An auxiliary instrument for a vena cava cuff and a control method thereof

Abstract

The application discloses an auxiliary instrument for a vena cava cuff and a control method thereof, and relates to the technical field of medical instruments. The auxiliary instrument comprises 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 of the forceps and extends along the length direction of the forceps. The light receiving device and the light emitting indicating device both extend along the length direction of the other forceps and are electrically connected with the light signal processor. The light receiving device is arranged opposite to the light emitting device to receive a transmitted light signal and feed back to the light signal processor. The light signal processor determines the boundary between a blood vessel and tissue in a target part according to the transmitted light signal and controls the light emitting indicating device to light up or flash the lamp beads outside the boundary between the blood vessel and the tissue. The application improves the structure of parallel pressure forceps, helps surgeons to distinguish the blood vessel and the tissue during extracorporeal circulation surgery, and greatly improves the operation efficiency and safety.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical devices, in particular to an auxiliary device for a vena cava cuff and a control method thereof. BACKGROUND

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

[0003] Many extracorporeal circulation operations require a vena cava cuff. Currently, surgeons need to use a pressure clamp to assist in the placement, fixation and adjustment of the cuff in the body. This is often done by relying on the visual judgment and experience of the operator. However, it is difficult to distinguish between blood vessels and tissues in the body. The key to the entire operation is to separate the vena cava without damaging it using the pressure clamp. This is relatively dangerous, and if a mistake is made, it can cause severe consequences such as massive bleeding. The risk is even greater in a second operation. SUMMARY

[0004] The main purpose of the present application is to provide an auxiliary device for a vena cava cuff and a control method thereof, which aims to help surgeons distinguish the boundary position between blood vessels and tissues during extracorporeal circulation surgery, thereby improving the efficiency and safety of the operation.

[0005] To achieve the above-mentioned purpose, the present application provides an auxiliary device for a vena cava cuff, which comprises:

[0006] A medical clamp, comprising a clamp handle and a clamp head, two clamp handles are crosswise arranged and hinged at the intersection, two clamp heads are arranged one-to-one on one end of the two clamp handles near the hinge, and two clamp heads are arranged in parallel;

[0007] A light emitting device is arranged in one of the clamp heads and extends along the length direction, the light emitting device is used to emit light to the target site;

[0008] A light receiving device, a light signal processor and a light emitting indicator device are arranged in the other clamp head, respectively, the light receiving device and the light emitting indicator device both extend along the length direction of the clamp head and are electrically connected with the light signal processor; the light receiving device and the light emitting device are arranged opposite to each other, so as to receive the transmitted light signal and feed back to the light signal processor; the light signal processor determines the boundary between blood vessels and tissues in the target site according to the transmitted light signal, and controls the light emitting indicator device to light up or flash the lamp beads outside the boundary between blood vessels and tissues.

[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 is a visible light emitting device, and the light emitting indicator is further used for illumination.

[0012] Optionally, the optical signal processor comprises an optoelectronic signal conversion unit and a difference determination unit electrically connected to the optoelectronic signal conversion unit, the optoelectronic signal conversion unit is used for converting the transmitted light signal into an electrical signal, and the difference determination unit is used for determining the boundary between blood vessels and tissues in the target site according to the difference of the electrical signal.

[0013] Optionally, the optical signal processor further comprises a blood vessel identification algorithm unit, the blood vessel identification algorithm unit is electrically connected to the optoelectronic signal conversion unit and is used for identifying blood vessels according to the electrical signal.

[0014] Optionally, the auxiliary instrument further comprises a feedback prompting module, the feedback prompting module is electrically connected to the blood vessel identification algorithm unit and is used for outputting a prompt signal when blood vessels are identified.

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

[0016] Optionally, the light emitting device comprises a plurality of first lamp beads closely attached to each other, the light receiving device comprises a plurality of photodetectors, the plurality of photodetectors correspond to the plurality of first lamp beads in position one by one, the light emitting indicator comprises two groups of light emitting strips, the two groups of light emitting strips are respectively arranged on the two sides of the light receiving device, the light emitting strips each comprise a plurality of second lamp beads, and the plurality of second lamp beads correspond to the plurality of photodetectors in position one by one.

[0017] Optionally, the medical forceps are parallel pressure forceps, and the forceps head and the forceps handle are detachably connected.

