Auxiliary instrument for vena cava cuff and control method of auxiliary instrument

Abstract

The invention discloses an auxiliary instrument for a vena cava cuff and a control method of the auxiliary instrument, and relates to the technical field of medical instruments. The auxiliary instrument comprises a pair of medical forceps, a light emitting device, a light receiving device, a light signal processor and a light-emitting indicating device, the light emitting device is arranged in one clamp head and extends in the length direction of the clamp head; the light receiving device and the light-emitting indicating device extend in the length direction of the other tong head and are electrically connected with the light signal processor. The light receiving device and the light emitting device are oppositely arranged so as to be used for receiving the transmission light signal and feeding back the transmission light signal to the light signal processor; the light signal processor determines the boundary of the blood vessel and the tissue in the target part according to the transmission light signal, and controls a lamp bead on the outer side of the boundary of the corresponding blood vessel and the tissue on the light-emitting indicating device to be lightened or flicker. According to the parallel pressurizing forceps, the structure of the parallel pressurizing forceps is improved, a surgeon can be helped to distinguish blood vessels and tissues during an extracorporeal circulation operation, and the operation efficiency and safety are greatly improved.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and particularly to an auxiliary device for vena cava banding and a control method thereof. Background Art

[0002] With the rapid development of cardiac surgery technology, there is an urgent need to train a large number of qualified cardiac surgeons clinically. However, cardiac surgery has its particularity. Most surgeries require extracorporeal circulation, and establishing extracorporeal circulation has become one of the most important basic skills for cardiac surgeons.

[0003] Many extracorporeal circulation surgeries require vena cava banding. Currently, when surgeons perform banding operations, they need to use pressure forceps to assist in the placement, fixation, and adjustment of the band in the body. It is often carried out relying on the visual judgment and experience of the operator. It is difficult to distinguish blood vessels and tissues in the body. The key to the whole operation is that the vena cava cannot be damaged when separating the vena cava with the pressure forceps, and the risk is relatively high. If there is a mistake, serious consequences such as massive bleeding will occur, and the risk is even greater in secondary surgeries. Summary of the Invention

[0004] The main purpose of the present invention is to provide an auxiliary device for vena cava banding and a control method thereof, aiming to help surgeons distinguish the boundary position between blood vessels and tissues during extracorporeal circulation surgeries, so as to improve the operation efficiency and safety.

[0005] To achieve the above purpose, the present invention proposes an auxiliary device for vena cava banding, and the auxiliary device includes:

[0006] A medical forceps, including a forceps handle and a forceps head. The two forceps handles are cross - arranged and hinged at the crossing. The two forceps heads are arranged one - to - one at one end of the two forceps handles close to the hinge, and the two forceps heads are arranged in parallel;

[0007] A light - emitting device, which is arranged in one of the forceps heads and extends along its length direction. The light - emitting device is used to emit light to the target part;

[0008] A light - receiving device, an optical signal processor, and a light - emitting indicating device are respectively arranged in the other forceps head. The light - receiving device and the light - emitting indicating device both extend along the length direction of the forceps head and are electrically connected to the optical signal processor; the light - receiving device is arranged opposite to the light - emitting device to receive the transmitted light signal and feedback it to the optical signal processor; the optical signal processor determines the boundary between blood vessels and tissues in the target part according to the transmitted light signal, and controls the lamp beads on the outer side of the corresponding boundary between blood vessels and tissues on the light - emitting indicating device to light up or flash.

[0009] Optionally, the light emitting device is an invisible light emitting device, and the light receiving device is an invisible light receiving device; and / or

[0010] The wavelength of the light emitted by the light emitting device is 600 - 1000 nm.

[0011] Optionally, the light emitting indicator device is a visible light emitting device, and the light emitting indicator device is also used for illumination.

[0012] Optionally, the optical signal processor includes a photoelectric signal conversion unit and a difference determination unit electrically connected to the photoelectric signal conversion unit. The photoelectric signal conversion unit is used to convert the transmitted light signal into an electrical signal, and the difference determination unit is used to determine the boundary between blood vessels and tissues in the target part according to the difference of the electrical signals.

[0013] Optionally, the optical signal processor further includes a blood vessel recognition algorithm unit, which is electrically connected to the photoelectric signal conversion unit and is used to recognize blood vessels according to the electrical signal.

[0014] Optionally, the auxiliary instrument further includes a feedback prompt module, which is electrically connected to the blood vessel recognition algorithm unit and is used to output a prompt signal when a blood vessel is recognized.

