Method for realizing accurate identification of sacrospinous ligament based on multi-modal tactile perception and visual fusion

Abstract

The invention belongs to the technical field of medical treatment, and provides a method for realizing accurate identification of sacrospinous ligaments based on multi-modal tactile perception and visual fusion, which comprises the following steps: step 8, placing a laparoscope, exposing a surgical field, enabling the right hand index finger of an operator to enter the surgical field through a fingerstall of a sealing glove, touching, determining ischial spines, and completing the operation; separating and exposing the coccygeal muscle sacrospinous ligament complex in combination with a pair of bipolar forceps or an aspirator, and stopping bleeding by bipolar electrocoagulation if bleeding occurs; the method is technically characterized in that an operator separates a vaginal rectum gap from a right side rectum gap through a reserved fingerstall of a right hand and an index finger, creates an operation gap, touches and determines a right side edge of an ischial spine and a sacrococcygeal bone, puts in a laparoscope, exposes an operation field, and then performs operation on the right side edge of the ischial spine and the sacrococcygeal bone. A triangular muscle and ligament complex between the right ischial spine and the sacrococcygeal bone is recognized through the laparoscope, the method takes manual separation as a main energy instrument and an auxiliary energy instrument, and has the characteristics of less cutting, less electrocoagulation and light tissue damage, the postoperative recovery of a patient is fast, and the living quality of the patient is improved.

Description

Technical Field

[0001] The present invention belongs to the field of medical technology, and specifically is a method for accurately identifying sacrospinal ligaments based on multimodal tactile perception and visual fusion. Background Art

[0002] Female pelvic organ prolapse (POP) is a disease caused by defects, degradation and damage of pelvic support structures due to various factors, which in turn leads to abnormal position and function of pelvic organs. Its incidence rate increases with age. Sacrospinous ligament fixation (SSLF) has become one of the standard surgical procedures for the treatment of pelvic organ prolapse since it was first described by German gynecologist Viktor Latzko in the 1920s.

[0003] At present, sacrospinous ligament surgery mainly includes traditional procedures and vNOTES procedures. Although the traditional procedure has been carried out for a long time and the technology is mature and well known to doctors, it has many disadvantages. For patients, it is traumatic, takes a long time to recover, and faces a high risk of infection. From the doctor's operation point of view, it is difficult to expose the sacrospinous ligament through the vagina. When it is impossible to see directly, the position is mainly judged by touch, which makes the operator lack confidence. Due to the complex anatomical structure of the pelvic floor and the abundant blood vessels and nerves around it, the operation is very easy to accidentally damage blood vessels and nerves, causing postoperative pain and difficult to handle. It may also cause massive bleeding during and after the operation, and it is extremely difficult to stop the bleeding. At the same time, the surgical space is small, the suturing operation is difficult, and it is difficult to determine the suture position, which makes the postoperative effect difficult to predict and the recurrence rate is high. In addition, the entire operation is a blind operation, which is not conducive to teaching and clinical promotion.

[0004] The vNOTES procedure (single-port endoscopic surgery) has the advantages of being minimally invasive and having a quick recovery. It can accurately identify the sacrospinal ligament through vision and multiple dimensions, expand the operating space, reduce the possibility of damaging blood vessels and nerves, and achieve precise suture sites.

[0005] This procedure requires the surgeon to have a solid foundation in pelvic floor surgery and transumbilical single-port laparoscopic surgery, and can be performed using conventional laparoscopic surgical equipment. Summary of the invention

[0006] In order to solve the above technical problems, the present invention provides a method for accurately identifying the sacrospinal ligament based on multimodal tactile perception and visual fusion, so as to solve the defects of the prior art: insufficient exposure leading to inaccurate suture sites, many complications, easy damage to blood vessels and nerves, etc.

[0007] A method for accurately identifying sacrospinal ligament based on multimodal tactile perception and visual fusion, comprising the following steps:

[0008] Step 1: Clamp the posterior vaginal mucosa longitudinally, use tissue forceps to accurately operate, ensure that the clamp position is accurate and stable, and then inject 60ml of diluted saline containing norepinephrine under the mucosa;

[0009] Step 2: Make a longitudinal incision of the posterior vaginal mucosa for 3-4 cm;

[0010] Step 3: Use your fingers to bluntly separate the right vaginal rectal space and the right pararectal space, and continue to separate along the surface of the pelvic floor muscles to the right ischial spine;

