of other tissues, the image segmentation unit uses a threshold segmentation method. By setting the segmentation threshold HU1 and the segmentation threshold HU2, the CT image can be segmented into the lung region, the puncture needle 2 region, and other regions, wherein the edge of the lung region is the pleura. The distance calculation module is used to calculate the distance between the photothermal conversion module 12 and the pleura. Specifically, the center pixel A of the area where the puncture needle 2 intersects with the pleura is first obtained. By traversing all pixels in the puncture needle 2 area, the pixel B that is farthest from pixel A is calculated. Then, the distance X1 between pixel A and pixel B is calculated. X1 is added to the exposed length ΔX of the photothermal conversion module 12 at the tip of 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 transmit the acquired data to the control terminal 6. The robotic arm control module in the control terminal 6 sends control commands to the movement of the robotic arm 5 to perform corresponding control. Using the signals from the temperature acquisition module 13 and the position acquisition module 4, the laser control module can control whether the laser 3 is working in real time.

[0039] Specifically, in the initial position, the laser control module controls the laser 3 to start working, using the photothermal conversion module 12 to stop bleeding in the surrounding tissue. When the temperature returned by the temperature acquisition module 13 is higher than the set temperature value T1℃, the laser control module controls the temperature to be between T1℃ and T2℃, maintaining this temperature for ts. It should be noted that T1℃, T2℃, and t are all set values, with T2℃ being greater than T1℃. At this point, it is observed whether the photothermal conversion module 12 has moved to the termination position; when it reaches the termination position, the movement stops; otherwise, the cycle continues, that is, the robotic arm control module again controls the robotic arm 5 to move the puncture needle 2 and the hemostasis component 1 at a uniform speed of ΔXmm before stopping, utilizing light... The heat conversion module 12 stops bleeding in the surrounding tissue. When the temperature returned by the temperature acquisition module 13 is higher than T1℃, the laser control module controls the temperature to be between T1℃ and T2℃ and maintains it for ts. The robotic arm control module controls the robotic arm 5 to move the puncture needle 2 and the hemostasis component 1 at a constant speed of ΔXmm and then stop. This cycle repeats until the photothermal conversion module 12 moves to the termination position. During the cycle, when the temperature reaches the new position, the temperature acquired by the temperature acquisition module 13 is lower than T1℃. The timer starts ts after the temperature reaches T1. It should be further noted that the termination position refers to the position where the distance between the photothermal conversion module 12 and the pleura is the threshold distance X0. At this time, the laser control module controls the laser 3 to stop working. When the temperature signal output by the temperature acquisition module 13 is lower than the threshold temperature T3℃, the robotic arm control module controls the robotic arm 5 to move at a constant speed, moving the puncture needle 2 and the hemostasis component 1 away from the body.

[0040] Example 2

[0041] Unlike Embodiment 1, the location acquisition module 4 can be an intraoperative real-time electromagnetic navigation imaging device, a binocular vision imaging device, or a C-arm X-ray imaging device. That is, the CT imaging device in Embodiment 1 is replaced, and the image processing module consisting of an image segmentation unit and a distance calculation unit is replaced with an image processing module consisting of an image registration unit, an image segmentation unit, and a distance calculation unit.

[0042] In this embodiment, a preoperative CT imaging device needs to be added. The image registration unit is used to realize the image registration between 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, apart from the replacement scheme, the other schemes and principles are exactly the same as those described in Example 1. Further details will not be elaborated here.

[0044] Example 3

[0045] Unlike Examples 1 and 2, this procedure does not use electromagnetic navigation imaging equipment, binocular vision imaging equipment, C-arm X-ray imaging equipment, or CT imaging equipment to obtain three-dimensional images of the puncture site. Instead, it employs cone-beam computed tomography (CBCT), ultrasound imaging, positron emission tomography (PET), or a combination of these modalities to obtain images of the puncture site. It should be noted that, except for the substitution, the other methods and principles are exactly the same as described in Example 1. Further details are omitted here.

[0046] Example 4

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

[0048] Step S1: Before lung puncture, perform chest CT imaging on the patient and perform CT-guided percutaneous lung biopsy to retrieve the human tissue sample to be tested.

[0049] Step S2: Insert the optical fiber 11 and photothermal conversion module 12 into the body through the sheath of the puncture needle 2, positioning the photothermal conversion module 12 at the head of the puncture tract. 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, and process the CT images using the image processing unit. Calculate the distance X of the photothermal conversion module 12 from the pleura along the puncture direction. If it is required that the photothermal conversion module 12 stop working at a distance X0 from the pleura, then the distance X1 from which the photothermal conversion module 12 performs hemostasis is X1 = X - X0, in mm.

