Robot-assisted surgery system applied to tonsil resection and operation method

Abstract

The invention discloses a robot-assisted surgery system applied to tonsil resection and an operation method, the robot-assisted surgery system comprises a mechanical arm module, the mechanical arm module has multi-degree-of-freedom motion ability, and the tail end of the mechanical arm module is detachably provided with various actuators to complete the steps of traction, reversing, cutting, hemostasis and suture of a tonsil; the visual identification module is used for collecting and reconstructing a three-dimensional model of a throat area in real time based on a high-definition endoscope and an image processing algorithm, and identifying a boundary structure between a tonsil and a pharyngeal side wall; the force feedback module is used for monitoring tiny resistance change in the tissue separation process through a sensor, assisting in identifying a correct separation layer and avoiding deep damage; and the control module integrates signals of the visual identification module and the force feedback module, executes the operation logic of traction and inversion, dynamically generates and corrects the motion trail of the mechanical arm, and realizes accurate operation. The operation difficulty of parts such as tonsil upper pole and the like which are difficult to expose is solved, complete excision can be realized in different areas, and the residue and recurrence risk is reduced.

Description

Technical Field

[0001] This invention relates to a robot-assisted surgical system and operating method for tonsillectomy, belonging to the field of medical auxiliary systems and methods. Background Technology

[0002] Tonsillectomy is a common and fundamental surgical procedure in otolaryngology. It involves the complete removal of the entire tonsil along with its capsule to treat recurrent tonsillar hypertrophy and chronic tonsillitis, and it has proven effective. However, tonsillectomy should be approached with caution and care, as complications and even serious consequences can occur. Traditional methods often suffer from drawbacks such as significant intraoperative bleeding, extensive surgical trauma, long recovery periods, and high dependence on the surgeon, especially in anatomically complex and difficult-to-expose areas like the upper pole of the tonsil.

[0003] Therefore, there is an urgent need in the field for a robot-assisted surgical system and operating method for tonsillectomy, which aims to provide a more adaptable, safe and standardized protection solution. Summary of the Invention

[0004] To address the aforementioned technical problems, this invention provides a robot-assisted surgical system and operating method for tonsillectomy. It is specifically optimized for areas with complex anatomy and difficult exposure, such as the upper pole of the tonsil, and can improve the integrity and standardization of the surgery while ensuring safety.

[0005] To achieve the above-mentioned technical objectives and effects, this application provides the following technical solution: This invention provides a robot-assisted surgical system for tonsillectomy, comprising: The robotic arm module has multi-degree-of-freedom motion capabilities, and its end effector is detachably equipped with various actuators to complete the steps of traction, reversal, cutting, hemostasis and suturing of the first pair of tonsils. The visual recognition module, based on high-definition endoscope and image processing algorithms, acquires and reconstructs a three-dimensional model of the pharyngeal region in real time, and identifies the boundary structure between the tonsils and the pharyngeal lateral wall. The force feedback module uses sensors to monitor minute resistance changes during tissue separation, helping to identify the correct separation layer and avoid deep damage. The control module integrates signals from the vision recognition module and the force feedback module to execute the pulling and reversing operation logic, dynamically generate and correct the robotic arm's motion trajectory, and achieve precise operation.

[0006] Preferably, the various actuators include traction clamps, reversing devices, cutting tools, energy devices, and micro-suturing devices.

[0007] Furthermore, the energy device includes an electrocoagulation or laser device.

[0008] Preferably, the control module includes a central processing unit, a motion control unit, and a human-machine interaction module.

[0009] The present invention also provides an operating method for a robot-assisted surgical system for tonsillectomy, wherein the robot-assisted surgical system for tonsillectomy described above is used for assisted operation, comprising the following steps: Preoperative modeling: Acquire pharyngeal images and create a 3D model; Tissue identification, locating the tonsil boundaries and its upper, middle, and lower poles; The actuator at the end of the robotic arm module pulls and reverses the tissue, gradually unfolding the target area and improving exposure. Tissue resection is performed within the plane of the cyst, and the force feedback of the force feedback module is used to avoid damage to adjacent structures. After the excision is completed, the system automatically enters the hemostasis mode and performs suturing as needed.

[0010] Preferably, after the tissue identification step, the resection range is confirmed, and the membrane is separated by longitudinal halving incision using the robotic arm module.

