Prostate laser enucleation device based on flexible mechanical arm and control system thereof

Abstract

The invention provides a prostate laser enucleation device based on a flexible mechanical arm, which comprises a main knife part, and the main knife part comprises the flexible mechanical arm used for moving between a prostate and an envelope and a laser head used for cutting so as to complete tissue cutting of a target area in an operation; and the auxiliary part comprises a video imaging structure for displaying and a water inlet and outlet structure for cutting and cleaning, and relates to the technical field of prostate surgery. The device comprises a flexible mechanical arm composed of a plurality of knuckles, and a laser head is arranged at the tail end of the flexible mechanical arm and used for laser cutting and separation of tissue between the prostate and the capsule. The device is further provided with a video imaging system, a laser optical fiber access structure and a water inlet and outlet structure, so that the operation precision, safety and operability are improved. By accurately controlling the flexible mechanical arm, the prostate can be effectively cut off especially at the position close to the urethral sphincter, and meanwhile unnecessary damage to surrounding sensitive tissue is avoided.

Description

Technical Field

[0001] This invention relates to the field of prostate surgery technology, specifically a prostate laser enucleation device based on a flexible robotic arm and its control system. Background Technology

[0002] Laser enucleation of the prostate (LASIK) is an important surgical method for treating benign prostatic hyperplasia (BPH) and other diseases. Traditional surgical methods mainly rely on scalpels or other mechanical instruments to cut and dissect tissue, which is relatively cumbersome and requires a high level of experience and skill from the surgeon. Various complications are prone to occur during the procedure, especially damage to critical and sensitive tissues such as the urethral sphincter, blood vessels, and surrounding nerves, affecting postoperative recovery and functional preservation. In recent years, with the rapid development of laser medical technology, the application of lasers in prostate surgery has become increasingly widespread, gradually becoming one of the mainstream methods due to its advantages of less bleeding and faster recovery. However, most existing laser devices are fixed structures, lacking sufficient flexibility and adaptability, making it difficult to precisely enter the narrow anatomical space between the prostate gland and the surgical capsule. Furthermore, in achieving precise removal of hyperplastic tissue, current techniques cannot effectively protect surrounding important functional tissues, limiting the safety boundaries and the potential for improved efficacy. Specifically, this applies to the two most commonly used mainstream methods: transurethral resection of the prostate (TURP) and prostate enucleation. TURP has the disadvantages of more bleeding and incomplete removal of prostate tissue. Because prostatectomy completely removes the prostate tissue, but the procedure uses a straight-tube electrical endoscope that constantly pries the surgical site, which can easily cause urinary incontinence over time. Therefore, this procedure needs to be made into a flexible robotic arm.

[0003] Therefore, in order to address the problems of insufficient flexibility and limited tissue protection capabilities of existing laser surgical equipment in prostate enucleation, it has become an urgent need to develop a new type of laser surgical device that can move flexibly in narrow anatomical spaces and simultaneously achieve high-precision cutting and effective protection of critical tissues. Summary of the Invention

[0004] The purpose of this invention is to provide a laser enucleation device for the prostate based on a flexible robotic arm and its control system, which overcomes the shortcomings of the prior art and provides a laser enucleation solution that is flexible in structure, highly precise, and safe in surgical procedure. By combining a flexible robotic arm with laser technology, precise tissue cutting can be achieved between the prostate and its capsule, especially effectively protecting this sensitive area near the urethral sphincter, thus solving the problems mentioned in the background art and overcoming its technical defects.

[0005] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is: a prostate laser enucleation device based on a flexible robotic arm, comprising a main cutting part, the main cutting part including a flexible robotic arm for movement between the prostate and the capsule and a laser head for cutting, so as to complete the tissue separation of the target area during surgery; and an auxiliary part, the auxiliary part including a video imaging structure for display and a water inlet and outlet structure for cutting and cleaning, so as to provide non-interference purpose for the target during tissue separation.

