Intelligent minimally invasive exploration method and system and dynamic spherical distraction mechanism

Abstract

The invention relates to the field of medical instruments, and particularly discloses an intelligent minimally invasive probing method which comprises the following steps: forming an operation space through a dynamic spherical distraction mechanism, positioning a focus through a high-definition camera unit, and synchronously completing hemostasis, suction, flushing and specimen collection; exiting equipment, treating puncture points, monitoring complications after operation, formulating a treatment scheme according to a specimen, and ensuring that the whole process is safe and closed. The method has the advantages that physiological burdens and complication risks are reduced, human tissue shielding is avoided, continuous data transmission is ensured, and blind operation is avoided; the operation of exploration, hemostasis, suction, specimen collection and the like is synchronously completed, the equipment switching time is shortened, the first-aid efficiency is improved, meanwhile, whole-process visual operation, postoperative complication monitoring and individualized treatment scheme making based on etiological specimens are achieved, a safe closed loop from preoperative assessment to postoperative treatment is ensured, and the risks of infection and the like are reduced.

Description

Technical Field

[0001] The present invention relates to the medical field, and in particular to an intelligent minimally invasive exploration method, system and dynamic spherical expansion mechanism. Background Art

[0002] Currently, minimally invasive thoracic and abdominal procedures for critically ill patients usually require general anesthesia or pneumoperitoneum, and require surgery in an operating room or CT scan room. This not only increases the patient's physiological burden but also may increase the risk of complications, especially for high-risk patients who cannot tolerate general anesthesia or transfer. Traditional minimally invasive techniques have the following shortcomings:

[0003] 1. High-definition cameras are required during surgery to provide the operator with a visual field. Existing high-definition camera units have data transmission delays of more than 200ms in traditional transmission links (such as ordinary cables or early wireless technologies), which cannot meet the extremely high real-time requirements of minimally invasive exploration. There is a time difference between the image seen by the doctor during the operation and the actual operation, which may cause delays in the operation and affect the accuracy of the operation. Furthermore, there is a high risk of signal interruption. During the operation, due to factors such as changes in patient position and movement of the equipment, the transmission link may malfunction (such as cable bending and loose interfaces), resulting in image loss and causing the operation to become a blind operation. According to statistics, 15% of minimally invasive operations will experience temporary image loss, increasing surgical risks.

[0004] 2. When processing the images, the original images need to be denoised, compressed, and timestamp synchronized. However, the existing H.264 / AVC-based compression algorithm is inadequate for processing high-frequency details (such as tissue texture and vascular structure) in medical images. Due to the coarse macroblock division, edges are easily blurred during compression, with a blurring rate of up to 25%. To maintain basic image quality, a high bit rate (≥8Mbps) is required. This is particularly challenging in low-bandwidth transmission scenarios such as bedside procedures and mobile medical applications for minimally invasive exploration, potentially leading to data transmission congestion and image quality degradation.

[0005] In addition, existing technologies mostly use independent timestamp embedding. During the compression process, due to operations such as frame rearrangement or B-frame prediction, the timestamps of the image stream and the operation instructions (such as electrocoagulation trigger signal, suction operation signal) will be misaligned, with an error of up to 50-100ms. This time deviation will make it impossible for doctors to accurately match images with operation actions during postoperative review or intraoperative operation, affecting the evaluation of the surgical process and the accuracy of real-time operation; furthermore, traditional compression algorithms use a uniform processing method for the entire image, while in minimally invasive exploration, the lesion area (such as bleeding points, abscess cavity) needs to retain more details for doctors to make accurate judgments. Due to the uniform global compression ratio of existing technologies, there is a loss of information in key areas, with a loss rate of 15%-20%. For example, the lesion area and the background area are compressed at the same high ratio, making it difficult for doctors to identify small lesions or subtle structural changes from the image, increasing the risk of missed diagnosis and misdiagnosis;

[0006] 3. The need for full surgical image recording and backup. In order to meet the needs of medical traceability, dispute verification, teaching research, and postoperative review and optimization, the entire surgical image needs to be recorded and backed up. However, existing technologies have shortcomings in data transmission stability and backup reliability. The complete backup rate of image data is only 85%, and there is a risk of image data loss or incompleteness.

[0007] Therefore, those skilled in the art are committed to providing an intelligent minimally invasive exploration method, system and dynamic spherical expansion mechanism that can effectively solve the above technical problems. Summary of the Invention

[0008] In view of the above-mentioned defects in the prior art, the technical problem to be solved by the present invention is to provide an intelligent minimally invasive exploration method, system and dynamic spherical expansion mechanism that can effectively solve the above-mentioned technical problems.

[0009] To achieve the above-mentioned purpose, the present invention provides an intelligent minimally invasive exploration method, which includes

[0010] An operating space is formed through a dynamic spherical expansion mechanism, avoiding tissue damage caused by traditional pneumoperitoneum or rigid expansion. The lesion is located through a high-definition camera unit, and hemostasis, suction, flushing and specimen collection are completed simultaneously to improve operational efficiency and accuracy. The device is safely withdrawn and the puncture point is handled. Complications are monitored after surgery, and treatment plans are formulated based on the specimens to ensure a safe closed loop throughout the process.

[0011] Furthermore, before the dynamic spherical expansion mechanism is used to form the operating space, the patient's vital signs and tolerance are assessed to confirm suitability for bedside minimally invasive surgery; the patient's position is adjusted according to the exploration site;

[0012] Perform a preoperative inspection of the dynamic spherical distraction mechanism; specifically, check whether the hydraulic / mechanical control system of the dynamic spherical distraction mechanism is normal to ensure flexible distraction and contraction functions.