[0018] To achieve the above-mentioned purpose, the application further provides a control method of an auxiliary instrument, which is based on the auxiliary instrument described above, and the control method comprises the following steps:

[0019] When the forceps head of the medical forceps is at the target site, the light emitting device emits a light signal;

[0020] The transmitted light signal of the light signal passing through the target site is received and fed back to the optical signal processor;

[0021] convert the transmitted light signal into an electric signal, and determine the boundary between the blood vessel and the tissue in the target site according to the difference of the electric signal;

[0022] control the light-emitting beads outside the boundary between the blood vessel and the tissue on the light-emitting indicating device to light up or flash.

[0023] In the technical scheme of the present application, the auxiliary instrument comprises a medical forceps, a light-emitting device, a light-receiving device, a light signal processor and a light-emitting indicating device. The medical forceps comprises a handle and a head. Two handles are crossly arranged and hinged at the cross. Two heads are arranged on one end of the handles close to the hinge in a one-to-one manner. The two heads are arranged in parallel. The light-emitting device is arranged in one head and extends along the length direction of the head. The light-emitting device is used to emit light to the target site. The light-receiving device, the light signal processor and the light-emitting indicating device are arranged in the other head. The light-receiving device and the light-emitting indicating device extend along the length direction of the head and are electrically connected with the light signal processor. The light-receiving device is arranged opposite to the light-emitting device to receive the transmitted light signal and feed back to the light signal processor. The light signal processor determines the boundary between the blood vessel and the tissue in the target site according to the transmitted light signal and controls the light-emitting beads outside the boundary between the blood vessel and the tissue on the light-emitting indicating device to light up or flash. It can be understood that the structure of the medical forceps is improved. The medical forceps is changed into a new auxiliary instrument for the vena cava cuff. The auxiliary instrument can help the surgeon to distinguish the blood vessel and the tissue, determine the boundary position of the two, and emit the indicating light outside the boundary position, so that the operator does not hurt the vena cava when separating the vena cava by using the auxiliary instrument. The efficiency and safety of the operation are greatly improved. BRIEF DESCRIPTION OF DRAWINGS

[0024] In order to more clearly illustrate the technical scheme in the embodiments of the present application or the prior art, the drawings needed to be used in the following embodiment or prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application. Those skilled in the art can obtain other drawings according to the structures shown in the drawings without creating any creative labor.

[0025] Figure 1 It is a structural schematic view of an embodiment of the auxiliary instrument of the present application.

[0026] Figure 2 It is a partial sectional view of an embodiment of the auxiliary instrument of the present application.

[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 application.

[0028] Figure 4 FIG. 1 is a schematic diagram of a first light bead, a second light bead and a photoelectric detector in an embodiment of the auxiliary device of the present application;

[0029] Figure 5 FIG. 2 is a flowchart of an embodiment of the control method of the auxiliary device of the present application.

[0030] BRIEF DESCRIPTION OF THE DRAWINGS

[0031] 10, handle; 20, head; 30, light emitting device; 40, light receiving device; 50, light emitting indicating device; 31, first light bead; 41, photoelectric detector; 51, second light bead; 70, rack structure; Ve, blood vessel; Ti, tissue.

[0032] The implementation, functional features and advantages of the present application will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION

[0033] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without creative effort belong to the scope of protection of the present application.

[0034] It should be noted that all the directionality indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present application are only used to explain the relative position relationship, movement condition, etc. between the components in a certain specific posture (as shown in the accompanying drawings), and if the specific posture changes, the directionality indications also change accordingly.

[0035] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms “mounting”, “connection” and “connecting” should be understood in a broad sense, for example, can be fixed connection, can be detachable connection, or integral connection; can be mechanical connection, can be electrical connection; can be direct connection, can be indirect connection through an intermediate medium, or can be the communication inside two elements. For those skilled in the art, the specific meanings of the above terms in the present application can be understood according to the specific circumstances.

[0036] In addition, the descriptions related to "first", "second" and the like in the present application are only for the purpose of description, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" can explicitly or implicitly include at least one of the features. The meaning of "and / or" appearing throughout the text is to include three parallel schemes, for example, "A and / or B" includes A scheme, or B scheme, or A and B schemes. The technical solutions of various embodiments can be combined with each other, but must be based on the realization of ordinary skilled in the art, when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, nor within the protection scope required by the present application.

[0037] The present application provides an auxiliary instrument for vena cava cuff.