[0006] As a further aspect of the present invention: a prostate laser enucleation device based on a flexible robotic arm, wherein the flexible robotic arm is a multi-joint finger-like structure, specifically including three large arms and a mounting base, wherein the three large arms are hinged to each other, one end of the large arm is hinged to the laser head, and the other end of the large arm is hinged to the mounting base, and the hinges are all achieved through joints, which can be electrically controlled by the surgeon.

[0007] As a further embodiment of the present invention: a prostate laser enucleation device based on a flexible robotic arm, wherein the water inlet and outlet structure is used to maintain a clear surgical field and remove cutting debris, and includes a main pipeline, an irrigation pipeline and a return pipeline. The main pipeline includes an irrigation port and a return port. The irrigation port is connected to the irrigation pipeline, and the return port is connected to the return pipeline. The other ends of the irrigation pipeline and the return pipeline are both fixed near the laser head.

[0008] As a further embodiment of the present invention: a prostate laser enucleation device based on a flexible robotic arm, wherein the video imaging structure is fixedly installed on one side of the main pipeline and provides real-time display of the surgical area.

[0009] As a further embodiment of the present invention: a prostate laser enucleation device based on a flexible robotic arm, further comprising a laser fiber input structure, wherein the laser fiber input structure is fixedly installed on the other side of the main pipeline and supplies power to the laser head.

[0010] As a further aspect of the present invention: a prostate laser enucleation device based on a flexible robotic arm, wherein the upper arm near the laser head has a small joint structure, and its swing amplitude is limited compared to other joints, in order to avoid sphincter injury.

[0011] As a further aspect of the present invention: a control system for a prostate laser enucleation device based on a flexible robotic arm, further comprising a chip, the chip being fixedly installed inside a video imaging structure, the chip containing a main control unit, and the main control unit containing modules for controlling and coordinating various functions, specifically including... The image processing and driving module is electrically connected to the video imaging structure. It is used to receive the raw image signal acquired by the video imaging structure, perform noise reduction, enhancement and color restoration processing on the image, and drive the display device to output a high-definition, real-time surgical field image. The fluid control module, which is electrically connected to the micro pump and valve installed on the main pipeline, is used to precisely control the infusion flow rate and pressure of the infusion pipeline and the suction force of the return pipeline according to preset parameters or real-time commands, so as to maintain a clear view of the surgical area. The laser control module is electrically connected to the laser inside the laser head. It is used to receive energy emission commands and precisely control the laser output power, emission mode (continuous / pulse) and emission duration to ensure the cutting or solidification effect of the area. The motion control module is electrically connected to the micro servo motors or shape memory alloy drivers that drive the joints of the flexible robotic arm. It is used to parse motion commands from the main control unit, generate multiple PWM control signals, and independently and collaboratively control the precise rotation angle, speed and acceleration of each joint to achieve flexible and stable movement of the robotic arm.

[0012] As a further aspect of the present invention: a control system for a prostate laser enucleation device based on a flexible robotic arm, wherein the laser head integrates an optical auxiliary positioning module, specifically including... The multispectral imaging unit is used to emit narrowband light of a specific wavelength and receive light reflected from tissue. By analyzing the differences in spectral characteristics of different tissues (such as hyperplastic glands, capsules, and blood vessels), it enhances the display of the boundary between lesion areas and normal tissues in video images. The laser indicator light unit, which is integrated into the laser emission light path, emits a beam of low-power visible light as an indicator light to clearly mark the precise location in the surgical field where the high-energy therapeutic laser will be applied. The distance sensing unit uses miniature laser ranging or optical coherence tomography technology to monitor the distance between the front end of the laser head and the tissue surface in real time, and displays the distance information on the video screen, or to control the laser focus to automatically align with the tissue at the optimal action distance. The image recognition unit works in conjunction with the video imaging structure and the image processing module within the chip. Based on a pre-trained deep learning model, it performs frame-by-frame analysis of the real-time video stream, automatically identifying and circling suspected hyperplastic lesion areas, important anatomical landmarks (such as the verumontanum), and dangerous areas (such as the sphincter muscles), providing visual assistance and early warning for the surgeon.