[0013] Confirm that the high-definition camera unit, electrocoagulation probe, negative pressure suction and flushing channels at the front end of the multifunctional endoscopic operation are functioning properly, and install disposable consumables to avoid cross infection.

[0014] Perform local anesthesia on the operation site, use ultrasound or CT and other imaging techniques to locate the best puncture point and mark the puncture path.

[0015] Furthermore, the dynamic spherical expansion mechanism forms an operating space by creating a tiny puncture hole at the marked point with a puncture needle, inserting the dynamic spherical expansion mechanism along the puncture path. The dynamic spherical expansion mechanism is initially in a contracted linear structure; the hydraulic / mechanical control system is activated to cause the dynamic spherical expansion mechanism to expand into a spherical shape in multiple dimensions, gently expanding the surrounding tissue gap to form a stable operating space; and the tissue expansion effect is observed in real time through a high-definition camera unit, adjusting the expansion force and angle to ensure a safe and stable channel.

[0016] Furthermore, locating lesions through high-definition images specifically includes synchronously turning on the high-definition camera unit at the front end of the operation to provide real-time images and transmit them to the external display. Combined with the light source system, the operation area is illuminated to ensure full visualization. The doctor identifies the location of the lesion based on the image and plans the operation path.

[0017] Furthermore, the synchronous completion of hemostasis, suction, flushing and specimen collection is specifically as follows:

[0018] The hemostasis is electrocoagulation hemostasis. When a bleeding point is found, the hemostasis operation is directly performed by operating the electrocoagulation probe at the front end, thereby reducing the risk of bleeding during surgery.

[0019] The suction and flushing are negative pressure suction and flushing, which uses the negative pressure suction channel to remove necrotic tissue, pus or blood, while injecting normal saline or liquid medicine through the flushing channel to clean the operation area and retain pathogen specimens;

[0020] During the specimen collection, tissue samples or exudate are collected simultaneously during the suction process and stored in a sterile container for examination.

[0021] Furthermore, the device is withdrawn and the puncture point is processed, complications are monitored after surgery, and a treatment plan is formulated based on the specimens. Specifically,

[0022] The dynamic expansion mechanism is contracted into a linear structure and slowly withdrawn from the puncture hole to reduce tissue damage.

[0023] Disinfect the puncture site and complete wound closure; closely observe the patient's vital signs after surgery and assess for complications such as bleeding and infection; formulate a targeted anti-infection treatment plan based on the results of the pathogen specimens collected during the operation.

[0024] Furthermore, the high-definition camera unit includes:

[0025] The high-definition camera, equipped with a high-sensitivity sensor and optical image stabilization module, is connected to the pre-processing module via a coaxial cable and is reverse-powered by the front-end signal pre-processing module through the coaxial cable. It is used to capture 4K real-time images during minimally invasive procedures, adapting to tiny puncture channels and ensuring image stability.

[0026] The front-end signal pre-processing module receives analog signals from the HD camera and outputs signals that are connected to the fiber optic transceiver and 6G terahertz relay base station via a fiber optic channel and a 6G terahertz communication module, respectively. It uses an FPGA chip to denoise, compress, and synchronize timestamps on the original image, reducing data transmission volume and ensuring temporal consistency between the image and the operating instructions.

[0027] The fiber optic transceiver is connected to the pre-processing module via optical fiber at one end and to the optical fiber switch of the main control system at the other end. It achieves high-speed, low-latency image data transmission through single-mode optical fiber, supports long-distance lossless transmission, and has built-in error correction circuitry to ensure signal integrity.

[0028] The 6G terahertz relay base station wirelessly receives the signal from the pre-processing module through the 6G terahertz communication module, and then connects to the wireless access point of the main control system via a copper cable. As a supporting device for the 6G terahertz communication module, it is used to automatically receive its wireless signal when the optical fiber link fails. It uses the high-frequency characteristics of the terahertz frequency band to achieve short-distance high-speed data relay, avoiding obstruction by human tissue;

[0029] The main control system interface unit receives and inputs signals from optical fiber and wireless links, and outputs signals to monitors via the HDMI interface and to storage servers via the USB interface for backup. It is used to integrate optical fiber switches and wireless access points, enabling real-time switching of wired and wireless links and priority transmission of video streams, ensuring real-time image display and data backup.

[0030] The backup power module is connected in parallel to the power interfaces of the pre-processing module and the 6G terahertz relay base station. It supports fast and seamless switching and is used to provide a hot-swappable redundant power supply. It automatically switches power supply when the main power supply is interrupted, avoiding camera unit shutdown and image interruption caused by power outages.

[0031] Furthermore, the FPGA chip is used to perform denoising, compression and time stamp synchronization on the original image, wherein the compression specifically includes the following steps:

[0032] Step 1: Locate the first node as the starting point for processing the unprocessed 4K image;

[0033] Step 2: The unprocessed 4K image enters the second node FPGA pre-processing module, where the FPGA chip in the module performs parallel computing to quickly pre-process the image data.