[0011] Step 4: Place the small S-shaped retractor into the separated gap and pull the rectum inward and upward;

[0012] Step 5. Place the inner ring of the 5cm diameter incision protector into the separated gap;

[0013] Step 6: Roll the outer opening into a No. 7 latex glove and seal it;

[0014] Step 7: Place 5mm and 10mm disposable laparoscopic puncture devices in the first and third finger cots respectively, and inflate the No. 7 latex gloves;

[0015] Step 8: After inserting the laparoscope and exposing the surgical field, the surgeon's right index finger enters the surgical field through the fingertip of the sealed glove, touches and identifies the ischial spine, and separates and exposes the coccygeal muscle and sacrospinous ligament complex with bipolar forceps or aspirator. If there is bleeding, use bipolar electrocoagulation to stop the bleeding.

[0016] Step 9: Take the lower 1 / 2 of the middle section of the complex as the suture site, use 2-0 Ethylenebond to suture the complex twice, pull out the tail of the thread for later use, and remove the incision protector after checking that there is no bleeding in the surgical field;

[0017] Step 10: Clamp the top and both sides of the vaginal posterior wall incision mucosa with tissue forceps, suture the vaginal apex fascia layer or the posterior cervical wall with two complex sutures respectively, and suture the vaginal mucosal layer intermittently from the inside to the outside with absorbable sutures to the last finger, tighten the two suspension lines respectively, so that the vaginal apex or cervix reaches or approaches the ischial spine, and continue to completely close the posterior wall incision;

[0018] Step 11: Rectal examination is performed to confirm that the suture site of the coccygeal muscle and sacrospinous ligament complex is correct and the operation is completed after there is no damage to the rectal wall.

[0019] Preferably, in the inflation step, a high-precision pneumoperitoneum machine is used for inflation, and the inflation pressure is adjusted according to practical data.

[0020] Preferably, when longitudinally clamping the posterior vaginal wall mucosa, attention should be paid to using moderate force to avoid damaging the mucosa.

[0021] Preferably, during the incision of the posterior vaginal wall mucosa, a sharp and fine scalpel is used to ensure neat incision edges and reduce tissue damage, and after the incision, compression hemostasis or local application of hemostatic drugs is used to stop bleeding.

[0022] Preferably, the operator touches the ischial spine with the index finger of his right hand and makes a judgment based on the characteristics of the tissue in the laparoscopic image.

[0023] A system for accurately identifying sacrospinal ligament based on multimodal tactile perception and visual fusion, including:

[0024] The surgical instrument module includes an instrument for clamping the posterior vaginal mucosa, a knife for incising the posterior vaginal mucosa, a small S retractor, a 5-cm diameter incision protector, No. 7 latex gloves, 5-mm and 10-mm disposable laparoscopic puncture devices, a laparoscope, a bipolar forceps, an aspirator, and a tissue forceps;

[0025] A pressure control module, used to control the inflation pressure of the disposable laparoscope puncture device;

[0026] Visual assistance module, consisting of a laparoscope and supporting image display equipment;

[0027] The tactile perception module uses the surgeon's right index finger to enter the surgical field through the fingertip of the sealed glove, and uses bipolar forceps or suction to separate and expose the coccygeal muscle sacrospinous ligament complex to identify the sacrospinous ligament tissue;

[0028] The data processing and analysis module comprehensively processes and analyzes the image data obtained by the visual assistance module and the tactile information transmitted by the tactile perception module.

[0029] Preferably, the instruments in the surgical instrument module are all made of materials that comply with medical device standards.

[0030] Preferably, the visual module has high-definition image acquisition and processing capabilities, and can clearly present detailed information of the surgical area.

[0031] Preferably, the tactile perception module can provide real-time feedback and analysis of the tactile information of the operator's fingers, thereby assisting the doctor in more accurately judging the tissue condition.

[0032] Preferably, the data processing and analysis module also includes a storage module for collecting and recording surgical information.

[0033] Compared with the prior art, the present invention has the following beneficial effects:

[0034] 1. The present invention uses multimodal tactile perception and visual fusion. The surgeon's right index finger enters the surgical field through the fingertip of a sealed glove to touch, and makes a judgment based on the characteristics of the tissue in the laparoscopic image. It can more accurately determine the position of the ischial spine, and use bipolar forceps or aspirators to separate and expose the coccygeal muscle and sacrospinous ligament complex. Compared with the traditional method that relies only on touch or vNOTES that relies solely on vision, the surgical operation is more accurate.