[0013] Compared with the prior art, the beneficial effects of the present invention include: The device includes a flexible robotic arm composed of multiple phalanges, with a laser head at its end for laser cutting and separating the tissue between the prostate and its capsule. It is also equipped with a video imaging system, a laser fiber optic access structure, and a water inlet / outlet structure to improve surgical precision, safety, and operability. By precisely controlling the flexible robotic arm, especially near the urethral sphincter, effective prostate removal can be achieved while avoiding unnecessary damage to surrounding sensitive tissues.

[0014] The device of this invention enables precise cutting and tissue protection during laser enucleation of the prostate, especially in sensitive areas such as the urethral sphincter. The combination of a flexible robotic arm and laser technology makes the surgical procedure more flexible and precise, greatly improving surgical safety and success rates. Simultaneously, the water inlet / outlet structure and video monitoring system effectively support precise control and visual feedback during the procedure. The innovation and practicality of this device have broad application prospects in prostate surgery. Attached Figure Description

[0015] The disclosure of this invention is illustrated with reference to the accompanying drawings. It should be understood that the drawings are for illustrative purposes only and are not intended to limit the scope of protection of this invention. In the drawings, the same reference numerals are used to refer to the same parts. Wherein: Figure 1 The schematic diagram shows a structural schematic of a flexible robotic arm and laser head according to an embodiment of the present invention; Figure 2 The schematic diagram shows an overall structural schematic diagram according to one embodiment of the present invention; Figure 3 The schematic diagram shows a structural schematic of an inlet and a return outlet according to an embodiment of the present invention; The diagram is labeled as follows: 1. Flexible robotic arm; 2. Laser head; 3. Main pipeline; 31. Injection port; 32. Return port; 4. Injection pipe; 5. Return pipe; 6. Video imaging structure; 7. Laser fiber input structure. Detailed Implementation

[0016] It is readily understood that, based on the technical solution of this invention, those skilled in the art can propose various interchangeable structural methods and implementations without altering the essential spirit of the invention. Therefore, the following detailed embodiments and accompanying drawings are merely illustrative examples of the technical solution of this invention and should not be considered as the entirety of the invention or as limitations or restrictions on the technical solution of this invention.

[0017] A prostate laser enucleation device based on a flexible robotic arm includes a main cutting section, which includes a flexible robotic arm 1 for movement between the prostate and its capsule and a laser head 2 for cutting to complete tissue resection of the target area during surgery; and an auxiliary section, which includes a video imaging structure 6 for display and a water inlet / outlet structure for cutting and cleaning to provide non-interference for the target during tissue resection.

[0018] Example 1: Structure and Function of Flexible Robotic Arm 1 A laser enucleation device for the prostate based on a flexible robotic arm is disclosed. The flexible robotic arm 1 is a multi-jointed, finger-like structure, specifically comprising three large arms and a mounting base. The three large arms are hinged to each other, with one end of each large arm hinged to a laser head 2 and the other end hinged to the mounting base. All hinges are achieved through joints, which can be electrically controlled by the surgeon. The large arm closest to the laser head 2 has a small joint structure, and its swing range is limited compared to the other joints to avoid sphincter muscle injury.

[0019] like Figure 1 As shown, the flexible robotic arm 1 of this invention is composed of multiple finger joints hinged sequentially. Each finger joint is connected by a flexible connector, allowing the flexible robotic arm 1 to flexibly bend or extend as needed during surgery. This design enables the flexible robotic arm 1 to enter the narrow space between the prostate and its capsule and to precisely control the laser head for tissue cutting.

[0020] Near the urethral sphincter, the control system can limit the range of motion of the robotic arm, ensuring its stability and effectively preventing damage to the urethral sphincter.

[0021] Specifically, the flexible robotic arm 1 has a bending angle of ≥120° for a single segment and a cumulative bending angle of ≥360° (supporting multi-directional bending to adapt to the complex pelvic anatomy); its flexibility and stiffness are adjustable (stiffness ≥5N / mm during surgery and ≤2N / mm during shuttle operations) to avoid excessive deformation or tissue compression. Furthermore, the diameter of the flexible robotic arm 1 is ≤3mm at the working end and ≤5mm in the main body diameter (to ensure compatibility with minimally invasive surgical incisions).

