Multifunctional operation arm suitable for hysteromyoma excision under laparoscope

Abstract

The invention relates to the technical field of medical instruments, in particular to a multifunctional operation arm suitable for hysteromyoma resection under a laparoscope, which comprises an intelligent operation system and a support, a plurality of mechanical arms are mounted on the support, and end effectors with different functions are mounted at the tail ends of the mechanical arms. The mechanical arm operation system comprises a patient analysis module, an operation planning module, a real-time feedback module and a mechanical arm control module. The operation planning module is used for constructing an operation planning engine through a CNN (Convolutional Neural Network); the operation planning engine is used for inputting an operation three-dimensional model and generating an operation suggestion scheme. The operation planning engine is used for generating corresponding operation suggestion schemes for different operation three-dimensional models, a doctor is effectively assisted in constructing and adjusting the operation schemes, then through the design of the mechanical arm control module, the doctor is assisted in performing operation, and the operation effect is effectively improved.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, specifically to a multifunctional operating arm suitable for laparoscopic myomectomy. Background Technology

[0002] Uterine fibroids, also known as uterine fibroids or leiomyomas, are benign tumors originating from the smooth muscle tissue of the uterus. They are the most common benign tumors of the female reproductive system, with an incidence rate as high as 20%-50% in women of reproductive age. The rate of malignant transformation is extremely low (<0.5%). Among existing treatment techniques for uterine fibroids, laparoscopic myomectomy has become the mainstream minimally invasive surgical treatment method due to its advantages of minimal trauma and rapid recovery.

[0003] Currently, the main clinically used laparoscopic surgical robotic systems for laparoscopic myomectomy are the "da Vinci Surgical System" manufactured by Intuitive Surgical. Its core function is to provide magnified 3D vision and highly flexible robotic arms that filter out hand tremors. Surgeons remotely control the robotic arms and their end effectors at the patient's bedside via a console. Its core working principle is to scale and precisely replicate the surgeon's hand movements onto the robotic arms through the da Vinci Surgical System, enabling remote and precise control of the robotic arms to complete the surgery.

[0004] However, such devices can only perform surgical operations by doctors, relying heavily on the doctor's experience to judge and control the surgical process. For example, the location, direction, and depth of the surgical incision, the operating sequence, speed, and force of the various robotic arms and surgical instruments all depend on the doctor's control. It is difficult to assist the doctor in constructing and adjusting the surgical plan according to the specific surgical scenario. Furthermore, existing surgical systems are mostly general-purpose and lack specific assistance for uterine fibroid removal, resulting in low surgical efficiency. Therefore, this invention provides a multifunctional operating arm suitable for laparoscopic uterine fibroid removal to solve the above problems. Summary of the Invention

[0005] To address the aforementioned issues, this invention provides a multifunctional operating arm suitable for laparoscopic myomectomy. By constructing a three-dimensional surgical model of the patient's uterus, a surgical planning engine is used to generate corresponding operational suggestions based on the three-dimensional surgical model, effectively assisting doctors in constructing and adjusting surgical plans. Furthermore, the design of the robotic arm control module assists doctors in performing surgical operations, effectively improving surgical outcomes.

[0006] To achieve the above objectives, the technical solution of the present invention is as follows: a multifunctional operating arm suitable for laparoscopic myomectomy, comprising an intelligent surgical system and a support, wherein a plurality of robotic arms are mounted on the support, and each robotic arm is equipped with an end effector with different functions at its end.

[0007] The intelligent surgical system includes a patient analysis module, a surgical planning module, a real-time feedback module, and a robotic arm control module.

[0008] The patient analysis module is used to input the patient's uterine imaging data, analyze the uterine and fibroid characteristics based on the uterine imaging data, and generate a preliminary three-dimensional model of the uterus and fibroids.