[0034] Step 3: The pre-processed image enters the third node content analysis module to identify ROI and non-ROI;

[0035] Step 4: After identifying the ROI, enter the fourth node for ROI marking; after identifying the non-ROI, enter the fifth node for non-ROI marking;

[0036] Step 5: The image marked with ROI enters the sixth node and uses wavelet transform plus ROI lossless compression to ensure that the information of the lesion area is not lost;

[0037] The images that have passed the non-ROI mark enter the seventh node and use hybrid coding plus non-ROI lossy compression to reduce the amount of data transmission;

[0038] Step 6: The compressed ROI and non-ROI images enter the eighth node inter-stamp synchronization module to ensure that the image data and time information are accurately matched;

[0039] Step 7: Finally, the image that has undergone timestamp synchronization processing is compressed and output from the ninth node as a code stream to obtain compressed image data that can be used for transmission or storage.

[0040] An intelligent minimally invasive exploration system, comprising:

[0041] Operation execution module, used to realize puncture, expand the operation space, lesion treatment and specimen collection;

[0042] High-definition camera unit, used to provide clear images of the surgical field, allowing doctors to observe the tissues and organs at the operating site and assist in precise surgical operations;

[0043] The control system is used to coordinate the actions of each module and realize operation path planning and instruction execution.

[0044] An intelligent minimally invasive exploration dynamic spherical distraction mechanism, comprising:

[0045] Bionic skeleton assembly, the bionic skeleton assembly includes a plurality of movable support arms, each of the support arms is made of medical grade flexible metal or memory alloy,

[0046] A driving component, used for driving the bionic skeleton component to expand and contract;

[0047] Pressure sensor and displacement sensor, used to detect the expansion force and expansion range;

[0048] The high-definition camera unit provides clear images of the surgical field, allowing doctors to observe the tissues and organs at the operating site and assist in precise surgical operations.

[0049] Front-end HD camera clamp assembly, used to install the HD camera unit;

[0050] The flushing and negative pressure suction component includes flushing and negative pressure suction functions. The flushing function is used to remove blood, tissue fragments and other impurities in the surgical field to maintain a clear field of view. The negative pressure suction function is used to remove flushing fluid, exudate, and other liquids and foreign matter generated during the operation to maintain a clean and dry environment in the operating area.

[0051] The operating handle comprises a connecting section and an operating section, and the bionic skeleton component is movably arranged on the connecting section.

[0052] The present invention has the following beneficial effects:

[0053] 1. A dynamic spherical expansion mechanism is used. The flexible support arms of the bionic skeleton component expand into a spherical shape in multiple dimensions, gently expanding the tissue gap and avoiding the physical damage caused by traditional pneumoperitoneum or rigid expanders. The risk of tissue tearing is reduced by 60%, and the incidence of postoperative bleeding complications is reduced from 10% to 4%. No general anesthesia is required, and the operation can be performed under local anesthesia at the bedside. It is suitable for high-risk patients (such as the elderly and those with cardiopulmonary insufficiency) who cannot tolerate general anesthesia or transfer, reducing physiological burden and complication risk.

[0054] 2. The fiber optic link supports high-speed (10Gbps) and low-latency (≤50ms) transmission, a 75% improvement over traditional technologies (>200ms). Built-in error correction circuits ensure signal integrity and enable real-time image display. The 6G terahertz relay base station serves as a redundant link, automatically switching in the event of a fiber failure. Utilizing the high-frequency characteristics of the terahertz band (200-300GHz), it achieves high-speed wireless transmission (100Gbps) over short distances (≤10 meters), avoiding obstructions from human tissue. The risk of data interruption is reduced from 15% to <1%, ensuring uninterrupted data transmission and avoiding blind operations.

[0055] 3. Provide hot-swappable redundant power supply, which can be quickly switched when the main power is interrupted to prevent the camera unit from shutting down;

[0056] 4. Utilizes FPGA chips to analyze image content and identify lesion regions (ROIs) and background regions (non-ROIs). ROIs utilize wavelet transform lossless compression, retaining 99.2% of detail and achieving a PSNR of 40dB (compared to conventional 32dB), enabling identification of millimeter-level lesions. Non-ROIs utilize dynamic lossy compression (compression ratios ranging from 10:1 to 25:1), with an average compression ratio of 18:1. This reduces the bitrate from 90Mbps to 50Mbps, reducing transmission throughput by 44% and addressing congestion in low-bandwidth scenarios.

[0057] 5. A dual-clock domain synchronization mechanism is used to reduce the time error between images and operating instructions from 50-100ms to ≤5ms. This dual-clock domain synchronization mechanism improves the time matching accuracy between images and operating instructions by 95%, and the error in postoperative review is ≤2 frames, ensuring accurate correspondence between postoperative review and intraoperative operation.

[0058] 6. The main control system interface unit integrates a fiber optic switch and a wireless access point to achieve real-time switching of wired / wireless links and prioritize video stream transmission. This ensures that image data is displayed in real time via the HDMI interface and backed up to a storage server via the USB interface, ensuring the integrity and traceability of the entire image record, meeting the needs of medical traceability, teaching and research.

[0059] 7. The dynamic spherical expansion mechanism is integrated with the high-definition camera unit, electrocoagulation probe, negative pressure suction and flushing channel to simultaneously complete operations such as exploration, hemostasis, suction, and specimen collection, reducing equipment switching time and improving emergency treatment efficiency. At the same time, full visualization of operations, postoperative complication monitoring, and personalized treatment plans based on pathogenic specimens ensure a safe closed loop from preoperative evaluation to postoperative treatment, reducing risks such as infection. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] Figure 1 It is a schematic flow chart of the intelligent minimally invasive exploration method of the present invention.

[0061] Figure 2 It is a schematic flow chart of the compression step in the present invention.

[0062] Figure 3 It is a schematic diagram of the expanded structure of the spherical expansion mechanism in the present invention.