[0022] Meanwhile, the flexible robotic arm 1 also has precision requirements, especially the operation precision in conjunction with the laser head 2 needs to meet the following standards: the positioning accuracy of the flexible robotic arm 1 and the laser head 2 in linkage control is ≤0.5mm (static) and ≤1mm (dynamic operation) when the end effector is positioned; its motion response speed is ≤50ms (supporting real-time control and avoiding surgical delay); its repeatability positioning accuracy needs to be ≤0.3mm (to ensure consistency of multiple operations). Example 2: Operation of the laser head Laser head 2 is designed with an adjustable focal length, allowing the laser's focusing depth and width to be adjusted according to surgical needs. During the initial cutting, the laser head generates a larger laser beam to help quickly open the incision; in subsequent tissue dissection, the laser head focuses to generate a finer laser beam to ensure precise cutting. Laser head 2 can move along the gap between the prostate and its capsule, gradually peeling away the prostate tissue until the entire prostate is completely removed.

[0023] In addition, the end effector of the flexible robotic arm 1 can not only be equipped with a laser head 2, but also be compatible with surgical operations as needed, including supporting core functions such as tissue resection, biopsy sampling, and electrocoagulation hemostasis, and requires rapid replacement of end effectors (such as electrocautery rings, biopsy needles, and hemostatic forceps); its clamping / cutting force: the clamping force is adjustable (0.1-10N), and the cutting force is ≥15N (meeting the requirements for prostate tissue resection); and its force feedback function: real-time feedback of end contact force (accuracy ≤0.1N), and automatic alarm and operation restriction when the contact force exceeds the safety threshold (≥8N) to avoid organ damage.

[0024] Meanwhile, the flexible robotic arm 1 also includes compatibility requirements, namely, it must be compatible with existing laparoscopes and transurethral endoscopes (standardized interfaces, supporting rapid docking); sterilization performance requirements, namely, it must withstand high-pressure steam sterilization (134℃, 30min) or ethylene oxide sterilization, and be reusable ≥50 times; biocompatibility requirements, namely, the parts in contact with the human body must comply with ISO10993 standards (no cytotoxicity, no sensitization); safety protection requirements, namely, it must have power-off self-locking and overload protection functions to avoid surgical risks caused by mechanical failure; operation time requirements, namely, it must be able to work continuously for ≥2 hours at a time (meeting the needs of the surgical procedure); and the overall weight must be ≤500g (easy for doctors to hold or fix on the surgical support, reducing operator fatigue).

[0025] Example 3: Video Imaging and Laser Fiber Optic System Please see the appendix Figure 2 and attached Figure 3 A prostate laser enucleation device based on a flexible robotic arm is described. The video imaging structure 6 is fixedly installed on one side of the main pipeline 3 and provides real-time display of the surgical area. The video imaging structure 6 of this device is also equipped with a high-definition camera and optical lens. The surgical area is monitored in real time through the video imaging structure 6, and the doctor can observe the surgical process in real time through the display screen and accurately control the position and cutting depth of the laser head.

[0026] In addition, it also includes a laser fiber input structure 7, which is fixedly installed on the other side of the main pipeline 3 and supplies power to the laser head 2. The laser fiber input structure 7 ensures that the laser energy is stably transmitted to the laser head 2 and is connected to the laser generator through a flexible pipe, so that the laser fiber always maintains a stable working state when the robotic arm moves.