[0015] Optionally, the feedback prompt module is an auditory module, a tactile module or a visual module.

[0016] Optionally, the light emitting device includes a plurality of first lamp beads closely attached to each other, the light receiving device includes a plurality of photodetectors, and the positions of the plurality of photodetectors correspond to the positions of the plurality of first lamp beads one by one. The light emitting indicator device includes two groups of light emitting strips, which are respectively arranged on both sides of the light receiving device. Each light emitting strip includes a plurality of second lamp beads, and the positions of the plurality of second lamp beads correspond to the positions of the plurality of photodetectors one by one.

[0017] Optionally, the medical forceps is a parallel compression forceps, and the forceps head is detachably connected to the forceps handle.

[0018] To achieve the above object, the present invention also proposes a control method for an auxiliary instrument. Based on the above auxiliary instrument, the control method includes the following steps:

[0019] When the forceps head of the medical forceps is at the target part, control the light emitting device to emit an optical signal;

[0020] Receive the transmitted light signal after the optical signal passes through the target part, and feedback it to the optical signal processor;

[0021] Convert the transmitted optical signal into an electrical signal, and determine the boundary between blood vessels and tissues in the target site according to the difference of the electrical signal;

[0022] Control the light-emitting beads corresponding to the outside of the boundary between blood vessels and tissues on the light-emitting indicating device to light up or flash.

[0023] In the technical solution of the present invention, the auxiliary instrument includes a medical forceps, a light-emitting device, a light-receiving device, an optical signal processor, and a light-emitting indicating device; the medical forceps includes a forceps handle and a forceps head, the two forceps handles are cross-arranged and hinged at the crossing, the two forceps heads are respectively arranged at one end of the two forceps handles close to the hinge, and the two forceps heads are arranged in parallel; the light-emitting device is arranged in one of the forceps heads and extends along its length direction, and the light-emitting device is used to emit light to the target site; the light-receiving device, the optical signal processor, and the light-emitting indicating device are respectively arranged in the other forceps head, the light-receiving device and the light-emitting indicating device both extend along the length direction of the forceps head and are electrically connected to the optical signal processor; the light-receiving device is arranged opposite to the light-emitting device to receive the transmitted optical signal and feedback it to the optical signal processor; the optical signal processor determines the boundary between blood vessels and tissues in the target site according to the transmitted optical signal, and controls the light-emitting beads corresponding to the outside of the boundary between blood vessels and tissues on the light-emitting indicating device to light up or flash. It can be understood that the present invention improves the structure of the medical forceps and transforms the medical forceps into a brand-new auxiliary instrument for vena cava banding. This auxiliary instrument can help surgeons distinguish blood vessels and tissues during extracorporeal circulation surgery, determine the junction position between the two, and emit an indicating light outside the junction position, so that the operator will not damage the vena cava when using this auxiliary instrument to separate the vena cava, greatly improving the operation efficiency and safety. Description of the Drawings

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on the structures shown in these drawings.

[0025] Figure 1 It is a schematic structural diagram of an embodiment of the auxiliary instrument of the present invention;

[0026] Figure 2 It is a partial cross-sectional view of an embodiment of the auxiliary instrument of the present invention;

[0027] Figure 3 It is a detection principle diagram of the light-emitting device, the light-receiving device, and the light-emitting indicating device in an embodiment of the auxiliary instrument of the present invention;

[0028] Figure 4 Schematic diagram of a first light-emitting diode, a second light-emitting diode and a photodetector in an embodiment of the auxiliary instrument of the present invention;

[0029] Figure 5 Flow schematic diagram of an embodiment of the control method of the auxiliary instrument of the present invention.

[0030] Explanation of the reference numerals in the drawings:

[0031] 10. Plier handle; 20. Plier head; 30. Light-emitting device; 40. Light-receiving device; 50. Light-emitting indicator device; 31. First light-emitting diode; 41. Photodetector; 51. Second light-emitting diode; 70. Rack structure; Ve. Blood vessel; Ti. Tissue.

[0032] The realization, functional features and advantages of the object of the present invention will be further described with reference to the embodiments and the accompanying drawings. Detailed embodiments

[0033] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0034] It should be noted that all the directional indications (such as up, down, left, right, front, back...) in the embodiments of the present invention are only used to explain the relative positional relationship and movement conditions between components in a specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indications will also change accordingly.