[0011] The present invention also provides a computer device comprising: a processor; and a memory storing computer-executable instructions, which, when executed, cause the processor to perform a robot-assisted surgical system for tonsillectomy according to any one of the preceding claims.

[0012] The present invention also provides a computer-readable storage medium storing one or more programs that, when executed by a processor, implement the robot-assisted surgical system for tonsillectomy as described in any of the preceding claims.

[0013] The present invention provides a robot-assisted surgical system and operating method for tonsillectomy, which has the following advantages: 1. This invention solves the problem of the upper pole and achieves full-range resection: Through precise traction and reversal movements, it breaks through the bottleneck of upper pole exposure and is applicable to the middle and lower poles of the tonsil, achieving full-range intracapsular resection.

[0014] 2. This invention removes tissue more thoroughly, reduces the risk of tissue residue and recurrence, and minimizes damage to adjacent tissues, ensuring integrity and safety.

[0015] 3. The present invention integrates visual and force feedback to improve operational precision, significantly reduce bleeding and shorten operation time, thereby improving intraoperative safety and efficiency.

[0016] 4. This invention proceduralizes complex operational logic, reduces reliance on the operator's personal experience, promotes application and dissemination in different medical institutions, and achieves standardization and scalability. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of a robot-assisted surgical system for tonsillectomy provided by the present invention; Figure 2 This is a flowchart illustrating the operation method of a robot-assisted surgical system for tonsillectomy, as provided in an embodiment of the present invention.

[0018] In the picture: 1-Robotic arm module; 2-Vision recognition module; 3-Force feedback module; 4-Control module. Detailed Implementation

[0019] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] Reference Figure 1 In a first aspect, embodiments of the present invention provide a robot-assisted surgical system for tonsillectomy, comprising: Robotic arm module 1 can employ two cooperating robotic arms with multi-degree-of-freedom motion capabilities. The end effectors are detachably equipped with various actuators to perform traction, reversal, cutting, hemostasis, and suturing of the first pair of tonsils. These actuators include traction grippers, reversal devices, cutting tools, energy devices, and miniature suturing devices. Detachable installation methods include, but are not limited to, tapered positioning pin connections, power-off electromagnet connections, or activation locking mechanism connections, enabling rapid assembly and disassembly. Energy devices include electrocoagulation or laser devices. The assembly and disassembly methods and the application of energy devices are existing technologies and will not be elaborated upon further.

[0021] Visual recognition module 2, based on high-definition endoscope and image processing algorithms, acquires and reconstructs a three-dimensional model of the pharyngeal region in real time, and identifies the boundary structure between the tonsils and the pharyngeal lateral wall; Force feedback module 3 monitors minute resistance changes during tissue separation through sensors and compares them with a set threshold to determine whether a safe resection plane is reached, thus helping to identify the correct separation level and avoid deep damage. Control module 4 integrates signals from vision recognition module 2 and force feedback module 3 to execute traction and reversal operation logic, dynamically generating and correcting the robotic arm's motion trajectory to achieve precise operation. Control module 4 includes a central processing unit, a motion control unit, and a human-machine interface module. It combines visual and force feedback signals to dynamically generate and correct the robotic arm's motion trajectory, enabling operations such as traction, reversal, cutting, hemostasis, and suturing. The central processing unit sets a small resistance threshold.

[0022] Reference Figure 2 Secondly, embodiments of the present invention provide an operating method for a robot-assisted surgical system applied to tonsillectomy, comprising the following steps: S1, Preoperative modeling, Visual recognition module 2 acquires pharyngeal images based on endoscopy and establishes a three-dimensional model.

[0023] S2, Tissue Recognition, Visual Recognition Module 2 locates the tonsil boundary and upper, middle, and lower pole regions based on the established 3D model and in conjunction with image processing algorithms; after the tissue recognition step, the resection range is confirmed, and the capsule is separated by longitudinal halving incision by installing a cutting tool at the working end of one of the robotic arm modules 1.

[0024] S3, traction and reversal: The actuator at the end of the robotic arm module 1 tractions and reverses the tissue, gradually unfolding the target area and improving exposure; Specifically, after membrane separation, a traction gripper is installed at the working end of one of the robotic arm modules 1 as an actuator, and a reversing device is installed at the working end of the other robotic arm module 1 as an actuator. First, the traction gripper clamps the tissue at the membrane separation site and pulls it to make the internal tissue protrude. Then, the reversing device clamps the protruding tissue and flips it to expose the tissue that needs to be removed.