[0027] Example 4: Application of inlet and outlet water structures Please see the appendix Figure 2 and attached Figure 3 A laser enucleation device for the prostate based on a flexible robotic arm is disclosed. The water inlet / outlet structure, used to maintain a clear surgical field and remove cutting debris, includes a main pipeline 3, an irrigation pipeline 4, and a return pipeline 5. The main pipeline 3 includes an irrigation port 31 and a return port 32. The irrigation port 31 is connected to the irrigation pipeline 4, and the return port 32 is connected to the return pipeline 5. The other ends of both the irrigation pipeline 4 and the return pipeline 5 are fixed near the laser head 2. Cooling water flows into the surgical area through the irrigation pipeline 4, helping to maintain a stable temperature in the operating area of ​​the laser head 2 and preventing tissue damage due to overheating. The return pipeline 5 carries away debris generated during the cutting process, ensuring a clear surgical field at all times. Furthermore, the continuous flow of water helps maintain pressure balance in the surgical area, further ensuring the smooth progress of the procedure.

[0028] Example 6: Maintenance and Protection Because the device in this application requires surgical use, its externally exposed parts that do not need to be inserted into the body can be protected in daily life. This includes, but is not limited to, the main pipeline 3 and the injection port 31 and return port 32 provided under the main pipeline 3, the video imaging structure 6 and the laser fiber input structure 7, which can be protected by molded protective sleeves. In addition, when the device is in use, the structural joints should use as few open structures as possible such as rivets to prevent damage and corrosion. In addition, the flexible robotic arm 1, laser head 2, infusion pipe 4 and return pipe 5 that are inserted into the body need to be maintained differently during use. The flexible robotic arm 1 needs to be made of rust-proof, corrosion-proof and human-friendly medical materials. Since the internal optical fiber of the laser head 2 is a consumable component, it needs to be designed with a structure that is easy to replace. The infusion pipe 4 and return pipe 5 need to be easy to replace, etc.

[0029] 1. Flexible robotic arm; 2. Laser head; 3. Main pipeline; 31. Injection port; 32. Return port; 4. Injection pipe; 5. Return pipe; 6. Video imaging structure; 7. Laser fiber input structure; Based on this, the equipment of this application must meet the following requirements when operating: 1. Preoperative preparation: Select the end effector according to the type of surgery, connect it to the endoscopic equipment, and complete the sterilization process; 2. Intraoperative procedure: A flexible robotic arm is inserted into the pelvic cavity through a minimally invasive incision or urethra, and the target area of ​​the prostate is located with the help of an end-effector camera; 3. Precise operation: Doctors use a handle to control the robotic arm to bend and move to the target position, and use the force feedback function to control the operating force to complete actions such as tissue removal and hemostasis; 4. Postoperative care: Retrieve the robotic arm, clean and sterilize it, and prepare it for the next use.

[0030] Comparative Example A control system for a laser prostate removal device based on a flexible robotic arm further includes a chip. The chip is fixedly installed inside a video imaging structure 6. The chip contains a main control unit, which internally includes modules for controlling and coordinating various functions, specifically including… The image processing and driving module is electrically connected to the video imaging structure 6. It is used to receive the raw image signal acquired by the video imaging structure 6, perform noise reduction, enhancement and color restoration processing on the image, and drive the display device to output a high-definition, real-time surgical field image. The fluid control module is electrically connected to the micro pump and valve installed on the main pipeline 3. It is used to precisely control the infusion flow rate and pressure of the infusion pipeline 4 and the suction force of the return pipeline 5 according to preset parameters or real-time commands, so as to maintain a clear view of the surgical area. The laser control module is electrically connected to the laser in the laser head 2. It is used to receive energy emission commands and precisely control the laser output power, emission mode (continuous / pulse) and emission duration to ensure the cutting or solidification effect of the area. Specifically, the laser head 2 integrates an optical auxiliary positioning module, which specifically includes: The multispectral imaging unit is used to emit narrowband light of a specific wavelength and receive light reflected from tissue. By analyzing the differences in spectral characteristics of different tissues such as proliferating glands, capsules, and blood vessels, the boundary between lesion areas and normal tissues is enhanced in video images. The laser indicator light unit, which is integrated into the laser emission light path, emits a beam of low-power visible light as an indicator light to clearly mark the precise location in the surgical field where the high-energy therapeutic laser will be applied. The distance sensing unit uses miniature laser ranging or optical coherence tomography technology to monitor the distance between the front end of the laser head 2 and the tissue surface in real time, and displays the distance information on the video screen, or to control the laser focus to automatically align with the tissue at the optimal action distance. The image recognition unit works in conjunction with the video imaging structure 6 and the image processing module within the chip. Based on a pre-trained deep learning model, it performs frame-by-frame analysis of the real-time video stream, automatically identifying and circling suspected hyperplastic lesion areas, important anatomical landmarks such as the verumontanum, and dangerous areas such as the sphincter muscles, providing visual assistance and early warning for the surgeon. The motion control module is electrically connected to the micro servo motors or shape memory alloy drivers that drive each joint of the flexible robotic arm 1. It is used to parse motion commands from the main control unit, generate multiple PWM control signals, and independently and collaboratively control the precise rotation angle, speed and acceleration of each joint to achieve flexible and stable movement of the robotic arm.