[0009] The real-time feedback module is used to acquire real-time images of the uterus through laparoscopy and analyze the differences between the actual appearance of the uterus and fibroids and the preliminary three-dimensional model in real time. The patient analysis module is also used to adjust the preliminary three-dimensional model based on the differences between the actual appearance and the preliminary three-dimensional model to generate a surgical three-dimensional model.

[0010] The surgical planning module is used to build the surgical planning engine. The surgical planning engine is used to input a 3D surgical model, plan the myoma resection path, hemostasis and suturing path, and robotic arm operation sequence for the 3D surgical model, and generate operation suggestion plans.

[0011] The robotic arm control module is used to receive operation suggestions and assist in controlling the operation of each robotic arm and end effector according to the operation suggestions.

[0012] The technical principle of the above solution is as follows:

[0013] The patient analysis module uses uterine imaging data such as MRI, CT, and previous laparoscopic images to analyze the patient's uterine and fibroid characteristics, thereby generating a preliminary 3D model of the uterus and fibroids before surgery, providing an initial reference for the doctor to construct a surgical plan. The real-time feedback module acquires real-time images of the uterus through laparoscopy during the operation, analyzing the differences between the actual appearance of the uterus and fibroids and the preliminary 3D model. Based on these differences, the patient analysis module adjusts the preliminary 3D model to generate a surgical 3D model that better reflects the patient's current uterine and fibroid condition, providing the doctor with a more accurate reference. The doctor then constructs a surgical plan based on this model. Simultaneously, the surgical planning engine generates operational suggestions based on the surgical 3D model. The doctor cross-references these suggestions with their constructed surgical plan to arrive at a final surgical plan. The doctor then performs the surgery according to this final plan using the robotic arm control module.

[0014] The above approach has the following beneficial effects:

[0015] 1. In existing technologies, before surgery, doctors can often only judge the condition of the patient's uterus and fibroids through two-dimensional images to formulate a surgical plan. This invention, through the design of a patient analysis module, uses the patient's preoperative uterine image data to construct a three-dimensional model, transforming the planar two-dimensional image into a three-dimensional visualization model. This allows doctors to more clearly judge the size, location, and relative relationship of the uterus and fibroids, providing a good data foundation for doctors to formulate surgical plans and significantly reducing the risk of surgical plans being mismatched due to inaccurate preoperative assessment.

[0016] 2. This invention, through the linkage design of the patient analysis module and the real-time feedback module, can not only construct a three-dimensional model using preoperative imaging data such as MRI, CT, and previous laparoscopic images, but also adjust and optimize the three-dimensional model in real time using uterine images acquired during the current surgery via laparoscopy. This makes the model more consistent with the patient's current and most realistic uterine and fibroid conditions, thereby facilitating doctors to make more reasonable adjustments to the surgical plan based on the optimized three-dimensional model, effectively improving the fit between the surgical plan and the patient's condition.

[0017] 3. This solution, through the design of the surgical planning module, utilizes a CNN convolutional neural network to automatically output corresponding surgical operation suggestions based on the optimized 3D model, such as myoma resection path, hemostasis and suturing path, and robotic arm operation sequence, providing doctors with intuitive suggestions, enabling them to better optimize and construct surgical plans and achieve better surgical results.

[0018] Furthermore, the patient analysis module includes a fibroid analysis unit, a uterus analysis unit, and a 3D construction unit.

[0019] The fibroid analysis unit is used to identify and label the relative location, size, and number of fibroids based on uterine imaging data.

[0020] The uterine analysis unit is used to identify and label the size and relative position of the cervix and uterus based on uterine imaging data.

[0021] The 3D construction unit is used to draw a preliminary 3D model of the uterus and fibroids based on the size and relative position of the cervix, uterus and various fibroids marked in the uterine imaging data using 3D software. The 3D construction unit is also used to adjust the preliminary 3D model according to the differences between the actual appearance of the uterus and fibroids and the preliminary 3D model to generate a surgical 3D model.