[0063] Figure 4 It is a schematic diagram of the structure of the spherical expansion mechanism after contraction in the present invention. DETAILED DESCRIPTION

[0064] The present invention will be further described below with reference to the accompanying drawings and examples:

[0065] In the description of the present invention, it should be noted that the terms "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate and simplify the description of the present invention. They are not intended to indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation, and therefore should not be construed as limitations on the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0066] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "installed," "installed," and "connected" should be understood in a broad sense. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0067] like Figures 1 to 4 As shown, an intelligent minimally invasive exploration method, the method includes

[0068] S1: The dynamic spherical expansion mechanism forms an operating space to avoid tissue damage caused by traditional pneumoperitoneum or rigid expansion.

[0069] S2: Uses a high-definition camera unit to locate lesions and simultaneously completes hemostasis, suction, flushing, and specimen collection, improving operational efficiency and accuracy.

[0070] S3: Safely withdraw the device and handle the puncture site;

[0071] S4: Monitor complications after surgery, formulate treatment plans based on specimens, and ensure a safe closed loop throughout the entire process.

[0072] Before the dynamic spherical expansion mechanism is used to form an operating space, the patient's vital signs and tolerance are assessed to confirm suitability for bedside minimally invasive surgery (such as high-risk patients who cannot tolerate general anesthesia or transfer); the patient's position is adjusted according to the exploration site (thoracic and abdominal cavity, abdominal abscess, etc.);

[0073] Perform a preoperative examination of the dynamic spherical expansion mechanism (robotic arm); specifically, check whether the hydraulic / mechanical control system of the dynamic spherical expansion mechanism (bionic skeleton) is normal to ensure that the expansion and contraction functions are flexible.

[0074] Confirm that the high-definition camera unit, electrocoagulation probe, negative pressure suction and flushing channels at the front end of the multifunctional endoscopic operation are functioning properly, and install disposable consumables (such as suction tubes and flushing pipelines) to avoid cross infection.

[0075] Perform local anesthesia on the operation site (no general anesthesia is required), use ultrasound or CT and other imaging techniques to locate the best puncture point and mark the puncture path.

[0076] The dynamic spherical expansion mechanism is used to create an operating space. Specifically, a puncture needle creates a tiny puncture hole (approximately 5-10 mm in diameter) at the marked point, inserts the dynamic spherical expansion mechanism along the puncture path, and initially forms a contracted linear structure. The hydraulic / mechanical control system is activated to expand the dynamic spherical expansion mechanism into a spherical shape in multiple dimensions, gently expanding the surrounding tissue gaps to form a stable operating space (avoiding damage caused by traditional pneumoperitoneum or rigid expansion devices). The tissue expansion effect is observed in real time through a high-definition camera unit, and the expansion force and angle are adjusted to ensure a safe and stable channel.

[0077] Locating lesions through high-definition images specifically includes: synchronously turning on the high-definition camera unit at the front end of the operation to provide real-time images and transmit them to the external display; combining with the light source system to illuminate the operation area (i.e., the surgical field of view area, such as the tissue spaces and lesion sites in the thoracic and abdominal cavities, to ensure that the doctor can complete exploration, hemostasis, suction and other operations under real-time visualization conditions, avoiding the risk of blind operation due to insufficient light); ensuring full visualization; the doctor identifies the location of the lesion (such as bleeding points, necrotic tissue, abscess cavity) based on the images and plans the operation path.

[0078] The synchronous completion of hemostasis, suction, flushing and specimen collection is specifically as follows:

[0079] The hemostasis is electrocoagulation hemostasis. When a bleeding point is found, the hemostasis operation is directly performed by operating the electrocoagulation probe at the front end, thereby reducing the risk of bleeding during surgery.

[0080] Suction and flushing are performed with negative pressure, using the negative pressure suction channel to remove necrotic tissue, pus, or blood. Simultaneously, physiological saline or liquid medicine is injected through the flushing channel to clean the operating area and obtain pathogen specimens (such as pus for culture to guide subsequent anti-infection treatment).

[0081] During the specimen collection, tissue samples or exudate are collected simultaneously during the suction process and stored in a sterile container for examination.

[0082] The specific steps of withdrawing the device and handling the puncture site, monitoring complications after surgery, and formulating a treatment plan based on the specimen are as follows:

[0083] The dynamic expansion mechanism is contracted into a linear structure and slowly withdrawn from the puncture hole to reduce tissue damage.

[0084] Disinfect the puncture site and complete wound closure; closely observe the patient's vital signs after surgery and assess for complications such as bleeding and infection; formulate a targeted anti-infection treatment plan based on the results of the pathogen specimens collected during the operation.

[0085] The following are specific cases after adopting the solution of the present invention:

[0086] Case 1: Minimally Invasive Exploration in a Patient with Intra-Abdominal Abscess

[0087] This method was used on patients with intra-abdominal abscesses. The puncture hole was 5mm in diameter, and the dynamic spherical expansion mechanism expanded the diameter to 30mm. During the procedure, an electrocoagulation probe was used to precisely stop bleeding, with the amount of bleeding less than 10ml. Vacuum suction was used to simultaneously remove pus and obtain a specimen. The entire procedure took 28 minutes, and postoperative monitoring showed no bleeding or infectious complications. Compared to traditional pneumoperitoneum surgery, this method avoids the risks of general anesthesia for elderly patients (those with cardiopulmonary insufficiency) and eliminates the need for transfer to the operating room; the procedure can be performed at the bedside.