[0031] Before using this device S1. Preoperative preparation and approach: The device is inserted through the urethra so that the laser head 2 and video imaging structure 6 reach the prostate area. The water inlet and outlet structure is activated to maintain a clear surgical field. S2. Lesion identification and planning: The prostate hyperplasia is observed through the video imaging structure 6. At the same time, the optical auxiliary positioning module of the laser head 2 is activated. Using its multispectral imaging and image recognition functions, the surgeon is assisted in confirming the boundary between the hyperplastic gland and the surgical capsule, the main blood vessels and the extent of the lesion, and planning the preliminary enucleation path in the mind or on the system software. S3. Precise Removal: a. The surgeon controls the flexible robotic arm 1 through the console, so that its laser head 2 at the end can perform fine dissection and movement in the plane between the gland and the capsule along the planned path; b. During the process, the laser pointer unit is used for precise positioning, and the distance sensing unit is used to maintain the optimal working distance. The laser head 2 is then activated to emit a treatment laser, which gradually cuts away the proliferating tissue. c. The chip's motion control module ensures smooth and precise robotic arm movements, avoiding large swings that could damage surrounding tissues; the fluid control module dynamically adjusts the perfusion based on the surgical field conditions, promptly removing tissue debris and blood. S4. Intraoperative monitoring and adjustment: Throughout the dissection process, the video imaging structure 6 provides a real-time field of view, and the optical auxiliary positioning module continuously provides clues to tissue boundaries and danger zones. The surgeon can adjust the robotic arm movement trajectory and laser parameters in real time based on feedback. S5. Tissue pulverization and removal: After gland enucleation, the excised tissue block is pushed into the bladder, and the accompanying tissue pulverizer is used to pulverize and remove it through the urethra. S6. Postoperative examination and withdrawal of the device: After confirming that there is no active bleeding, stop the laser and irrigation, withdraw the device from the urethra, and complete the operation.

[0032] Working Principle: The device of this invention enables precise cutting and tissue protection during laser prostate enucleation surgery, especially in sensitive areas such as the urethral sphincter. The combination of the flexible robotic arm 1 and laser technology makes the surgical operation more flexible and precise, greatly improving surgical safety and success rate. Simultaneously, the auxiliary design of the water inlet / outlet structure and video monitoring system effectively supports precise control and visual feedback during the surgical process. The innovation and practicality of this device have broad application prospects in prostate surgery.

[0033] The technical scope of this invention is not limited to the content described above. Those skilled in the art can make various modifications and variations to the above embodiments without departing from the technical concept of this invention, and all such modifications and variations should fall within the protection scope of this invention.

Claims

1. A flexible robotic arm based laser enucleation of prostate device, characterized in that, The main knife part includes a flexible mechanical arm (1) for the movement between the prostate and the capsule and a laser head (2) for cutting to complete the tissue dissection of the target area in the operation; and The auxiliary part includes a video imaging structure (6) for display and an in-out water structure for cutting and cleaning to provide a non-interference purpose for the target during the tissue dissection.