[0022] Beneficial effects: The fibroid analysis unit and the uterus analysis unit can clearly distinguish fibroids from the cervix and uterus, and identify the size and relative position of the cervix, uterus and each fibroid, thus providing the basic data for the three-dimensional construction unit to build the surgical three-dimensional model.

[0023] Furthermore, the fibroid analysis unit is also used to identify the relative position of the fibroid to the uterus and cervix based on uterine imaging data, determine the type of fibroid, and transmit the fibroid type to the surgical planning engine; the types of fibroids include intramural fibroids, subserosal fibroids, and cervical fibroids; the surgical planning engine is also used to adjust the operation suggestion plan according to the type of fibroid.

[0024] Beneficial effects: The removal procedures for different types of fibroids vary greatly. The fibroid analysis unit can determine the type of fibroid based on its relative position to the uterus and cervix, thus providing a data basis for subsequent operation suggestions and surgical plans.

[0025] Furthermore, the surgical planning module also allows doctors to set safety thresholds for the distance and pressure of various end effectors relative to different tissues and organs, and adjust the recommended operation plan based on the safety thresholds for the distance and pressure.

[0026] Beneficial effects: This solution, through the design of spacing safety thresholds and pressure safety thresholds, can avoid unnecessary damage to patients caused by robotic arms and various end effectors during surgery, thereby improving the safety of the operation.

[0027] Furthermore, the real-time feedback module is also used to collect the distance and pressure between the end effector and the tissue / organ. If the distance between the end effector and the tissue / organ is less than the distance safety threshold, the real-time feedback module issues a distance danger warning; if the pressure between the end effector and the tissue / organ is greater than the pressure safety threshold, the real-time feedback module issues a pressure danger warning.

[0028] Beneficial effects: This solution, through the design of distance hazard warning and pressure hazard warning, enables doctors to be aware of the dangers present in the surgical procedure in a timely manner, so as to adjust the surgical procedure accordingly.

[0029] Furthermore, the robotic arm control module includes an automatic execution unit and a human-mediated unit.

[0030] The automatic execution unit is used to allow medical staff to confirm the spacing safety threshold, pressure safety threshold, and recommended operation plan, and automatically executes the recommended operation plan after confirmation.

[0031] The artificial guidance unit is used to adjust the spacing safety threshold, pressure safety threshold, and operation suggestion scheme; it is also used to allow medical staff to actively control the operation of the robotic arm.

[0032] Beneficial effects: The automatic execution unit can automatically control the operation of the robotic arm according to the operation suggestions adjusted and confirmed by the doctor; through the design of the artificial intervention unit, the doctor can intervene at any time according to the emergency situation during the operation, such as intraoperative bleeding, and actively operate the robotic arm to perform the operation.

[0033] Furthermore, at least one of the robotic arms has a detachable mounting base at its end, a connecting rod fixedly connected to the mounting base, and a base fixedly connected to the end of the connecting rod away from the mounting base. The base is equipped with a fibroid grasping component for grasping fibroids of different diameters.

[0034] Beneficial effects: Existing gripping forceps have a fixed and rigid structure, which limits their gripping range. Smaller fibroids are prone to falling off the side of the forceps, while larger fibroids are prone to breakage during the gripping process, resulting in fibroid tissue remaining in the uterus in a free state. This solution expands the gripping range of the device and improves the stability of fibroid gripping through the fibroid gripping component.

[0035] Furthermore, the fibroid grasping component includes several grippers made of elastic material, with hinge blocks symmetrically fixedly connected to the bottom of each gripper. A fixed plate is hinged to one end of each hinge block, and a hinge rod is hinged to the other end of each hinge block. The bottom of each fixed plate is fixedly connected to the top of the base. The base is provided with a drive assembly for driving the hinge blocks to rotate around the fixed plate.

