Surgical system based on finite-state machine, system control method, medium and product

Abstract

The embodiment of the invention discloses an operation system based on a finite-state machine, a system control method, a medium and a product, and belongs to the technical field of medical equipment. The system comprises an instruction module used for generating a control instruction; the state sensing module is used for acquiring state data; the processor is used for determining state priority information, at least two reachable system states corresponding to the current system state and a transfer rule from the current system state to each reachable system state based on a predetermined transfer rule set; determining a next system state according to the current input event, the state priority information and a transfer rule from the current system state to each reachable system state; wherein the next system state is the current system state or the optimal reachable system state, the current input event comprises state data and / or a control instruction, and the transfer rule comprises the control instruction and / or a state feature. According to the embodiment of the invention, the problem that the existing operation system has high requirements on clinical experience of doctors is solved.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of medical device technology, and in particular to a surgical system, system control method, medium and product based on a finite state machine. Background Technology

[0002] Transurethral laser lithotripsy is currently the mainstream minimally invasive technique for treating urinary tract stones. However, during this procedure, the surgeon must simultaneously perform endoscopic manipulation, manual adjustment of laser parameters (energy, frequency, average power, peak power, pulse width), perfusion management, and handle various emergencies such as intraoperative bleeding within a narrow endoscopic field of vision. Therefore, the entire surgical process is highly dependent on the surgeon's clinical experience. Summary of the Invention

[0003] This invention provides a surgical system, system control method, medium, and product based on a finite state machine, thereby reducing the clinical experience requirements of surgeons for surgical systems.

[0004] According to one aspect of the present invention, a surgical system based on a finite state machine is provided, the system comprising: The instruction module is used to generate control instructions; A state awareness module is used to acquire state data corresponding to the region of interest, the state data including real-time images and direct state data; The processor is configured to acquire the state data through the state awareness module and / or generate the control instructions through the instruction module; determine state priority information, at least two reachable system states corresponding to the current system state, and transition rules from the current system state to each of the reachable system states based on a predetermined transition rule set; and determine the next system state according to the current input event, the state priority information, and the transition rules from the current system state to each of the reachable system states. Wherein, the next system state is the current system state or the optimal reachable system state, the current input event includes the state data and / or the control command, the transition rule includes the control command and / or state features, and the state features are determined based on the state data.

[0005] According to one aspect of the present invention, a surgical system control method is provided, the method comprising: The state data is acquired through the state perception module and / or the control command is generated through the instruction module; Based on a predetermined set of transition rules, determine state priority information, at least two reachable system states corresponding to the current system state, and transition rules from the current system state to each of the reachable system states; The next system state is determined based on the current input event, the state priority information, and the transition rules from the current system state to each reachable system state. Wherein, the next system state is the current system state or the optimal reachable system state, the current input event includes the state data and / or the control command, the transition rule includes the control command and / or state features, and the state features are determined based on the state data.

[0006] According to another aspect of the present invention, a surgical system control device is provided, the device comprising: The state data is acquired through the state perception module and / or the control command is generated through the instruction module; Based on a predetermined set of transition rules, determine state priority information, at least two reachable system states corresponding to the current system state, and transition rules from the current system state to each of the reachable system states; The next system state is determined based on the current input event, the state priority information, and the transition rules from the current system state to each reachable system state. Wherein, the next system state is the current system state or the optimal reachable system state; the current input event includes the state data and / or the control command; the transition rule includes the control command and / or state features, and the state features are determined based on the state data.

[0007] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising: One or more processors; Storage device for storing one or more programs. When one or more programs are executed by one or more processors, the one or more processors implement the surgical system control method as described in any embodiment of the present invention.

[0008] According to another aspect of the present invention, a computer-readable storage medium is provided, which stores computer instructions for causing a processor to execute and implement the surgical system control method according to any embodiment of the present invention.

[0009] According to another aspect of the present invention, a computer program product is provided, which, when executed by a processor, implements the surgical system control method as described in any embodiment of the present invention.

[0010] The technical solution of this invention, since the predetermined transfer rule set includes at least two reachable system states corresponding to each system state, transfer rules from each system state to its reachable system states, and state priority information between all system states, and the current input event includes state data and / or control instructions, can accurately determine the next system state based on the current input event, state priority information, and transfer rules from the current system state to each reachable system state. This next system state is the current system state or the optimal reachable system state, enabling the system to automatically and accurately complete the switching of system states based on global state data, so that the system automatically enters a system state that conforms to its current global state. By encoding the difficult-to-express and highly dependent on personal clinical experience into explicit and repeatable decision rules and state processes, the dependence of surgical results on the surgeon's personal experience is greatly reduced, enabling high-quality and safe surgical operations to be standardized and stably replicated, which is conducive to the promotion and quality control of surgical techniques.