[0038] Referring to Figure 1 and Figure 2 In an embodiment of the present application, the auxiliary instrument includes medical forceps, light emitting device 30, light receiving device 40, light signal processor (not shown in the figure) and light emitting indicating device 50; the medical forceps include forceps handles 10 and forceps heads 20, the two forceps handles 10 are cross arranged and hinged at the intersection, the two forceps heads 20 are arranged one by one on 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 the length direction thereof, and the light emitting device 30 is used for emitting light to the target site; the light receiving device 40, the light signal processor and the light emitting indicating device 50 are arranged in the other forceps head 20 respectively, and the light receiving device 40 and the light emitting indicating device 50 both extend along the length direction of the forceps head 20 and are electrically connected with the light signal processor; the light receiving device 40 is arranged opposite to the light emitting device 30, so as to receive the transmitted light signal and feed back to the light signal processor; the light signal processor determines the boundary between the blood vessel Ve and the tissue Ti in the target site according to the transmitted light signal, and controls the light emitting indicating device 50 to light up or flash the lamp beads corresponding to the outside of the boundary between the blood vessel Ve and the tissue Ti.

[0039] In the embodiment, the medical forceps are parallel compression forceps, the light emitting device 30 and its power supply module and the like are arranged in one of the forceps heads 20 of the parallel compression forceps, and the light receiving device 40, the light signal processor, the light emitting indicating device 50 and their power supply module and the like are arranged in the other forceps head 20 of the parallel compression forceps. The parallel compression forceps are provided with a rack structure 70, and the operation end dense rack structure 70 is used for positioning, when the forceps head 20 clamps the tissue Ti and the blood vessel Ve, the parallel compression forceps are stressed to relatively extrude the lower handle and the tooth part on the rack, so as to form a balance relationship and achieve the clamping effect.

[0040] Preferably, the handle 10 can be made of medical stainless steel or titanium alloy, and the length of the handle 10 can be set to 15-20 cm to meet the ergonomic design; the two jaws 20 can be symmetrically arranged, and the length of each jaw 20 can be set to 3-5 cm and the width of each jaw 20 can be set to 0.8-1.2 cm, which is not limited herein.

[0041] It should be noted that the reason for using parallel pressure forceps (i.e., the two jaws 20 are arranged in parallel) is to achieve that one jaw 20 emits light and the other jaw 20 can smoothly receive the transmitted light, which is a one-to-one correspondence. If a hemostat structure is used, the clamping part is triangular and cannot form a corresponding relationship, which makes the function unable to meet the requirements.

[0042] The light emitting device 30 can be a visible light emitting device or an invisible light emitting device, and preferably an invisible light emitting device such as infrared light, so as 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 photodetector 41 or other device capable of receiving light signals.

[0044] The light signal processor can be a circuit capable of converting light signals into electrical signals and analyzing the electrical signals to determine where the boundary between the blood vessel Ve and the tissue Ti in the target part is, which is not limited herein.

[0045] It can be understood that the present application improves the structure of medical forceps and changes the medical forceps into a new auxiliary instrument for the vena cava cuff, which can help surgeons to distinguish the blood vessel Ve and the tissue Ti during extracorporeal circulation surgery, determine the boundary position of the two, and emit an indicating light outside the boundary position, so that the operator will not injure the vena cava when using the auxiliary instrument to separate the vena cava, greatly improving the efficiency and safety of the operation.

[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, with reference to Figures 1 to 4 In an embodiment, the light emitting device 30 is 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 is 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 in close contact with each other, the light receiving device 40 includes a plurality of photodetectors 41 corresponding to the plurality of first lamp beads 31 one by one, and the light emitting indicator device 50 includes two groups of light emitting strips, which are respectively arranged on two sides of the light receiving device 40, and each of the light emitting strips includes a plurality of second lamp beads 51 corresponding to the plurality of photodetectors 41 one by one.

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

[0050] It is worth mentioning that actually the blue light is least absorbed by the tissue Ti, but the blue light is prone to appear diffuse reflection, which affects the operator to operate around the pericardium, and the blue light is easy to form light refraction with the side and the adjacent myocardial tissue Ti to form blood color or purple color and other misleading colors, so it is suggested to use white light display.