[0036] Beneficial effects: The elastic grippers can rotate around the fixed plate with the hinge block. While gripping the fibroid, the grippers will deform accordingly, thus adapting to fibroids of different sizes. Moreover, compared with rigid grippers, the elastic grippers can effectively reduce the risk of fibroid breakage during the gripping process.

[0037] Furthermore, the drive assembly includes an electric cylinder fixedly connected to the top of the base, an adjustment plate fixedly connected to the output shaft of the electric cylinder, and the end of the hinge rod away from the hinge block is hinged to the adjustment plate; the robotic arm control module is used to control the operation of the electric cylinder.

[0038] Beneficial effects: When the output shaft of the electric cylinder extends or retracts, the output shaft will drive the hinge rod to rotate around the fixed plate, which in turn will drive the gripper to rotate synchronously with the hinge block, thereby achieving the clamping of the myoma.

[0039] Furthermore, each of the grippers has several openwork grooves.

[0040] Beneficial effects: This solution, through the design of the hollow groove, can improve the deformation capability of the gripper, provide sufficient deformation space for each part of the gripper, and better adapt to fibroids of different sizes. Attached Figure Description

[0041] Figure 1 This is a schematic diagram of the intelligent surgical system in the multifunctional operating arm of the present invention, applicable to laparoscopic myomectomy.

[0042] Figure 2 This is a flowchart illustrating the workflow of the intelligent surgical system with a multifunctional operating arm applicable to laparoscopic myomectomy according to the present invention.

[0043] Figure 3This is a schematic diagram of the patient analysis module in the multifunctional operating arm of the present invention, which is applicable to laparoscopic myomectomy.

[0044] Figure 4 This is a schematic diagram of the robotic arm control module in the multifunctional operating arm applicable to laparoscopic myomectomy of the present invention.

[0045] Figure 5 This is an isometric view of the myoma grasping component in the multifunctional operating arm of the present invention, applicable to laparoscopic myoma resection.

[0046] Figure 6 for Figure 5 Enlarged view of part A in the middle.

[0047] Figure 7 This is an isometric view of the myoma driving component in the multifunctional operating arm of the present invention, applicable to laparoscopic myoma resection.

[0048] The reference numerals in the accompanying drawings of the instruction manual include: 1. Mounting base; 2. Connecting rod; 3. Base; 4. Electric control cylinder; 5. Adjusting plate; 6. Hinge rod; 7. Hinge block; 8. Fixing plate; 9. Clamping claw. Detailed Implementation

[0049] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0050] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the 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.

[0051] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0052] The following detailed description illustrates the specific implementation method:

[0053] Example 1:

[0054] like Figure 1 and Figure 2 As shown, a multifunctional operating arm suitable for laparoscopic myomectomy includes an intelligent surgical system and a support. Several robotic arms are mounted on the support (in this embodiment, conventional surgical robotic arms are selected). Each robotic arm is equipped with an end effector with different functions, including a gripper, a dissecting hook, an electrocautery knife, an ultrasonic scalpel head, and a suture device.

[0055] The intelligent surgical system includes a patient analysis module, a surgical planning module, a real-time feedback module, and a robotic arm control module. These modules are sequentially connected by signals, with the patient analysis module and the surgical planning module interconnected.

[0056] The specific functions of each module are as follows:

[0057] The patient analysis module is used to input the patient's uterine image data, analyze the uterine and fibroid characteristics based on the uterine image data, generate a preliminary three-dimensional model of the uterus and fibroids, and transmit the preliminary three-dimensional model to the real-time feedback module.

[0058] like Figure 3 As shown, the patient analysis module includes a fibroid analysis unit, a uterus analysis unit, and a 3D construction unit.

[0059] The uterine analysis unit is used to identify and label the size and relative position of the cervix and uterus based on uterine imaging data.

[0060] Specifically, the uterine analysis unit uses an image segmentation algorithm (in this embodiment, the U-Net algorithm is selected) to automatically analyze the patient's uterine MRI images, CT images, and previous laparoscopic images to identify the position and size of the uterine body and cervix, and segment the entire uterus (including the endometrial and myometrial contours) and the morphology of the cervix.