[0035] 2. In the present invention, there is a potential cavity between the fascia on the surface of the complex and the tissue above it, which has few blood vessels and a loose structure. It can be gently pushed open with fingers, reducing the probability of damage to blood vessels, nerves, etc. caused by sharp cutting.

[0036] 3. During the separation process of the present invention, if the separation resistance is felt to increase, it may be that small branch blood vessels are encountered. In this case, bipolar electrocoagulation can be used before separation to avoid bleeding. At the same time, because the separation is carried out in the tissue gap and the small blood vessels are preventively electrocoagulated, bleeding in the surgical field, especially on the surface of the coccygeal muscle-sacrospinous ligament complex, rarely occurs, which ensures the clarity of the surgical field to the greatest extent and reduces the surgical risks caused by bleeding.

[0037] 4. The surgical operation of the present invention is mainly based on blunt separation, with less cutting and electrocoagulation, less tissue damage, and the postoperative inflammatory response is alleviated. The patient's postoperative recovery speed is accelerated, and he can return to normal life faster, thereby improving the patient's quality of life. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 A flowchart of the method steps of the present invention;

[0039] Figure 2 It is a system module block diagram of the present invention. DETAILED DESCRIPTION

[0040] The following embodiments of the present invention are described in further detail in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0041] As attached Figure 1 As shown:

[0042] Embodiment 1: The present invention provides a method for accurately identifying the sacrospinal ligament based on multimodal tactile perception and visual fusion, comprising the following steps:

[0043] Step 1: Prepare tissue forceps and injection;

[0044] After a comprehensive preoperative examination and anesthesia preparation, the surgical team used their rich experience and superb skills to accurately clamp the posterior vaginal mucosa longitudinally. During the clamping process, the doctor used the fine tactile feedback of the hand to ensure that the clamping position was accurate and stable to avoid unnecessary damage to the mucosa.

[0045] Then, the assistant handed over 60 ml of the prepared diluted saline solution containing norepinephrine, and the doctor slowly and evenly injected it under the mucosa. During the injection process, the reaction of the local tissue was closely observed to ensure that the solution could effectively infiltrate the submucosal layer and create good conditions for the subsequent incision and separation operations.

[0046] Step 2: Incision of the posterior vaginal mucosa;

[0047] The doctor replaced the scalpel with a sharp and delicate one, which has a special blade design that can ensure the depth of the incision while minimizing damage to surrounding tissues. According to the predetermined length, the doctor cut the vaginal posterior wall mucosa 3.5 cm longitudinally. During the incision, the doctor moved steadily and smoothly to ensure that the incision edge was neat.

[0048] After the incision is made, the assistant immediately uses warm gauze to compress the incision to stop bleeding. At the same time, according to the bleeding situation, an appropriate amount of hemostatic drugs are applied locally to quickly control the bleeding and keep the surgical field clear.

[0049] Step 3: Dissect the gap to the ischial spine;

[0050] The surgeon uses the right index finger to perform blunt separation. With keen tactile perception, the doctor carefully performs separation along the right vaginal rectal space and the right pararectal space. During the separation process, the fingers perceive the texture and resistance of different tissues to accurately determine the direction and depth of separation to avoid damaging the surrounding important organs and blood vessels.

[0051] As the separation progresses, the doctor continues to advance along the surface of the pelvic floor muscles toward the right ischial spine until the right ischial spine is clearly touched. In this process, the doctor's tactile perception is closely combined with previous anatomical knowledge and surgical experience to ensure the accuracy and safety of the separation operation.

[0052] Step 4-7: Establishment and inflation of surgical space;

[0053] The assistant gently places the small S retractor into the separated gap, and then carefully pulls the rectum inward and upward to make enough space for subsequent operations. Then, another assistant slowly places the inner ring of the incision protector with a diameter of 5 cm into the gap to ensure that it is properly positioned and stable.

[0054] Then, roll the outer edge of the No. 7 latex glove into the outer edge of the incision protector for a tight seal to form a relatively closed surgical space.

[0055] The surgeon placed the 5mm and 10mm disposable laparoscopic puncture devices into the first and third finger cots of No. 7 latex gloves, fixed them with silk thread, and then connected them to a high-precision pneumoperitoneum machine. Based on the patient's body shape, physiological condition, and actual surgical needs, the inflation pressure was precisely adjusted through the intelligent control system of the pneumoperitoneum machine and with reference to a large amount of practical data. During the inflation process, the patient's vital signs and changes in the surgical space were closely observed to ensure that the inflation pressure could ensure sufficient surgical operating space without causing adverse effects such as excessive compression on the patient's tissues.