[0025] S4, Tissue Removal: By changing the actuator at the working end of one robotic arm module 1 to a cutting tool, and simultaneously changing the actuator on the other robotic arm module 1 to an energy device, tissue removal is performed within the intracapsular plane. Force feedback from the force feedback module 3 is used to avoid damage to adjacent structures. During the removal process, the force feedback signal is transmitted in real time to the control module 4 to adjust the operating depth and direction, ensuring safety and accuracy.

[0026] S5, hemostasis and suturing: After the excision is completed, the device automatically enters the hemostasis mode through the energy device, and the bleeding is precisely controlled by the electrocoagulation or laser device. The device can also automatically or semi-automatically complete the suturing according to the condition of the surgical area, thereby achieving a complete surgical loop.

[0027] Thirdly, the present invention also provides a computer device comprising: a processor; and a memory storing computer-executable instructions, which, when executed, cause the processor to perform the robot-assisted surgical system for tonsillectomy described above.

[0028] Fourthly, the present invention also provides a computer-readable storage medium storing one or more programs that, when executed by a processor, implement the above-described robot-assisted surgical system for tonsillectomy.

[0029] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any form or substance. It should be noted that those skilled in the art can make various improvements and additions without departing from the present invention, and these improvements and additions should also be considered within the scope of protection of the present invention. Any modifications, alterations, and equivalent changes made by those skilled in the art based on the above-disclosed technical content without departing from the spirit and scope of the present invention are equivalent embodiments of the present invention. Furthermore, any modifications, alterations, and evolutions made to the above embodiments based on the essential technology of the present invention still fall within the scope of the technical solution of the present invention.

Claims

1. A robot-assisted surgery system applied to tonsillectomy, characterized by, The application relates to a robot-assisted surgery system for tonsillectomy, comprising the following components: a mechanical arm module with multi-degree-of-freedom movement capability, the end of which is detachably provided with various actuators to complete the pulling, reversing, cutting, hemostasis and suturing steps of the first pair of tonsils; a visual recognition module based on a high-definition endoscope and an image processing algorithm, which collects and reconstructs a three-dimensional model of the throat area in real time, and identifies the boundary structure between the tonsils and the lateral wall of the pharynx; a force feedback module which monitors the slight resistance changes in the tissue separation process through sensors, and assists in identifying the correct separation level and avoiding deep damage; 2. The robotically-assisted surgical system for tonsillectomy according to claim 1, wherein, a control module which integrates the signals of the visual recognition module and the force feedback module, executes the operation logic of pulling and reversing, dynamically generates and corrects the mechanical arm movement trajectory, and realizes accurate operation.

3. The robotically-assisted surgical system for tonsillectomy according to claim 2, wherein, The various actuators include a pulling clamp, a reversing device, a cutting tool, an energy instrument and a micro-suturing device.

4. The robotically-assisted surgical system for tonsillectomy according to claim 1, wherein, The energy instrument includes an electrocoagulation or laser instrument.

5. An operation method of a robot-assisted surgery system applied to tonsillectomy, characterized by, The control module includes a central processing unit, a motion control unit and a human-computer interaction module. The application of the robot-assisted surgery system for tonsillectomy according to any one of claims 1-4 is used for assisting operation, comprising the following steps: preoperative modeling, collecting throat images and establishing a three-dimensional model; tissue identification, locating the boundary and upper, middle and lower regions of the tonsils; pulling and reversing, the actuators at the end of the mechanical arm module pull and reverse the tissue, gradually unfolding the target area and improving the exposure; tissue resection, tissue resection is performed in the intracapsular plane, and the force feedback of the force feedback module is combined to avoid damaging adjacent structures; 6. The operation method of the robotically-assisted surgical system for tonsillectomy according to claim 5, wherein, hemostasis and suturing, after resection, the automatic hemostasis mode is entered, and suturing operation is performed according to the need.

7. A computer device, comprising: The tissue identification step confirms the resection range, and the mechanical arm module performs longitudinal half-incision separation of the capsule.

8. A computer readable storage medium, wherein, The computer device comprises a processor and a memory storing computer executable instructions which, when executed, cause the processor to execute the robot-assisted surgery system for tonsillectomy according to any one of claims 1-4. The computer readable storage medium stores one or more programs which, when executed by a processor, implement the robot-assisted surgery system for tonsillectomy according to any one of claims 1-4.

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