[0051] As shown in FIG. 1, Figure 2 In an embodiment, the light signal processor includes a photoelectric signal conversion unit and a difference determination unit electrically connected with the photoelectric signal conversion unit, the photoelectric signal conversion unit is used to convert the transmitted light signal into an electric 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 electric signal.

[0052] The principle is that the light emitted by the light emitting device 30 passes through the tissue Ti, the blood vessel Ve, the part held by the auxiliary instrument, etc., and the difference in absorption of the light by the tissue Ti and the blood vessel Ve will appear, which makes the attenuation state of the light after passing through different parts different. The transmitted light signal is received by the light receiving device 40 and transmitted to the photoelectric signal conversion unit to be converted into an electric signal, and then the difference determination unit determines which two adjacent particle units have a significant numerical difference, so that the white light display can be performed outside the particle unit adjacent to the particle unit with more light absorption by the blood vessel Ve. Because of the white light display, the operator can perform threading according to the display, so as not to injure the blood vessel Ve.

[0053] In an embodiment, the light signal processor can further include a blood vessel Ve recognition algorithm unit electrically connected with the photoelectric signal conversion unit and used to recognize the blood vessel Ve according to the electric signal.

[0054] In this embodiment, the algorithm of the vascular Ve identification algorithm unit is based on the difference in absorption characteristics of hemoglobin and tissue Ti to different wavelengths of light to determine whether it is vascular Ve. The probability of vascular Ve presence is judged by the rate of change of transmitted light intensity. A threshold can be set to distinguish between vascular Ve and tissue Ti, so as to distinguish between vascular Ve and tissue Ti and to achieve detailed classification of different tissue Ti types.

[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 near 540nm (green light) and 580nm (yellow light) (oxygenated hemoglobin); Near-infrared light band (700-1000nm): The absorption is relatively low, but in the range of 800-900nm, the absorption difference between deoxygenated hemoglobin and oxygenated hemoglobin 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 lipids. It has weak absorption in the visible light band, but its absorption in the near-infrared band (such as 900-1000nm) gradually increases due to water absorption.

[0060] For the blue-green light (400-550nm) band with significant absorption differences, hemoglobin absorbs it very strongly in this region, while muscle absorption is weak. It is currently mainly used for superficial vascular Ve imaging (such as Ve detection in superficial skin blood vessels). Specific application example: Vein locators often use a wavelength of 540-580nm to enhance the contrast of vascular Ve.

[0061] For near-infrared light (650-1350nm), in the 650-900nm band, hemoglobin absorption is low and the light penetration depth is large, but the difference in scattering characteristics of Ve in muscle and blood vessels can provide a contrast (currently mainly used for photoacoustic imaging); in the band above 900nm, water absorption gradually becomes dominant, muscle absorption is enhanced, and vascular Ve absorption is weak due to low water content, forming a contrast (currently mainly used for Ti imaging of some deep tissues).

[0062] In this embodiment, the assistive device further includes a feedback prompting module, which is electrically connected to the vessel Ve recognition algorithm unit and is used to output a prompting signal when vessel Ve is recognized. The feedback prompting module may 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] Referring primarily to Figure 1 In an embodiment, when the medical forceps are parallel pressure forceps, the forceps head 20 and the forceps handle 10 are detachably connected.

[0065] When assembling the auxiliary instrument, the two forceps heads 20 and the forceps handle 10 can be fixed by insertion or the like to ensure stability and accurate positioning, and then bolted and fixed by pressure at the contact part. For electronic devices, after the forceps head 20 is installed, it should be determined whether it is installed in place to ensure that the positions of the multiple lamp beads of one forceps head 20 are matched one-to-one with the multiple receiving devices of the other forceps head 20, and the light-emitting indicating device 50 can also be configured to flash or light up when the multiple second lamp beads 51 and the multiple photodetectors 41 are one-to-one corresponding in position, to prompt the successful matching. The above matching detection should be carried out before shipment and / or before operation, and only after successful matching can it be used.

[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 cross-infection and reduce the volume and weight, the two forceps heads 20 are preferably active disposable structures. The forceps handle 10 is a fixed, connected, and stable mechanism, and considering its characteristics, it is preferably made of medical stainless steel or titanium alloy material, so that this part can be repeatedly sterilized and used. In this way, the safety of the operation can be ensured, and the non-contact part can be repeatedly sterilized and used to save costs and reduce waste.