[0056] Step 8: Laparoscopic exploration and tissue separation and exposure;

[0057] When the surgical space is established and inflated, the doctor slowly places the laparoscope into the surgical space. The laparoscope is equipped with a high-definition image acquisition and processing system, which can transmit clear images of the surgical area to the display screen on the operating table in real time. The doctor observes the image on the display screen and combines the tactile perception of the right index finger entering the surgical field through the sealed glove to quickly and accurately locate the position of the ischial spine.

[0058] After determining the location of the ischial spine, the doctor used a combination of bipolar forceps and a suction device to carefully separate and expose the coccygeal muscle-sacral spinous ligament complex. During the separation process, the high-definition images of the laparoscope and the tactile feedback of the fingers can clearly distinguish different tissue layers to avoid accidental damage to surrounding blood vessels and nerves. Once bleeding occurs, bipolar electrocoagulation is used immediately to stop bleeding to ensure that the surgical field remains clear at all times.

[0059] Step 9: Complex suturing and incision protector removal;

[0060] After careful separation and exposure, the doctor accurately selected the lower 1 / 2 of the middle section of the coccygeal muscle sacrospinous ligament complex as the suture site. 2-0 Aixibang suture was selected, which has good biocompatibility and strength and can meet the needs of the operation. The doctor skillfully sutured the complex twice and carefully pulled out the tail of the thread for use.

[0061] After suturing, carefully check the surgical field again to confirm that there is no bleeding, and then carefully remove the incision protector. During the removal process, be careful to avoid secondary damage to the surrounding tissues.

[0062] Step 10: Suturing and suspending the posterior vaginal wall;

[0063] The doctor uses tissue forceps to accurately clamp the top and both sides of the vaginal posterior wall incision mucosa, and sutures the top fascia layer of the vagina with the two sutures of the previous suture complex to ensure that the suture is firm. Then, absorbable sutures are used to intermittently suture the vaginal mucosal layer from the inside to the outside to the last finger. During the suturing process, the spacing and depth of the sutures are adjusted according to the tension and healing needs of the tissue.

[0064] Finally, the two suspension lines are tightened separately, and the top of the vagina is brought to or close to the position of the ischial spine through precise force control, effectively restoring the anatomical structure of the pelvic floor. After the suspension is completed, the posterior wall incision is carefully and completely closed to ensure the sealing and healing quality of the incision.

[0065] Step 11: Postoperative examination and end of surgery;

[0066] After the operation, the surgeon performed an anal examination and confirmed that the suture site of the coccygeal muscle and sacrospinous ligament complex was correct and the rectal wall was not damaged. After ensuring that the operation was effective and the patient's vital signs were stable, the operation was declared successfully completed. The patient was transferred to the postoperative intensive care unit for close observation and follow-up treatment.

[0067] As attached Figure 2 As shown:

[0068] Embodiment 2: A system for accurately identifying sacrospinous ligament based on multimodal tactile perception and visual fusion, comprising:

[0069] Surgical instrument module:

[0070] During the entire operation, various instruments in the surgical instrument module played a key role. High-precision tissue forceps ensured accurate clamping of the vaginal posterior wall mucosa; sharp and delicate scalpels achieved high-quality incision; small S retractors, 5cm diameter incision protectors, No. 7 latex gloves, 5mm and 10mm disposable laparoscopic punctures, laparoscopes, bipolar forceps, aspirators, tissue forceps and other instruments provided necessary support for surgical operations in different surgical steps. All these instruments are made of high-strength, corrosion-resistant and biocompatible materials that meet medical device standards, ensuring the safety and reliability of the operation.

[0071] Pressure Control Module:

[0072] As the core equipment of the pressure control module, the high-precision pneumoperitoneum machine plays a vital role in the establishment of the surgical space. Through close cooperation with the surgical team, the inflation pressure is accurately adjusted according to the patient's specific conditions and surgical needs. The pneumoperitoneum machine has intelligent monitoring and feedback functions, which can monitor the changes in inflation pressure and surgical space in real time. Once an abnormal situation occurs, it will immediately issue an alarm and make corresponding adjustments to ensure the safety and effectiveness of the inflation operation.