2. The flexible robotic arm based laser enucleation of the prostate device according to claim 1, wherein, The flexible mechanical arm (1) is a multi-joint finger-like structure, specifically including three large arms and a mounting seat, wherein the three large arms are hinged to each other, one end of the large arm is connected to the laser head (2), the other end of the large arm is hinged to the mounting seat, and the hinge is realized by a joint, and the joint can be electrically controlled by the operator.

3. The flexible robotic arm based laser enucleation of the prostate device according to claim 1, wherein, The in-out water structure is used to maintain a clear surgical field and remove cutting debris, and includes a main pipeline (3), a perfusion pipeline (4) and a backflow pipeline (5), the main pipeline (3) includes a perfusion port (31) and a backflow port (32), the perfusion port (31) is in communication with the perfusion pipeline (4), the backflow port (32) is in communication with the backflow pipeline (5), and the other end of the perfusion pipeline (4) and the backflow pipeline (5) is fixed near the laser head (2).

4. The flexible robotic arm based laser enucleation of the prostate device as claimed in claim 3, wherein, The video imaging structure (6) is fixedly installed on one side of the main pipeline (3) and provides real-time display for the surgical area.

5. The flexible robotic arm based laser enucleation of the prostate device as claimed in claim 2, wherein, It also includes a laser fiber input structure (7) fixedly installed on the other side of the main pipeline (3) and providing energy for the laser head (2).

6. The flexible robotic arm based laser enucleation of the prostate device as claimed in claim 3, wherein, The large arm near one end of the laser head (2) is a small joint structure, and its swing range is limited compared to other joints to avoid damage to the sphincter muscle.

7. The control system of a flexible robotic arm based laser enucleation of the prostate device according to claim 6, wherein, It also includes a chip fixedly installed inside the video imaging structure (6), the chip is provided with a main control unit, the main control unit is provided with modules for controlling and coordinating functions, specifically including An image processing and driving module electrically connected with the video imaging structure (6) is used to receive the original image signal collected by the video imaging structure (6), to perform noise reduction, enhancement and color restoration processing on the image, and to drive the display device to output high-definition and real-time surgical field pictures; A fluid control module electrically connected with the micro pump and valve provided on the main pipeline (3) is used to accurately control the perfusion flow rate and pressure of the perfusion pipeline (4) and the suction degree of the backflow pipeline (5) according to the preset parameters or real-time instructions to maintain a clear surgical field; A laser control module electrically connected with the laser in the laser head (2) is used to receive energy emission instructions, to accurately regulate the output power, emission mode (continuous / pulse) and emission time of the laser to ensure the cutting or coagulation effect of the region; A motion control module electrically connected with the micro servo motor or shape memory alloy driver driving each joint of the flexible mechanical arm (1) is used to analyze the motion instructions from the main control unit, to generate multiple PWM control signals, to independently and cooperatively control the accurate rotation angle, speed and acceleration of each joint, and to realize flexible and stable movement of the mechanical arm.

8. The control system of the flexible robotic arm based laser enucleation of the prostate device according to claim 7, wherein, The laser head (2) is integrated with an optical auxiliary positioning module, specifically including A multi-spectral imaging unit is used to emit narrow-band light of specific wavelengths and receive tissue-reflected light, and by analyzing the spectral feature differences of different tissues (such as hyperplastic glands, capsules, and blood vessels), the boundary between the lesion area and normal tissue is enhanced in the video image; A laser indication light unit is integrated in the laser emission light path, which emits a low-power visible light as an indication light to clearly mark the precise position where the high-energy treatment laser will act in the surgical field in advance; A distance sensing unit uses a miniature laser ranging or optical coherence tomography technology to monitor the distance between the front end of the laser head (2) and the tissue surface in real time, and superimposes the distance information on the video image or uses it to control the automatic alignment of the laser focus to the optimal action distance of the tissue; An image recognition unit cooperates with the video imaging structure (6) and the image processing module in the chip to analyze the real-time video stream frame by frame based on a pre-trained deep learning model, automatically identify and enclose the suspected hyperplasia lesion area, important anatomical landmarks (such as the urethral crest), and dangerous areas (such as the sphincter), and provide visual assistance and early warning for the operator.

Images