[0088] Case 2: Risk avoidance in a patient with a localized abscess surrounding pancreatitis

[0089] For patients with localized abscesses around pancreatitis and newly formed cyst walls, using traditional pneumoperitoneum to establish an operating space can lead to cyst wall rupture due to increased intra-abdominal pressure, causing pus overflow and the spread of intra-abdominal infection. The present invention uses a dynamic spherical expansion mechanism with flexible support arms to gently expand the tissue gap, creating a stable operating space without the need for inflation, thus avoiding the impact of pneumoperitoneum on the fragile cyst wall. Intraoperative imaging shows that the expansion force is controlled at 15-20kPa (real-time monitoring by a pressure sensor), successfully completing abscess debridement and specimen collection. The postoperative infection indicator (procalcitonin) is reduced by 40% compared to traditional methods.

[0090] The high-definition camera unit includes:

[0091] The high-definition camera, equipped with a high-sensitivity sensor and optical image stabilization module, is connected to the pre-processing module via a coaxial cable and is reverse-powered by the front-end signal pre-processing module through the coaxial cable. It is used to capture 4K real-time images during minimally invasive procedures, adapting to tiny puncture channels and ensuring image stability.

[0092] The front-end signal pre-processing module receives analog signals from the HD camera and outputs signals that are connected to the fiber optic transceiver and 6G terahertz relay base station via a fiber optic channel and a 6G terahertz communication module, respectively. It uses an FPGA chip to denoise, compress, and synchronize timestamps on the original image, reducing data transmission volume and ensuring temporal consistency between the image and the operating instructions.

[0093] The fiber optic transceiver is connected to the pre-processing module via optical fiber at one end and to the optical fiber switch of the main control system at the other end. It achieves high-speed, low-latency image data transmission through single-mode optical fiber, supports long-distance lossless transmission, and has built-in error correction circuitry to ensure signal integrity.

[0094] The 6G terahertz relay base station wirelessly receives the signal of the pre-processing module through the 6G terahertz communication module, and then connects to the wireless access point of the main control system through a copper cable. As a supporting device of the 6G terahertz communication module, it is used to automatically receive its wireless signal when the optical fiber link fails, and use the high-frequency characteristics of the terahertz frequency band to achieve short-distance high-speed data relay to avoid human tissue obstruction; in the present invention, the 6G terahertz relay base station plays a role of wireless redundant transmission in the entire data transmission and backup process. In intelligent minimally invasive exploratory surgery, when the optical fiber link is bent due to the movement of the dynamic spherical expansion mechanism (robotic arm), When signal transmission is blocked due to unexpected situations such as fracture, the 6G terahertz relay base station can be quickly started. It uses the high-frequency characteristics of the terahertz frequency band (200-300GHz) to achieve high-speed wireless data transmission of up to 100Gbps within a short distance (≤10 meters). Its built-in intelligent beamforming antenna can automatically avoid the obstruction of signals by human tissue to ensure stable data transmission. Through this setting, the present invention not only ensures that the image data during the operation can be continuously transmitted to the main control system for backup, but also ensures the real-time and integrity of the data backup, avoiding data loss due to transmission interruption.

[0095] The main control system interface unit inputs and receives signals from optical fiber and wireless links (from 6G terahertz relay base stations), and outputs signals connected to displays via HDMI interfaces and backed up to storage servers via USB interfaces. It is used to integrate optical fiber switches and wireless access points, realize real-time switching of wired and wireless links and prioritize video stream transmission, ensuring real-time image display and data backup.

[0096] The backup power module is connected in parallel to the power interfaces of the pre-processing module and the 6G terahertz relay base station. It supports fast and seamless switching and is used to provide a hot-swappable redundant power supply. It automatically switches power supply when the main power supply is interrupted, avoiding camera unit shutdown and image interruption caused by power outages.

[0097] The FPGA chip is used to perform denoising, compression and time stamp synchronization on the original image, wherein the compression specifically includes the following steps:

[0098] Step 1: Locate the first node as the starting point for processing the unprocessed 4K image;

[0099] Step 2: The unprocessed 4K image enters the second node FPGA pre-processing module, where the FPGA chip in the module performs parallel computing to quickly pre-process the image data.

[0100] Step 3: The pre-processed image enters the third node content analysis module to identify ROI (lesion area) and non-ROI (background area);

[0101] Step 4: After identifying the ROI (lesion area), enter the fourth node for ROI marking; after identifying the non-ROI (background area), enter the fifth node for non-ROI marking;

[0102] Step 5: The image marked with ROI enters the sixth node and uses wavelet transform plus ROI (lesion area) lossless compression to ensure that the information of the lesion area is not lost;

[0103] The image that has passed the non-ROI mark enters the seventh node and adopts hybrid coding plus non-ROI (background area) lossy compression to reduce the amount of data transmission;

[0104] Step 6: The compressed ROI (lesion area) and non-ROI (background area) images enter the eighth node inter-stamp synchronization module to ensure that the image data and time information are accurately matched;

[0105] Step 7: Finally, the image that has undergone timestamp synchronization processing is compressed and output from the ninth node as a code stream to obtain compressed image data that can be used for transmission or storage.

[0106] In the present invention, the above seven steps have the following beneficial effects:

[0107] Using "ROI lossless compression + non-ROI dynamic lossy compression", the average compression ratio reaches 18:1 (traditional solution 12:1), and the 4K@24fps image bit rate is reduced from 90Mbps to 50Mbps, reducing data transmission volume by 44%; the background area dynamically adjusts the compression ratio (10:1-20:1) according to texture complexity, and the compression ratio of smooth areas (such as fat tissue) can reach 20:1, significantly reducing the amount of data for non-critical information; the compression ratio of the lesion area is controlled at 2:1-3:1, achieving data reduction while retaining 99.2% of details, ensuring that critical information is not lost.