[0067] The application also provides a control method of an auxiliary instrument, which is based on the auxiliary instrument, and the specific structure of the auxiliary instrument is referred to the above embodiments. Since the control method of the auxiliary instrument includes all the schemes of all the embodiments of the auxiliary instrument, it at least has the same technical effects as the auxiliary instrument, which will not be described here.

[0068] Referring to Figures 1 to 5 In an embodiment of the application, the control method of the auxiliary instrument includes the following steps:

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

[0070] S20, receiving the transmitted light signal after the light signal passes through the target site and feeding back to the light signal processor;

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

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

[0073] During the operation, first, the operator places the auxiliary instrument in the target area, and after the tissue Ti is stably contacted by moderate pressure, the blood vessel Ve detection mode of the auxiliary instrument can be started, the light emitting device 30 emits light signals, the light receiving device 40 receives the transmitted light signals after the light signals pass through the target site, and feeds back to the light signal processor, the system analyzes the characteristics of the transmitted light signals, and the light emitting indicator device 50 emits light to feedback the detection results to the operator. The detection principle can be referred to the foregoing content, and will not be repeated here.

[0074] The auxiliary instrument for the vena cava bandage and the control method thereof provided by the application at least achieve the following technical effects:

[0075] 1. The operation and the blood vessel Ve detection are synchronized, and the operation efficiency is improved;

[0076] 2. The risk of blood vessel Ve injury is reduced, and the operation safety is improved;

[0077] 3. The parallel pressure design ensures good contact of the detection area, and improves the detection accuracy;

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

[0079] 5. It is suitable for various scenes such as open operation and minimally invasive operation, and has a wide application range.

[0080] The above is only an optional embodiment of the application, and does not limit the patent range of the application, and any equivalent structural transformation made under the inventive concept of the application, or direct / indirect application in other related technical fields is included in the patent protection range of the application.

Claims

1. An auxiliary instrument for a vena cava cuff, characterized in that, The utility model relates to a medical forceps, including forceps handle and forceps head, two forceps handle cross arrangement and articulate at the cross, two forceps head one-to-one arrangement is in two forceps handle near articulate one end, two forceps head parallel arrangement, light emitting device is arranged in one forceps head and along its length direction extension arrangement and is used to emit light to target site, the light emitting device includes a plurality of first lamp pearl that abuts each other, Light receiving device, light signal processor and light emitting indicating device are arranged in the other forceps head respectively, the light receiving device and the light emitting indicating device all extend along the length direction of the forceps head and are electrically connected with the light signal processor, The light receiving device is used to receive transmission light signal and feedback to the light signal processor, the light receiving device includes a plurality of photodetectors, a plurality of the photodetectors correspond to a plurality of the first lamp pearl position one-to-one, the light emitting indicating device includes two groups of light emitting strips, two groups of the light emitting strips are arranged on the both sides of the light receiving device respectively, the light emitting strip all includes a plurality of second lamp pearl that correspond to a plurality of the photodetectors position one-to-one, the light signal processor determines the demarcation of blood vessel and tissue in target site according to the transmission light signal, and controls the light pearl outside the demarcation of blood vessel and tissue on the light emitting indicating device to light up or flicker, The first lamp pearl is red light or infrared light lamp pearl, and the wavelength of emitted light is 850nm plus or minus 10nm, and the second lamp pearl is white light LED lamp pearl, and the color temperature is 4000K-4500K. The light signal processor includes photoelectric signal conversion unit and difference determination unit electrically connected with the photoelectric signal conversion unit, the photoelectric signal conversion unit is used to convert the transmission light signal into electric signal, and the difference determination unit is used to determine the demarcation of blood vessel and tissue in target site according to the difference of electric signal. The light signal processor also includes blood vessel identification algorithm unit, the blood vessel identification algorithm unit is electrically connected with the photoelectric signal conversion unit and is used to identify blood vessel according to the electric signal.

2. The auxiliary device of claim 1, wherein, The auxiliary instrument also includes feedback prompt module, the feedback prompt module is electrically connected with the blood vessel identification algorithm unit and is used to output prompt signal when identifying blood vessel.

3. The auxiliary device of claim 2, wherein, The feedback prompt module is auditory module, tactile module or visual module.

4. The auxiliary device of claim 3, wherein The medical forceps are parallel compression forceps, and the forceps head and the forceps handle are detachably connected.

5. The auxiliary device of claim 4, wherein, ​ 6. The auxiliary device of claim 1, wherein, ​

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