[0035] In the description of the present invention, it should also be noted that unless otherwise clearly defined and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication of two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0036] In addition, the descriptions involving "first", "second", etc. in the present invention are for descriptive purposes only, and should not be construed as indicating or implying their relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one such feature. The meaning of "and / or" appearing throughout the text is that it includes three parallel solutions. Taking "A and / or B" as an example, it includes solution A, or solution B, or the solution where both A and B are satisfied simultaneously. The technical solutions between various embodiments can be combined with each other, but it must be based on the fact that those of ordinary skill in the art can implement it. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0037] The present invention provides an auxiliary instrument for vena cava ligature.

[0038] Referring to Figure 1 and Figure 2 In an embodiment of the present invention, the auxiliary instrument includes a medical forceps, a light emitting device 30, a light receiving device 40, an optical signal processor (not shown in the figure), and a light emitting indicator device 50; the medical forceps includes a forceps handle 10 and a forceps head 20, the two forceps handles 10 are cross - arranged and hinged at the intersection, the two forceps heads 20 are arranged one - to - one at one end of the two forceps handles 10 close to the hinge, and the two forceps heads 20 are arranged in parallel; the light emitting device 30 is arranged in one of the forceps heads 20 and extends along its length direction, and the light emitting device 30 is used to emit light to the target site; the light receiving device 40, the optical signal processor, and the light emitting indicator device 50 are respectively arranged in the other forceps head 20, the light receiving device 40 and the light emitting indicator device 50 both extend along the length direction of the forceps head 20 and are electrically connected to the optical signal processor; the light receiving device 40 is arranged opposite to the light emitting device 30 to receive the transmitted optical signal and feedback it to the optical signal processor; the optical signal processor determines the boundary between the blood vessel Ve and the tissue Ti in the target site according to the transmitted optical signal, and controls the light beads on the light emitting indicator device 50 outside the boundary between the blood vessel Ve and the tissue Ti to light up or flash.

[0039] In this embodiment, the medical forceps is a parallel compression forceps. The light emitting device 30 and its power supply module, etc. are arranged in one of the forceps heads 20 of the parallel compression forceps, and the light receiving device 40, the optical signal processor, the light emitting indicator device 50 and their power supply modules, etc. are arranged in the other forceps head 20 of the parallel compression forceps. The parallel compression forceps is provided with a rack structure 70 and is positioned by relying on the dense rack structure 70 at the operating end. When the forceps head 20 clamps the tissue Ti and the blood vessel Ve, the parallel compression forceps is stressed, causing the lower handle to relatively squeeze against the teeth of the rack, forming a balance relationship to achieve the clamping effect.

[0040] Preferably, the forceps handle 10 can be made of medical stainless steel or titanium alloy materials, etc. The length of the forceps handle 10 can be set to 15 - 20 cm to conform to the ergonomic design. The two forceps heads 20 can be symmetrically arranged, and the length of each can be set to 3 - 5 cm, and the width of each can be set to 0.8 - 1.2 cm, which is not limited here.

[0041] It should be noted that the reason for using a parallel compression forceps (i.e., the two forceps heads 20 are parallelly arranged) is that one forceps head 20 emits light, and the other forceps head 20 can smoothly receive the transmitted light. This way is a one-to-one correspondence. If a hemostatic forceps structure is used, a triangular clamping part cannot form a corresponding relationship, resulting in the inability to meet the function.

[0042] The light emitting device 30 can be a visible light emitting device or an invisible light emitting device, preferably an invisible light emitting device such as infrared light to reduce the interference of light on the surgical field of view. The light emitting indicator device 50 can be a visible light emitting device to play a prompting role, and the specific color is not limited.

[0043] The light receiving device 40 can be a device such as a photodetector 41 that can receive optical signals.

[0044] The optical signal processor can be a circuit that can convert optical signals into electrical signals and analyze the electrical signals to determine where the boundary between the blood vessel Ve and the tissue Ti in the target site is, which is not limited here.

[0045] It can be understood that the present invention improves the structure of the medical forceps and transforms the medical forceps into a brand-new auxiliary instrument for vena cava banding. This auxiliary instrument can help surgeons distinguish the blood vessel Ve and the tissue Ti during extracorporeal circulation surgery, determine the boundary position between the two, and emit an indicator light outside the boundary position, so that the operator will not damage the vena cava when using this auxiliary instrument to separate the vena cava, greatly improving the operation efficiency and safety.