[0108] When link bandwidth is limited (utilization > 80%), the non-ROI compression ratio is increased to 25:1, further reducing the transmission load. When bandwidth is sufficient (utilization < 50%), a finer wavelet decomposition (7-level DWT) is enabled in the ROI region, preserving more details without increasing the transmission volume.

[0109] Lossless compression is achieved for high-frequency details in the lesion area (such as blood vessel texture and bleeding point edges), with a peak signal-to-noise ratio (PSNR) of 40dB in the ROI area (32dB for traditional solutions). Doctors can identify millimeter-level lesions through high-definition images. For example, in an ROI area of ​​512×512 pixels, only 0.8% of detail information is lost after compression, ensuring that tiny lesions (such as early tumor blood vessels) are not missed. Traditional uniform compression can easily lead to loss of information in the lesion area (such as H.265's blurred processing of high-frequency details). However, this invention accurately identifies the ROI through a content analysis module, preventing compression parameters in non-critical areas from affecting lesion clarity, and solving the problem of misjudgment of lesions caused by excessive background compression in traditional technologies.

[0110] The second node pre-processes the 4K image stream (denoising, ROI detection) through FPGA parallel computing, with a processing delay of ≤10ms, meeting the real-time image transmission requirements of minimally invasive exploration (such as electrocoagulation, which requires synchronous image guidance). The overall compression process latency (from image acquisition to bitstream output) is controlled within 50ms, a 75% improvement over traditional CPU solutions (over 200ms), eliminating the risk of operational delays caused by latency.

[0111] The eighth node's timestamp synchronization module uses a dual-clock domain synchronization mechanism (24Hz clock for image streams and 1kHz clock for operation instructions). Through asynchronous FIFO buffering and prohibition of I-frame reordering, the time error between images and operation instructions is reduced from 50-100ms with traditional technologies to ≤5ms. The FPGA pre-processing module supports both optical fiber (10Gbps) and 6G terahertz (100Gbps) dual-link output. In the event of an optical fiber link failure, it automatically switches to wireless transmission, leveraging the high-frequency characteristics of the terahertz band (200-300GHz) to achieve high-speed relay within ≤10 meters, avoiding obstructions from human tissue and ensuring uninterrupted transmission of image data.

[0112] The present invention achieves breakthroughs in compression efficiency, information fidelity, real-time synchronization, and system reliability, solving core problems in existing technologies such as large data transmission volume, loss of lesion details, and time synchronization deviation.

[0113] The exploration method of the present invention forms an operating space through a dynamic spherical expansion mechanism, combined with a high-definition camera unit to locate the lesion and simultaneously complete hemostasis, suction, flushing and specimen collection; after surgery, a treatment plan is formulated based on the specimen; the high-definition camera unit adopts ROI / non-ROI partition compression and dual-link transmission to ensure low-latency image and data integrity. Compared with traditional expanders, the tissue damage rate is reduced by 70%, and the number of transmission interruptions is 0 times, compared with 3.2 times / operation of traditional wireless solutions.

[0114] An intelligent minimally invasive exploration system, comprising:

[0115] Operation execution module, used to realize puncture, expand the operation space, lesion treatment and specimen collection;

[0116] High-definition camera unit, used to provide clear images of the surgical field, allowing doctors to observe the tissues and organs at the operating site and assist in precise surgical operations;

[0117] The control system is used to coordinate the actions of each module to achieve operation path planning and instruction execution.

[0118] An intelligent minimally invasive exploration dynamic spherical distraction mechanism, comprising:

[0119] The bionic skeleton component 1 includes several movable support arms 2, each of which is made of medical-grade flexible metal (nickel-titanium shape memory alloy) and has both strength and flexibility; the deployment angle range is 0°-120°, and is monitored in real time by a pressure sensor and fed back to the control system to avoid tissue damage.

[0120] A driving component (hydraulic / mechanical control), used to drive the bionic skeleton component 1 to expand and contract;

[0121] In the present invention, the drive assembly may include a micro hydraulic pump and a hydraulic cylinder (or a motor and gear transmission structure), which controls the flow of hydraulic oil (or the forward and reverse rotation of the motor) through the command of the operating handle, driving the support arm to expand or contract in multiple dimensions along a spherical trajectory; the pressure sensor monitors the tissue contact force in real time, and when it exceeds a preset threshold, the control system automatically pauses the expansion and triggers an audible and visual alarm to avoid excessive damage to the tissue. Since the drive assembly is not the inventive point of this solution and belongs to the existing technology, its actual use is not limited to the above structure, and any existing technology structure that can achieve this function can be used;

[0122] Pressure sensor and displacement sensor, used to detect the expansion force and expansion range;

[0123] The high-definition camera unit provides clear images of the surgical field, allowing doctors to observe the tissues and organs at the operating site and assist in precise surgical operations.

[0124] The front-end HD camera clamp assembly is used to install the HD camera unit; it ensures the stable position of the camera unit during the surgical operation, ensuring the stability and accuracy of the captured images;

[0125] The front-end high-definition camera clamp assembly of the present invention includes but is not limited to a clamp body, a fixing device (such as a buckle, a bolt, etc.), an electrical interface connected to the high-definition camera unit, and the like.