[0073] Visual Assist Module:

[0074] The visual assistance module composed of the laparoscope and the supporting image display device provides doctors with a clear and intuitive surgical field of view. The high-definition image acquisition and processing function of the laparoscope can clearly present the subtle structure and tissue changes in the surgical area. By observing the image on the display screen and combining tactile perception, doctors can more accurately judge the situation of the surgical site and make more precise operational decisions. At the same time, the image display device has multi-angle adjustment and zooming functions, which makes it convenient for doctors to observe the surgical area from different angles and improve the accuracy of the operation.

[0075] Tactile sensing module:

[0076] The surgeon's right index finger enters the surgical field through the fingertip of the sealed glove to touch the tissue, which constitutes the main part of the tactile perception module. Combined with bipolar forceps or aspirators to separate and expose the coccygeal muscle sacrospinous ligament complex, the doctor can perceive the texture, hardness, elasticity of the tissue, and the presence of abnormal nodules through the tactile feedback of the fingers, and identify the sacrospinous ligament tissue. This tactile perception complements the image information provided by the visual assistance module, allowing doctors to understand the situation in the surgical area more comprehensively and accurately. For example, in the process of separating tissues and identifying the ischial spine, the touch of the fingers can help doctors distinguish different tissue layers and avoid accidental damage to important surrounding structures.

[0077] Data processing and analysis module:

[0078] During the operation, the data processing and analysis module comprehensively processes and analyzes the image data obtained by the visual assistance module and the tactile information transmitted by the tactile perception module. Through advanced algorithms and artificial intelligence technology, it can conduct real-time evaluation and prediction of the tissue morphology, structural changes and effects of surgical operations in the surgical area.

[0079] In addition, the module also includes a storage module for collecting and recording surgical information. During the operation, all image data, tactile information, surgical operation steps, and the patient's physiological parameters are stored in real time. These data can not only provide important basis for subsequent surgical review and experience summary, but also can be used for medical research and teaching, contributing to improving the level of accurate identification technology of sacrospinal ligament.

[0080] Importantly, it should be noted that the construction and arrangement of the present application shown in a plurality of different exemplary embodiments are only exemplary. Although only a few embodiments are described in detail in this disclosure, it should be readily understood by those who refer to this disclosure that many modifications are possible (e.g., the size, scale, structure, shape and proportion of various elements, and parameter values ​​(e.g., temperature, pressure, etc.), installation arrangement, use of materials, color, directional changes, etc.) without substantially departing from the novel teachings and advantages of the subject matter described in the application. For example, the element shown as integrally formed can be composed of multiple parts or elements, the position of the element can be inverted or otherwise changed, and the nature or number or position of the discrete element can be changed or changed. Therefore, all such modifications are intended to be included in the scope of the present invention. The order or sequence of any process or method steps can be changed or reordered according to alternative embodiments. In the claims, any "device plus function" clause is intended to cover the structure of performing the function described herein, and is not only structurally equivalent but also equivalent structure. Without departing from the scope of the present invention, other replacements, modifications, changes and omissions can be made in the design, operating conditions and arrangement of the exemplary embodiments. Therefore, the invention is not limited to a specific embodiment, but extends to several modifications still falling within the scope of the appended claims.

[0081] Additionally, in order to provide a concise description of exemplary embodiments, all features of an actual embodiment (ie, those features that are not relevant to the best mode presently contemplated for carrying out the invention or those that are not relevant to implementing the invention) may not be described.

[0082] It will be appreciated that in the development of any actual implementation, as in any engineering or design project, numerous implementation-specific decisions may be made. Such a development effort may be complex and time-consuming, but will be a routine task of design, fabrication, and production for those of ordinary skill having the benefit of this disclosure without undue experimentation.