[0046] To further reduce the interference of light on the surgical field of view and further improve the effect of the auxiliary instrument indicating the boundary between the blood vessel Ve and the tissue Ti, referring to Figures 1 to 4 , in an embodiment, the light emitting device 30 uses an invisible light emitting device, the wavelength of the light emitted by the light emitting device 30 is 600 - 1000 nm, and the light receiving device 40 uses an invisible light receiving device.

[0047] In this embodiment, the light emitting indicator device 50 is a visible light emitting device, and the light emitting indicator device 50 can also be used for illumination.

[0048] Specifically, the light-emitting device 30 includes a plurality of first lamp beads 31 that are closely attached to each other. The light-receiving device 40 includes a plurality of photodetectors 41. The positions of the plurality of photodetectors 41 correspond one-to-one to the positions of the plurality of first lamp beads 31. The light-emitting indicating device 50 includes two groups of light-emitting strips, which are respectively arranged on both sides of the light-receiving device 40. Each light-emitting strip includes a plurality of second lamp beads 51, and the positions of the plurality of second lamp beads 51 correspond one-to-one to the positions of the plurality of photodetectors 41.

[0049] Preferably, the first lamp bead 31 can be a red lamp bead or an infrared lamp bead, and the wavelength of the light emitted by it is 850nm ± 10nm; the second lamp bead 51 is preferably a white LED lamp bead, and the color temperature can be 4000 - 4500K, which is not limited here.

[0050] It is worth mentioning that actually, blue light is absorbed the least by the tissue Ti. However, blue light is prone to diffuse reflection, which affects the operator's operation around the pericardium. Blue light is prone to form light refraction with the side and adjacent myocardial tissue Ti, forming colors such as blood color or purple, which are easy to mislead. Therefore, it is recommended to use white light display.

[0051] As Figure 2 shown, in one embodiment, the optical signal processor includes a photoelectric signal conversion unit and a difference determination unit electrically connected to the photoelectric signal conversion unit. The photoelectric signal conversion unit is used to convert the transmitted optical signal into an electrical signal, and the difference determination unit is used to determine the boundary between the blood vessel Ve and the tissue Ti in the target part according to the difference of the electrical signals.

[0052] The principle is that after the light emitted by the light-emitting device 30 passes through the parts clamped by the tissue Ti, blood vessel Ve, blood vessel Ve plus tissue Ti and other auxiliary instruments, there will be a difference in the absorption of light by the tissue Ti and blood vessel Ve, which makes the attenuation state of the light different after passing through different parts. The transmitted optical signal is received by the light-receiving device 40 and transmitted to the photoelectric signal conversion unit to be converted into an electrical signal, and then judged by the difference determination unit. In view of the fact that the side clamp head 20 has a plurality of emission and reception particle units, the difference determination unit can judge which two adjacent particle units have obvious numerical differences. Therefore, white light display can be performed outside the adjacent particle unit of the particle unit where the blood vessel Ve absorbs more light. Because of the display of white light, the operator can thread according to this display, so that the blood vessel Ve will not be damaged.

[0053] In one embodiment, the optical signal processor may further include a blood vessel Ve recognition algorithm unit, which is electrically connected to the photoelectric signal conversion unit and is used to recognize the blood vessel Ve according to the electrical signal.

[0054] In this embodiment, the algorithm of the blood vessel Ve recognition algorithm unit determines whether it is a blood vessel Ve based on the difference in the absorption characteristics of hemoglobin and tissue Ti for light of different wavelengths. The probability of the presence of blood vessel Ve is judged by the change rate of the transmitted light intensity. A threshold can be set to distinguish blood vessel Ve from tissue Ti, so as to distinguish blood vessel Ve from tissue Ti, and a detailed classification of different tissue Ti types can be achieved.

[0055] It should be noted that the light absorption characteristics of hemoglobin and muscle tissue Ti are as follows:

[0056] (1) Hemoglobin (the main component of blood)

[0057] Visible light band (400 - 700nm): There are strong absorption peaks (oxyhemoglobin) near 540nm (green light) and 580nm (yellow light); Near-infrared light band (700 - 1000nm): The absorption is relatively low, but in the range of 800 - 900nm, the absorption difference between deoxyhemoglobin and oxyhemoglobin is significant (currently mainly used for blood oxygen detection).

[0058] (2) Muscle tissue Ti

[0059] Muscle tissue Ti is mainly composed of water, protein and lipid. The absorption in the visible light band is weak, but in the near-infrared band (such as 900 - 1000nm), the absorption gradually increases due to water absorption.