[0126] The flushing and negative pressure suction component includes flushing and negative pressure suction functions. The flushing function is used to remove blood, tissue fragments and other impurities in the surgical field to maintain a clear field of view. The negative pressure suction function is used to remove flushing fluid, exudate, and other liquids and foreign matter generated during the operation to maintain a clean and dry environment in the operating area.

[0127] The washing and negative pressure suction component structure includes but is not limited to a washing liquid storage container, an infusion line, a micro pump (for promoting the flow of washing liquid), a negative pressure suction pump, a suction line, a control valve, etc.; the washing liquid storage container is connected to the washing port of the endoscope operation front end through the infusion line, the negative pressure suction pump is connected to the suction port of the operation front end through the suction line, and the control valve is used to adjust the washing liquid flow rate and the negative pressure suction intensity;

[0128] During flushing, the flushing liquid is drawn out from the storage container by a micro pump, transported to the operating front end through the infusion pipeline, and sprayed out from the flushing port; during negative pressure suction, the negative pressure suction pump generates negative pressure, and the liquid and foreign matter in the operating area are sucked away through the suction port through the suction pipeline. The working status of flushing and suction can be adjusted as needed through the control valve; the operating handle 3 includes a connecting section 3a and an operating section 3b, and the bionic skeleton component 1 is movably arranged on the connecting section 3a.

[0129] During operation, the medical staff sends an expansion command to the drive component through the operating handle 3, and the drive component pushes the support arm to extend outward. The support arm is based on the center point of the sphere and expands synchronously in multiple dimensions until it reaches the preset expansion angle or the sensor detects the upper limit of tissue contact pressure (to avoid excessive expansion). The bionic skeleton forms a spherical structure, evenly expands the tissue gap, and forms a stable operating space.

[0130] After the operation is completed, the operator sends a retraction command to the drive assembly through the operating handle 3, and the drive assembly drives the support arm to retract inward, finally forming a linear shape, which is convenient for withdrawal from the body;

[0131] During operation, the pressure sensor continuously monitors the contact force of the support arm on the tissue. If it exceeds the safety threshold, the control system automatically pauses the expansion and issues an alarm. The displacement sensor tracks the expansion range of the support arm in real time to ensure operational accuracy (such as adjusting the expansion range in conjunction with endoscopic images).

[0132] Minimally invasive non-pneumoperitoneum surgery: No need to establish pneumoperitoneum or general anesthesia, suitable for high-risk patients who cannot tolerate traditional surgery.

[0133] Flexible expansion: The curved movement of the bionic skeleton fits the natural gaps in the tissue, reducing the risk of lacerations.

[0134] Multifunctional collaboration: After integration with the operation front end, it can simultaneously complete visual exploration, hemostasis, suction and other operations to improve first aid efficiency.

[0135] The above describes in detail the preferred embodiments of the present invention. It should be understood that those skilled in the art can make numerous modifications and variations based on the concepts of the present invention without inventive effort. Therefore, any technical solutions that can be derived by those skilled in the art through logical analysis, reasoning, or limited experimentation based on the concepts of the present invention and the prior art should be within the scope of protection defined by the claims.

Claims

1. An intelligent minimally invasive exploration method, characterized by: The method comprises An operating space is formed through a dynamic spherical expansion mechanism, and the lesion is located through a high-definition camera unit, and hemostasis, suction, flushing and specimen collection are completed simultaneously; the equipment is withdrawn and the puncture point is processed, complications are monitored after the operation, and a treatment plan is formulated based on the specimen to ensure a safe closed loop throughout the process.

2. The intelligent minimally invasive exploration method according to claim 1, characterized in that: Before the dynamic spherical expansion mechanism is used to form the operating space, the patient's vital signs and tolerance are assessed to confirm that the patient is suitable for bedside minimally invasive surgery; the patient's position is adjusted according to the exploration site; Perform preoperative inspection of the dynamic ball distraction mechanism; Confirm that the high-definition camera unit, electrocoagulation probe, negative pressure suction, and flushing channels at the front end of the multifunctional endoscope are functioning properly and install disposable consumables; Perform local anesthesia on the operation site, use ultrasound or CT and other imaging techniques to locate the best puncture point and mark the puncture path.

3. The intelligent minimally invasive exploration method according to claim 2, characterized in that: The formation of an operating space through a dynamic spherical expansion mechanism specifically includes creating a tiny puncture hole at a marked point through a puncture needle, inserting a dynamic spherical expansion mechanism along the puncture path, wherein the initial state of the dynamic spherical expansion mechanism is a contracted linear structure; starting a control system to expand the dynamic spherical expansion mechanism into a sphere in multiple dimensions, gently expanding the surrounding tissue gaps to form a stable operating space; observing the tissue expansion effect in real time through a high-definition camera unit, and adjusting the expansion force and angle.

4. The intelligent minimally invasive exploration method according to claim 3, characterized in that: Locating lesions through high-definition images specifically includes synchronously turning on the high-definition camera unit at the front end of the operation to provide real-time images and transmit them to the external display. Combined with the light source system to illuminate the operation area to ensure full visualization, the lesion location is identified based on the image, and the operation path is planned.

5. The intelligent minimally invasive exploration method according to claim 4, characterized in that: The synchronous completion of hemostasis, suction, flushing and specimen collection is specifically as follows: The hemostasis is electrocoagulation hemostasis. When a bleeding point is found, the hemostasis operation is directly performed by operating the electrocoagulation probe at the front end; The suction and flushing are negative pressure suction and flushing, which uses the negative pressure suction channel to remove necrotic tissue, pus or blood, while injecting normal saline or liquid medicine through the flushing channel to clean the operation area and retain pathogen specimens; During the specimen collection, tissue samples or exudate are collected simultaneously during the suction process and stored in a sterile container for examination.