[0050] Step S3: Activate the hemostasis component 1. In the initial position, the laser control module controls the laser 3 to start working, and the photothermal conversion module 12 heats the wound to stop bleeding. When the temperature returned by the temperature acquisition module 13 is higher than the set temperature value T1℃, the laser control module controls the temperature to be between T1℃ and T2℃ and maintains it for ts. It should be noted that T1℃, T2℃, and t are all set values, and T2℃ is greater than T1℃. At this time, observe whether the photothermal conversion module 12 has moved to the termination position. When it moves to the termination position, it stops moving; otherwise, it cycles, that is, the robotic arm control module controls the robotic arm 5 to drive the puncture needle 2 and the hemostasis component 1 to move at a constant speed of ΔXmm and then stop. The photothermal conversion module 12 is used to stop bleeding in the surrounding tissue. When the temperature returned by the temperature acquisition module 13 is higher than T1℃, the laser control module controls the temperature to be between T1℃ and T2℃ and maintains it for ts. The robotic arm control module controls the robotic 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 process repeats until the photothermal conversion module 12 moves to a distance of the threshold distance X0mm from the pleura. The laser control module then stops the laser 3. The robotic arm control module then stops the robotic arm 5.

[0051] Step S4: When the temperature acquisition module 13 detects a temperature below T3℃, the robotic arm 5 drives the photothermal conversion module 12 and the puncture needle 2 to continue moving at a constant speed in the opposite direction of puncture. After removal from the body, the puncture and hemostasis process ends. Here, T3℃ is a set temperature value, satisfying T2 > T1 > T3.

[0052] Finally, it should be noted that the above content is only used to illustrate the technical solution of the present invention, and is not intended to limit the scope of protection of the present invention. Simple modifications or equivalent substitutions made by those skilled in the art to the technical solution of the present invention do not depart from the essence and scope of the technical solution of the present invention.

Claims

1. A photothermal hemostasis puncture control device, characterized in that, Includes hemostasis components, control terminal, puncture needle, laser, robotic arm, and position acquisition module; The position acquisition module is used to acquire the initial position of the hemostatic device and its position at several moments during its movement, and transmit the acquired data to the control terminal; the position acquisition module is a CT imaging device. The robotic 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 robotic arm to move the puncture needle and the hemostasis component 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 and the puncture channel to the site to be hemostatically stopped. The hemostatic 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 acquire the temperature of the photothermal conversion module in real time and transmit the temperature data to the control terminal. The photothermal conversion module is inserted along the sheath of the puncture needle, and the photothermal conversion module is exposed at the tip of the puncture needle by a length of ΔX mm; The control terminal is also equipped with an image processing module, which includes an image segmentation unit and a distance calculation unit, and is used to process the image data acquired by the location acquisition module. The distance calculation module is used to calculate the distance between the photothermal conversion module and the pleura. First, the center pixel A of the area where the puncture needle area intersects with the pleura is obtained. By traversing all pixels in the puncture needle area, the pixel B that is farthest from pixel A is calculated. Then, the distance X1 between pixel A and pixel B is calculated. X1 is added to the exposed length ΔX of the photothermal conversion module at the tip of the puncture needle to obtain the distance between the photothermal conversion module and the pleura. When the temperature returned by the temperature acquisition module is higher than the set temperature value T1℃, the laser control module controls the temperature to be between T1℃ and T2℃ and holds it for ts. At this time, it is observed whether the photothermal conversion module has moved to the termination position. If it has not moved to the termination position, the cycle continues. During the cycle, the robotic arm moves the puncture needle and hemostasis component to a new position, and the laser control module controls the temperature to be between T1℃ and T2℃ and holds it for ts. When it moves to the termination position, the movement stops, and the laser control module controls the laser to stop working. When the temperature signal output by the temperature acquisition module is lower than the threshold temperature T3℃, the robotic arm control module controls the robotic arm to move, moving the puncture needle and hemostasis component away from the body. The termination position refers to the position where the distance between the photothermal module and the pleura is the threshold distance X0.

2. The photothermal hemostasis puncture control device according to claim 1, characterized in that, The optical fiber is connected and fixed to the puncture needle, and the robotic arm is fixedly connected to the end of the puncture needle. The movement of the robotic arm drives the puncture needle and hemostasis components to move.

3. The photothermal hemostasis puncture control device according to claim 1, 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 communicatively connected to the temperature acquisition module, the position acquisition module, the robotic arm control module, and the laser control module, and is used to display real-time temperature information, position information, robotic arm movement status information, and laser working status information.

4. The photothermal hemostasis puncture control device according to claim 1, characterized in that, The location acquisition module is a CT imaging device. When the hemostasis component is in the initial position, the CT imaging device performs CT imaging on the puncture target point to obtain the corresponding CT image, and the obtained CT image data is transmitted to the image processing module for processing.

5. The photothermal hemostasis puncture control device according to claim 4, characterized in that, The image segmentation unit uses a threshold segmentation method to segment the CT image into lung region, puncture needle region and other regions by setting segmentation thresholds HU1 and HU2. The edge of the lung region is the pleura. The distance calculation module is used to calculate the distance between the photothermal conversion module and the pleura.

6. The photothermal hemostasis puncture control device according to claim 1, characterized in that, The photothermal hemostasis and puncture control device also includes a preoperative CT imaging device. The position acquisition module adopts an electromagnetic navigation imaging device, a binocular vision imaging device, or a C-arm X-ray imaging device. The image processing module also includes an image registration unit, which performs image registration processing between the position acquisition module and the preoperative CT imaging device.

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