[0060] For the blue-green light band (400 - 550nm) with significant absorption differences, hemoglobin has extremely strong absorption in this region, while muscle has weak absorption. Currently, it is mainly used for superficial blood vessel Ve imaging (such as skin surface blood vessel Ve detection). Specific application examples: Venous locators often use wavelengths of 540 - 580nm to enhance the contrast of blood vessel Ve.

[0061] For near-infrared light (650 - 1350nm), among them, in the 650 - 900nm band, the absorption of hemoglobin is relatively low, and the light penetration depth is large, but the difference in the scattering characteristics between muscle and blood vessel Ve can provide contrast (currently mainly used for photoacoustic imaging); In the band greater than 900nm, water absorption gradually dominates, the absorption of muscle increases, and the blood vessel Ve has weak absorption due to low water content, forming a contrast (currently mainly used for imaging of some deep tissues Ti).

[0062] In this embodiment, the auxiliary device further includes a feedback prompt module. The feedback prompt module is electrically connected to the blood vessel Ve recognition algorithm unit and is used to output a prompt signal when a blood vessel Ve is recognized. The feedback prompt module can be an auditory module (speaker), a tactile module (vibration mechanism) or a visual module (display screen), etc.

[0063] In this embodiment, the system can be configured as follows: continuous sound / green light: tissue Ti, intermittent sound / red light: blood vessel Ve.

[0064] Main reference Figure 1 In one embodiment, when the medical forceps adopt parallel compression forceps, the forceps head 20 is detachably connected to the forceps handle 10.

[0065] When assembling the auxiliary instrument, both the two forceps heads 20 and the forceps handle 10 can be fixed by means such as plugging to ensure stability and accurate positioning, and then bolt pressure fastening is used for fixation at the contact part. For electronic devices, after installing the forceps head 20, it should be determined whether it is installed in place to ensure that the positions of multiple lamp beads on one side of the forceps head 20 are in one-to-one correspondence with multiple receiving devices on the other side of the forceps head 20. The light-emitting indicating device 50 can also be configured to flash or light up when the positions of multiple second lamp beads 51 and multiple photodetectors 41 correspond one by one to indicate successful matching. The above matching detection should be carried out before leaving the factory and / or before the operation to ensure that it can work only after successful matching.

[0066] Considering that the two forceps heads 20 are in direct contact with the human body and are active sealing parts, in order to minimize the risk of surgical cross-infection and lighten the volume and weight, the two forceps heads 20 are preferably active disposable structures. The forceps handle 10 is a fixing, connecting, and stabilizing mechanism, and considering its characteristics, it is preferably made of medical stainless steel or titanium alloy materials so that this part can be repeatedly disinfected and used. With such a setting, both the surgical safety can be ensured, and the non-contact part can be repeatedly disinfected and used to save costs and reduce waste.

[0067] The present invention also proposes a control method for the auxiliary instrument. The control method is based on the auxiliary instrument, and the specific structure of the auxiliary instrument refers to the above embodiments. Since the control method for the auxiliary instrument proposed by the present invention includes all the solutions of all the embodiments of the above auxiliary instrument, therefore, it has at least the same technical effects as the above auxiliary instrument, which will not be elaborated one by one here.

[0068] Refer to Figures 1 to 5 In one embodiment of the present invention, the control method for the auxiliary instrument includes the following steps:

[0069] S10. When the forceps head 20 of the medical forceps is at the target site, control the light-emitting device 30 to emit a light signal;

[0070] S20. Receive the transmitted light signal after the light signal passes through the target site and feedback it to the light signal processor;

[0071] S30. Convert the transmitted light signal into an electrical signal, and determine the boundary between the blood vessel Ve and the tissue Ti in the target site according to the difference of the electrical signals;

[0072] S40. Control the lamp beads outside the boundary between the blood vessel Ve and the tissue Ti on the light-emitting indicating device 50 to light up or flash.

[0073] During the operation process, first, the operator places the auxiliary instrument on the target area. After moderately pressing to make the tissue Ti in stable contact, the blood vessel Ve detection mode of the auxiliary instrument can be activated. The light emitting device 30 emits an optical signal, and the light receiving device 40 receives the transmitted optical signal after the optical signal passes through the target site and feeds it back to the optical signal processor. The system analyzes the characteristics of the transmitted optical signal and feeds back the detection result to the operator by the light emitting indicator device 50 emitting light. The detection principle can refer to the foregoing content and will not be elaborated here.