6. The intelligent minimally invasive exploration method according to claim 5, characterized in that: The specific steps of withdrawing the device and handling the puncture site, monitoring complications after surgery, and formulating a treatment plan based on the specimen are as follows: Contract the dynamic expansion mechanism into a linear structure and withdraw it from the puncture hole; Disinfect the puncture site and complete wound closure; closely observe the patient's vital signs after surgery and assess for complications such as bleeding and infection; formulate a targeted anti-infection treatment plan based on the results of the pathogen specimens collected during the operation.

7. The intelligent minimally invasive exploration method according to claim 6, characterized in that: The high-definition camera unit includes: The high-definition camera, equipped with a high-sensitivity sensor and optical image stabilization module, is connected to the pre-processing module via a coaxial cable and is reverse-powered by the front-end signal pre-processing module through the coaxial cable. It is used to capture 4K real-time images during minimally invasive procedures, adapting to tiny puncture channels and ensuring image stability. The front-end signal pre-processing module receives analog signals from the HD camera and outputs signals that are connected to the fiber optic transceiver and 6G terahertz relay base station via a fiber optic channel and a 6G terahertz communication module, respectively. It uses an FPGA chip to denoise, compress, and synchronize timestamps on the original image, reducing data transmission volume and ensuring temporal consistency between the image and the operating instructions. The fiber optic transceiver is connected to the pre-processing module via optical fiber at one end and to the optical fiber switch of the main control system at the other end. It achieves high-speed, low-latency image data transmission through single-mode optical fiber, supports long-distance lossless transmission, and has built-in error correction circuitry to ensure signal integrity. The 6G terahertz relay base station wirelessly receives the signal from the pre-processing module through the 6G terahertz communication module, and then connects to the wireless access point of the main control system via a copper cable. As a supporting device for the 6G terahertz communication module, it is used to automatically receive its wireless signal when the optical fiber link fails. It uses the high-frequency characteristics of the terahertz frequency band to achieve short-distance high-speed data relay, avoiding obstruction by human tissue; The main control system interface unit receives and inputs signals from optical fiber and wireless links, and outputs signals to monitors via the HDMI interface and to storage servers via the USB interface for backup. It is used to integrate optical fiber switches and wireless access points, enabling real-time switching of wired and wireless links and prioritized transmission of video streams, ensuring real-time image display and data backup. The backup power module is connected in parallel to the power interfaces of the pre-processing module and the 6G terahertz relay base station. It supports fast and seamless switching and is used to provide a hot-swappable redundant power supply. It automatically switches power supply when the main power supply is interrupted, avoiding camera unit shutdown and image interruption caused by power outages.

8. The intelligent minimally invasive exploration method according to claim 7, characterized in that: The FPGA chip is used to perform denoising, compression and time stamp synchronization on the original image, wherein the compression specifically includes the following steps: Step 1: Locate the first node as the starting point for processing the unprocessed 4K image; Step 2: The unprocessed 4K image enters the second node FPGA pre-processing module, where the FPGA chip in the module performs parallel computing to quickly pre-process the image data. Step 3: The pre-processed image enters the third node content analysis module to identify ROI and non-ROI; Step 4: After identifying the ROI, enter the fourth node for ROI marking; after identifying the non-ROI, enter the fifth node for non-ROI marking; Step 5: The image marked with ROI enters the sixth node and uses wavelet transform plus ROI lossless compression to ensure that the information of the lesion area is not lost; The images that have passed the non-ROI mark enter the seventh node and use hybrid coding plus non-ROI lossy compression to reduce the amount of data transmission; Step 6: The compressed ROI and non-ROI images enter the eighth node inter-stamp synchronization module to ensure that the image data and time information are accurately matched; Step 7: Finally, the image that has undergone timestamp synchronization processing is compressed and output from the ninth node as a code stream to obtain compressed image data that can be used for transmission or storage.

9. An intelligent minimally invasive exploration system, characterized by: include: Operation execution module, used to realize puncture, expand the operation space, lesion treatment and specimen collection; High-definition camera unit, used to provide clear images of the surgical field, allowing doctors to observe the tissues and organs at the operating site and assist in precise surgical operations; The control system is used to coordinate the actions of each module to achieve operation path planning and instruction execution.

10. An intelligent minimally invasive exploration dynamic spherical expansion mechanism, characterized by: include: A bionic skeleton component (1), the bionic skeleton component (1) comprising a plurality of movable support arms (2), each of the support arms (2) being made of medical-grade flexible metal or memory alloy; A driving component, used for driving the bionic skeleton component (1) to expand and contract; Pressure sensor and displacement sensor, used to detect the expansion force and expansion range; The high-definition camera unit provides clear images of the surgical field, allowing doctors to observe the tissues and organs at the operating site and assist in precise surgical operations. Front-end HD camera clamp assembly, used to install the HD camera unit; The flushing and negative pressure suction component includes flushing and negative pressure suction functions. The flushing function is used to remove blood, tissue fragments and other impurities in the surgical field to maintain a clear field of view. The negative pressure suction function is used to remove flushing fluid, exudate, and other liquids and foreign matter generated during the operation to maintain a clean and dry environment in the operating area. The operating handle (3) comprises a connecting section (3a) and an operating section (3b), and the bionic skeleton component (1) is movably arranged on the connecting section (3a).

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