[0061] The fibroid analysis unit is used to identify and label the relative location, size, and number of fibroids based on uterine imaging data. It also identifies the relative position of fibroids to the uterus and cervix based on the uterine imaging data, determines the type of fibroid, and transmits the fibroid type to the surgical planning engine (integrated into the surgical planning module). Fibroid types include intramural fibroids, subserosal fibroids, and cervical fibroids.

[0062] Specifically, the fibroid analysis unit uses an image segmentation algorithm to identify and segment all fibroids and determine their type; the determination process is as follows:

[0063] In uterine imaging data, when the majority of the fibroid (e.g., >50% of its volume) is surrounded by the myometrium and maintains a certain distance from the serosal layer and the endometrial line, the fibroid analysis unit determines that the fibroid is an intramural fibroid.

[0064] In uterine imaging data, if most of the fibroids protrude from the surface of the uterine serosa, or if the fibroids are very close to the serosa (e.g., the minimum distance is <3 mm), and are identified as growing in this manner, the fibroid analysis unit determines that the fibroid is a subserosal fibroid.

[0065] In uterine imaging data, when a fibroid is located in the cervical region or when the main body of the fibroid is embedded in the cervical tissue, the fibroid analysis unit determines that the fibroid is a cervical fibroid.

[0066] The 3D building unit is used to draw a preliminary 3D model of the uterus and fibroids based on the size and relative position of the cervix, uterus and various fibroids marked in the uterine imaging data, using 3D software.

[0067] Specifically, in this embodiment, the 3D software selected is 3D Slicer. The 3D building unit uses 3D Slicer to construct independent and distinguishable mesh objects of the myometrium, endometrium, cervix and each fibroid according to the size and relative position of the uterus, cervix and each fibroid, forming a preliminary 3D model of the uterus and fibroids for doctors to view, which facilitates doctors in constructing a preliminary surgical plan.

[0068] The real-time feedback module is used to acquire real-time images of the uterus through laparoscopy, analyze the differences between the actual appearance of the uterus and fibroids and the preliminary 3D model in real time, and feed back the differences between the actual appearance and the preliminary 3D model to the patient analysis module; the 3D construction unit is used to adjust the preliminary 3D model according to the differences between the actual appearance and the preliminary 3D model, generate the surgical 3D model, and transmit the surgical 3D model to the surgical planning module.

[0069] Specifically, the real-time feedback module collects real-time images acquired during laparoscopy and uses the U-Net algorithm to extract the size, outline, and relative position of the uterus, cervix, and fibroids. It compares the differences in size, outline, and relative position of each tissue and organ in the real-time images with those in the preliminary 3D model. Using the real-time images as the target, it adjusts the differences in the preliminary 3D model in the 3D Slicer to obtain a surgical 3D model for doctors to review. Doctors can then use the surgical 3D model to construct a surgical plan that is more suitable for the patient's current uterine and fibroid condition.

[0070] The surgical planning module is used to build a surgical planning engine using a CNN convolutional neural network. The surgical planning engine is used to take a 3D surgical model as input, plan the myoma resection path, hemostasis and suturing path and robotic arm operation sequence for the 3D surgical model, and generate operation suggestions.

[0071] Specifically, the surgical planning engine is trained using a large number of uterine MRI, CT and laparoscopic images from successful laparoscopic myomectomy surgeries. The images are labeled with the size, outline and location of each tissue and organ (uterus, cervix and fibroids). The laparoscopic images are also labeled with the fibroid type, fibroid resection path and hemostasis suture path.

[0072] The surgical planning engine is also used to adjust the recommended surgical approach based on the type of fibroid.

[0073] Specifically, the resection methods for different types of fibroids vary greatly.