[0074] An auxiliary instrument for vena cava banding and its control method proposed by the present invention at least achieve the following technical effects:

[0075] 1. The operation and blood vessel Ve detection are carried out synchronously, improving the operation efficiency;

[0076] 2. The risk of accidental injury to the blood vessel Ve is reduced, improving the operation safety;

[0077] 3. The parallel pressing design ensures good contact in the detection area, improving the detection accuracy;

[0078] 4. The integrated design does not affect the smoothness of the operation

[0079] 5. It is applicable to various scenarios such as open surgery and minimally invasive surgery, with a wide application range.

[0080] The above are only the optional embodiments of the present invention, and do not limit the patent scope of the present invention accordingly. Any equivalent structural transformation made under the inventive concept of the present invention by using the content of the specification and drawings of the present invention, or directly / indirectly applied in other related technical fields, is included in the patent protection scope of the present invention.

Claims

1. An auxiliary device for vena cava cuff, characterized in that: The auxiliary equipment includes: Medical forceps, comprising a forceps handle and a forceps head, wherein the two forceps handles are cross-arranged and hinged at the intersection, and the two forceps heads are arranged one-to-one on one end of the two forceps handles near the hinge, and the two forceps heads are arranged in parallel; A light emitting device is disposed in one of the clamp heads and extends along the length thereof, and is used to emit light toward a target part; A light receiving device, an optical signal processor and a light emitting indicator device are respectively arranged in the other clamp head, and the light receiving device and the light emitting indicator device both extend along the length direction of the clamp head and are electrically connected to the optical signal processor; the light receiving device and the light emitting device are arranged opposite to each other to receive the transmitted light signal and feed it back to the optical signal processor; the optical signal processor determines the boundary between the blood vessel and the tissue in the target part according to the transmitted light signal, and controls the lamp beads on the outer side of the boundary between the blood vessel and the tissue on the light emitting indicator device to light up or flash.

2. The auxiliary device according to claim 1, characterized in that: The light emitting device is an invisible light emitting device, and the light receiving device is an invisible light receiving device; and / or The wavelength of the light emitted by the light emitting device is 600-1000nm.

3. The auxiliary device according to claim 1, characterized in that: The light-emitting indicator device is a visible light emitting device, and the light-emitting indicator device is also used for lighting.

4. The auxiliary device according to claim 1, characterized in that: The optical signal processor includes a photoelectric signal conversion unit and a difference determination unit electrically connected to the photoelectric signal conversion unit, wherein the photoelectric signal conversion unit is used to convert the transmitted light signal into an electrical signal, and the difference determination unit is used to determine the boundary between the blood vessel and the tissue in the target part according to the difference of the electrical signal.

5. The auxiliary device according to claim 4, characterized in that: The optical signal processor further includes a blood vessel recognition algorithm unit, which is electrically connected to the photoelectric signal conversion unit and is used to recognize a blood vessel according to the electrical signal.

6. The auxiliary device according to claim 5, characterized in that: The auxiliary device also includes a feedback prompt module, which is electrically connected to the blood vessel recognition algorithm unit and is used to output a prompt signal when a blood vessel is recognized.

7. The auxiliary device according to claim 6, characterized in that: The feedback prompt module is an auditory module, a tactile module or a visual module.

8. The assistive device according to claim 1, characterized in that: The light emitting device includes a plurality of first lamp beads that are closely attached to each other, the light receiving device includes a plurality of photodetectors, and the positions of the plurality of photodetectors correspond one-to-one to the positions of the plurality of first lamp beads. The light indicating device includes two groups of light strips, and the two groups of light strips are respectively arranged on both sides of the light receiving device. The light strips each include a plurality of second lamp beads, and the positions of the plurality of second lamp beads correspond one-to-one to the positions of the plurality of photodetectors.

9. The assistive device according to claim 1, characterized in that: The medical forceps are parallel pressure forceps, and the forceps head is detachably connected to the forceps handle.

10. A method for controlling an assistive device, based on the assistive device according to any one of claims 1 to 9, characterized in that: The control method comprises the following steps: When the clamp head of the medical clamp is at the target position, the light emitting device is controlled to emit a light signal; receiving a transmitted light signal after the light signal passes through the target part, and feeding the signal back to the light signal processor; Converting the transmitted light signal into an electrical signal, and determining the boundary between the blood vessel and the tissue in the target part according to the difference of the electrical signal; The light beads on the outer side of the boundary between the blood vessel and the tissue on the light-emitting indicator device are controlled to light up or flash.

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