[0083] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A method for accurately identifying sacrospinous ligament based on multimodal tactile perception and visual fusion, characterized in that: The following steps are involved: Step 1: Clamp the posterior vaginal mucosa longitudinally, use tissue forceps to accurately operate, ensure that the clamp position is accurate and stable, and then inject 60ml of diluted saline containing norepinephrine under the mucosa; Step 2: Make a longitudinal incision of the posterior vaginal mucosa for 3-4 cm; Step 3: Use your fingers to bluntly separate the right vaginal rectal space and the right pararectal space, and continue to separate along the surface of the pelvic floor muscles to the right ischial spine; Step 4: Place the small S-shaped retractor into the separated gap and pull the rectum inward and upward; Step 5. Place the inner ring of the 5cm diameter incision protector into the separated gap; Step 6: Roll the outer opening into a No. 7 latex glove and seal it; Step 7: First, put 5mm and 10mm disposable laparoscopic puncture devices into the three finger gloves respectively, and inflate the No. 7 latex gloves; Step 8: After inserting the laparoscope and exposing the surgical field, the surgeon's right index finger enters the surgical field through the fingertip of the sealed glove, touches and identifies the ischial spine, and separates and exposes the coccygeal muscle and sacrospinous ligament complex with bipolar forceps or aspirator. If there is bleeding, use bipolar electrocoagulation to stop the bleeding. Step 9: Take the lower 1 / 2 of the middle section of the complex as the suture site, use 2-0 Ethylenebond to suture the complex twice, pull out the tail of the thread for later use, and remove the incision protector after checking that there is no bleeding in the surgical field; Step 10: Clamp the top and both sides of the vaginal posterior wall incision mucosa with tissue forceps, suture the vaginal apex fascia layer or the posterior cervical wall with two complex sutures respectively, and suture the vaginal mucosal layer intermittently from the inside to the outside with absorbable sutures to the last finger, tighten the two suspension lines respectively, so that the vaginal apex or cervix reaches or approaches the ischial spine, and continue to completely close the posterior wall incision; Step 11: Rectal examination is performed to confirm that the suture site of the coccygeal muscle and sacrospinous ligament complex is correct and the operation is completed after there is no damage to the rectal wall.

2. According to claim 1, a method for accurately identifying sacrospinal ligament based on multimodal tactile perception and visual fusion, characterized in that: In the inflation step, a high-precision pneumoperitoneum machine is used for inflation, and the inflation pressure is adjusted according to practical data.

3. According to claim 1, a method for accurately identifying sacrospinal ligament based on multimodal tactile perception and visual fusion, characterized in that: In the longitudinal clamping of the posterior vaginal wall mucosa, tissue forceps are used to accurately clamp the posterior vaginal wall mucosa longitudinally, and attention is paid to using moderate force to avoid damaging the mucosa.

4. According to claim 1, a method for accurately identifying sacrospinal ligament based on multimodal tactile perception and visual fusion, characterized in that: During the incision of the posterior vaginal wall mucosa, a sharp and fine scalpel is used to ensure that the incision edge is neat and reduce tissue damage. After the incision, compression hemostasis or local application of hemostatic drugs is used to stop bleeding.

5. According to claim 1, a method for accurately identifying sacrospinal ligament based on multimodal tactile perception and visual fusion, characterized in that: The operator touches the ischial spine with the index finger of his right hand and makes a judgment based on the characteristics of the tissue in the laparoscopic image.

6. A system for accurately identifying sacrospinal ligament based on multimodal tactile perception and visual fusion, characterized in that: include, The surgical instrument module includes an instrument for clamping the posterior vaginal mucosa, a knife for incising the posterior vaginal mucosa, a small S retractor, a 5-cm diameter incision protector, No. 7 latex gloves, 5-mm and 10-mm disposable laparoscopic puncture devices, a laparoscope, a bipolar forceps, an aspirator, and a tissue forceps; A pressure control module, used to control the inflation pressure of the disposable laparoscope puncture device; Visual assistance module, consisting of a laparoscope and supporting image display equipment; The tactile perception module uses the surgeon's right index finger to enter the surgical field through the fingertip of the sealed glove, and uses bipolar forceps or suction to separate and expose the coccygeal muscle sacrospinous ligament complex to identify the sacrospinous ligament tissue; The data processing and analysis module comprehensively processes and analyzes the image data obtained by the visual assistance module and the tactile information transmitted by the tactile perception module.

7. A system for accurately identifying sacrospinal ligament based on multimodal tactile perception and visual fusion according to claim 6, characterized in that: The instruments in the surgical instrument module are all made of materials that meet medical device standards.

8. According to claim 6, a system for accurately identifying sacrospinal ligament based on multimodal tactile perception and visual fusion, characterized in that: The visual module has high-definition image acquisition and processing functions, and can clearly present detailed information of the surgical area.

9. According to claim 6, a system for realizing accurate identification of sacrospinal ligament based on multimodal tactile perception and visual fusion, characterized in that: The tactile perception module can provide real-time feedback and analysis of the tactile information of the operator's fingers, assisting the doctor in judging the tissue condition more accurately.

10. The system for realizing accurate identification of sacrospinal ligament based on multimodal tactile perception and visual fusion according to claim 6, characterized in that: The data processing and analysis module also includes a storage module for collecting and recording surgical information.

Images