[0074] Assuming the patient has an intramural fibroid, the recommended procedure is as follows: Use an ultrasonic scalpel to cut the myometrium on the fibroid along the longitudinal axis of the uterus, and use a dissecting hook to separate the myometrium covering the fibroid, thus exposing the fibroid; control the ultrasonic scalpel to reach the fibroid capsule but avoid penetrating the fibroid endometrium; use a grasping forceps to remove the fibroid, and perform layered suturing and hemostasis along the incision path.

[0075] The surgical planning module also allows doctors to set safety thresholds for the distance and pressure of various end effectors relative to different tissues and organs, and adjust the recommended operation plan based on the safety thresholds for distance and pressure.

[0076] Specifically, for example, if a doctor sets the safe threshold for the distance between the suture device and the endometrium to 1.00 mm, and the safe threshold for the pressure between the suture device and the myometrium to 0.8 N, then the recommended procedure would be adjusted as follows: control the movement distance of the robotic arm and the suture device so that the distance between the suture device and the endometrium is no less than 1.00 mm, and the pressure between the suture device and the myometrium does not exceed 0.8 N. This design ensures that the suture device effectively sutures the myometrium while avoiding penetration of the endometrium, thus preventing unnecessary harm to the patient.

[0077] The real-time feedback module is also used to collect the distance and pressure between the end effector and the tissue / organ. If the distance between the end effector and the tissue / organ is less than the distance safety threshold, the real-time feedback module issues a distance danger warning; if the pressure between the end effector and the tissue / organ is greater than the pressure safety threshold, the real-time feedback module issues a pressure danger warning.

[0078] Specifically, in this embodiment, pressure sensors are installed on all end effectors. During the surgery, the real-time feedback module identifies the actual distance between the end effector and the tissue / organ through images acquired by the laparoscopy, detects the actual pressure between the end effector and the tissue / organ through the pressure sensors, and compares the actual distance with a safe distance threshold and the actual pressure with a safe pressure threshold. An alarm is installed on the robotic arm. If the distance between the end effector and the tissue / organ is less than the safe distance threshold, the real-time feedback module issues a distance danger warning through the alarm, reminding the doctor to adjust the distance. If the pressure between the end effector and the tissue / organ is greater than the safe pressure threshold, the real-time feedback module issues a pressure danger warning through the alarm, reminding the doctor to adjust the pressure.

[0079] like Figure 4 As shown, the robotic arm control module is used to receive operation suggestions and, based on these suggestions, assist in controlling the operation of each robotic arm, as well as the gripper, separation hook, electrocautery knife, ultrasonic scalpel head, and suturer.

[0080] The robotic arm control module includes an automatic execution unit and a human-mediated unit.

[0081] The automatic execution unit is used to allow medical staff to confirm the spacing safety threshold, pressure safety threshold, and recommended operating procedures, and automatically executes the recommended operating procedures after confirmation.

[0082] The artificial guidance unit is used to adjust the spacing safety threshold, pressure safety threshold, and operation suggestion scheme; it is also used to allow medical staff to actively control the operation of the robotic arm.

[0083] Specifically, during surgery, patients' tissues and organs may experience special circumstances such as edema, displacement, and abnormal bleeding. Doctors can adjust the spacing safety threshold and pressure safety threshold under these special circumstances, and can also immediately and actively control the operation of the robotic arm to deal with these emergencies.

[0084] This embodiment constructs a 3D surgical model of the patient's uterus, enabling doctors to create surgical plans that better suit the patient's actual situation based on the 3D surgical model. It also utilizes a surgical planning engine to generate operation suggestions corresponding to the 3D surgical model, effectively assisting doctors in adjusting and optimizing the surgical plan. Furthermore, the design of the robotic arm control module assists doctors in performing surgical operations, effectively improving the relevance of the plan construction and the reliability of the surgery.

[0085] Example 2:

[0086] The difference from Example 1 is that, as Figure 5 and Figure 6As shown, at least one of the robotic arms has a mounting base 1 that is detachably threaded to its end. A connecting rod 2 is welded to the mounting base 1. A base 3 is welded to the end of the connecting rod 2 away from the mounting base 1. The base 3 is provided with a fibroid grasping component for grasping fibroids of different diameters.

[0087] like Figure 7 As shown, the fibroid grasping component includes several grippers 9 made of medical rubber. Each gripper 9 has a hinge block 7 symmetrically fixedly bonded to its bottom. Each hinge block 7 has a fixed plate 8 hinged to one end and a hinge rod 6 hinged to the other end. The bottom of the fixed plate 8 is welded to the top of the base 3. The base 3 is provided with a drive component for driving the hinge block 7 to rotate around the fixed plate 8.

[0088] like Figure 7 As shown, the drive assembly includes an electric control cylinder 4 bolted to the top of the base 3, an adjustment plate 5 bolted to the output shaft of the electric control cylinder 4, and the end of the hinge rod 6 away from the hinge block 7 is hinged to the adjustment plate 5; the robotic arm control module is used to control the operation of the electric control cylinder 4.

[0089] like Figure 7 As shown, specifically, in the initial state, the output shaft of the electric cylinder 4 is in a retracted state, and the grippers 9 are close to each other; when grasping the fibroid, the robotic arm control module will control the output shaft of the electric cylinder 4 to extend upward, thereby pushing the adjusting plate 5 to move upward, the adjusting plate 5 will push the hinge rod 6 to move upward, the hinge rod 6 will push the inner side of the hinge block 7 to move upward, because the outer side of the hinge block 7 ( Figure 7 The hinge block 7 is hinged to the fixed plate 8. Therefore, the hinge block 7 will drive the gripper 9 to rotate outward around the top of the fixed plate 8. The grippers 9 will move away from each other. At the same time, the control robot arm extends forward, so that the inner wall of the gripper 9 fits against the surface of the fibroid. Then, the control cylinder 4 outputs the shaft to retract downward, so that the grippers 9 move closer to each other. The gripper 9 will clamp the fibroid. The inner wall of the gripper 9 will deform accordingly with the shape of the fibroid, thereby improving the stability of clamping. At the same time, it will not exert hard pressure on the fibroid, thereby preventing the fibroid from breaking and improving the integrity of the fibroid removal.

[0090] Example 3:

[0091] The difference from Example 2 is that, as Figure 4 and Figure 5 As shown, each of the grippers 9 has several open slots.

[0092] The hollowed-out grooves provide ample deformation space for each part of the gripper 9, thereby improving the deformation capability of the gripper 9 and enabling it to better adapt to myomas of different sizes, achieving more stable clamping.

[0093] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A multifunctional operating arm suitable for laparoscopic myomectomy, comprising a support, on which several robotic arms are mounted, each robotic arm having an end effector with a different function mounted at its end; characterized in that, It also includes an intelligent surgical system, which includes a patient analysis module, a surgical planning module, a real-time feedback module, and a robotic arm control module; The patient analysis module is used to input the patient's uterine imaging data, analyze the uterine and fibroid characteristics based on the uterine imaging data, and generate a preliminary three-dimensional model of the uterus and fibroids. The real-time feedback module is used to acquire real-time images of the uterus through laparoscopy and analyze the differences between the actual appearance of the uterus and fibroids and the preliminary three-dimensional model in real time. The patient analysis module is also used to adjust the preliminary 3D model based on the differences between the actual appearance and the preliminary 3D model, and generate a surgical 3D model; The surgical planning module is used to build the surgical planning engine. The surgical planning engine is used to input the surgical 3D model, plan the myoma resection path, hemostasis and suturing path and robotic arm operation sequence for the surgical 3D model, and generate operation suggestion plan. The robotic arm control module is used to receive operation suggestions and assist in controlling the operation of each robotic arm and end effector according to the operation suggestions.

2. The multifunctional operating arm for laparoscopic myomectomy according to claim 1, characterized in that, The patient analysis module includes a fibroid analysis unit, a uterus analysis unit, and a 3D construction unit; The fibroid analysis unit is used to identify and label the relative location, size, and number of fibroids based on uterine imaging data. The uterine analysis unit is used to identify and label the size and relative position of the cervix and uterus based on uterine imaging data. The 3D construction unit is used to draw a preliminary 3D model of the uterus and fibroids based on the size and relative position of the cervix, uterus and various fibroids marked in the uterine imaging data using 3D software. The 3D construction unit is also used to adjust the preliminary 3D model according to the differences between the actual appearance of the uterus and fibroids and the preliminary 3D model to generate a surgical 3D model.

3. The multifunctional operating arm for laparoscopic myomectomy according to claim 2, characterized in that, The fibroid analysis unit is also used to identify the relative position of fibroids to the uterus and cervix based on uterine imaging data, determine the type of fibroid, and transmit the fibroid type to the surgical planning engine; the types of fibroids include intramural fibroids, subserosal fibroids, and cervical fibroids; the surgical planning engine is also used to adjust the operation suggestion plan according to the type of fibroid.

4. The multifunctional operating arm for laparoscopic myomectomy according to claim 1, characterized in that, The surgical planning module also allows doctors to set safety thresholds for the distance and pressure of various end effectors relative to different tissues and organs, and adjust the recommended operation plan based on the safety thresholds for distance and pressure.

5. The multifunctional operating arm for laparoscopic myomectomy according to claim 1, characterized in that, The real-time feedback module is also used to collect the distance and pressure between the end effector and the tissue / organ. If the distance between the end effector and the tissue / organ is less than the distance safety threshold, the real-time feedback module will issue a distance danger warning. If the pressure between the end effector and the tissue / organ exceeds the pressure safety threshold, the real-time feedback module issues a pressure hazard warning.

6. The multifunctional operating arm for laparoscopic myomectomy according to claim 1, characterized in that, The robotic arm control module includes an automatic execution unit and a human-mediated unit; The automatic execution unit is used to allow medical staff to confirm the spacing safety threshold, pressure safety threshold, and recommended operation plan, and automatically executes the recommended operation plan after confirmation. The artificial guidance unit is used to adjust the spacing safety threshold, pressure safety threshold, and operation suggestion scheme; it is also used to allow medical staff to actively control the operation of the robotic arm.

7. The multifunctional operating arm for laparoscopic myomectomy according to claim 1, characterized in that, At least one of the robotic arms has a detachable mounting base (1) at its end. A connecting rod (2) is fixedly connected to the mounting base (1). A base (3) is fixedly connected to the end of the connecting rod (2) away from the mounting base (1). A fibroid grasping component for grasping fibroids of different diameters is provided on the base (3).

8. The multifunctional operating arm for laparoscopic myomectomy according to claim 7, characterized in that, The fibroid grasping assembly includes several grippers (9) made of elastic material. Each gripper (9) has a hinge block (7) symmetrically fixedly connected to its bottom. Each hinge block (7) has a fixed plate (8) hinged to one end and a hinge rod (6) hinged to the other end. The bottom of the fixed plate (8) is fixedly connected to the top of the base (3). The base (3) is provided with a drive assembly for driving the hinge block (7) to rotate around the fixed plate (8).

9. The multifunctional operating arm for laparoscopic myomectomy according to claim 8, characterized in that, The drive assembly includes an electric control cylinder (4) fixedly connected to the top of the base (3), an adjustment plate (5) fixedly connected to the output shaft of the electric control cylinder (4), and the end of the hinge rod (6) away from the hinge block (7) is hinged to the adjustment plate (5); the robotic arm control module is used to control the operation of the electric control cylinder (4).

10. The multifunctional operating arm for laparoscopic myomectomy according to claim 7, characterized in that, Several open slots are opened on the grippers (9).

Images