[0011] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0012] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0013] Figure 1 A schematic diagram of the structure of a surgical system based on a finite state machine provided in an embodiment of the present invention; Figure 2 This is another structural schematic diagram of a surgical system based on a finite state machine provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of system state transition provided in an embodiment of the present invention; Figure 4 This is a schematic diagram illustrating the transition between two sub-states within the surgical treatment state provided in an embodiment of the present invention; Figure 5 This is another structural schematic diagram of a surgical system based on a finite state machine provided in an embodiment of the present invention; Figure 6 A flowchart of a surgical system control method provided in an embodiment of the present invention; Figure 7 This is a schematic diagram of the structure of the surgical system control device provided in an embodiment of the present invention; Figure 8 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0014] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0015] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0016] Figure 1 This is a schematic diagram of a surgical system based on a finite state machine, provided as an embodiment of the present invention. Figure 1 As shown, the system includes: Instruction module 110 is used to generate control instructions; The state perception module 120 is used to acquire state data corresponding to the region of interest, the state data including real-time images and direct state data; The processor 130 is configured to acquire the state data through the state awareness module and / or generate the control command through the instruction module; determine state priority information, at least two reachable system states corresponding to the current system state, and the transition rules from the current system state to each of the reachable system states based on a predetermined transition rule set; and determine the next system state according to the current input event, the state priority information, and the transition rules from the current system state to each of the reachable system states. Wherein, the next system state is the current system state or the optimal reachable system state, the current input event includes the state data and / or the control command, the transition rule includes the control command and / or state features, and the state features are determined based on the state data.

[0017] The instruction module 110 is used to generate various control instructions during the surgical process, such as laser output instructions, laser power condition instructions, perfusion instructions, and pause instructions.

[0018] The instruction module 110 may be mounted on a joystick or on a control panel; or it may include a first instruction unit mounted on the joystick and a second instruction unit mounted on the control panel.

[0019] In one embodiment, direct status data includes at least one of real-time temperature and real-time distance, wherein the real-time distance is the end-effector 140 (see [reference]). Figure 2 The distance between the target stone and the region of interest. The region of interest includes the surgical site and its surrounding area. Taking stone surgery as an example, the region of interest includes the target stone and the soft tissue surrounding the target stone.

[0020] In addition to the aforementioned embodiments, the direct state data also includes real-time fluid pressure.

[0021] In this embodiment, the state perception module 120 includes an image acquisition mechanism, a temperature sensor, and a pressure sensor. The image acquisition mechanism can be an endoscope imaging device used to acquire real-time images of the region of interest. The temperature sensor is a miniature temperature sensor integrated on the endoscope tip or the inner laser fiber sheath, used to monitor the local temperature of the fiber optic end / endoscope tip neighborhood, and to estimate the real-time temperature or temperature rise trend of the region of interest in combination with the location and perfusion conditions. The pressure sensor is preferably a high dynamic pressure sensor to acquire the fluid pressure in the monitoring cavity in real time.

[0022] The end-effector 140 can execute control commands issued by the processor with high precision and reliability. Its typical physical implementation includes: a laser controller that receives parameters such as energy, frequency, and pulse width in real time and drives the laser to output a laser beam; and a perfusion pump controller that receives flow rate and pressure mode commands in real time and can coordinate with the reflux / suction / pressure relief channels to execute pressure control strategies, thereby controlling the perfusion fluid flow rate to maintain a clear field of view and stable intracavitary pressure.

[0023] State characteristics are features used to reflect the current state of the system, such as the rate of temperature change, and are determined based on real-time state data.

[0024] State priority information includes the priority between different system states. Taking the finite states of the system, including the initial aiming state, surgical treatment state, operational constraint state, and risk avoidance state, as an example, the priority of the risk avoidance state, operational constraint state, initial aiming state, and surgical treatment state decreases in that order.

[0025] The initial aiming state is configured as the system's safe starting point and global reset point. Its core clinical objective is to achieve safe calibration and target confirmation of the treatment environment by fusing multi-dimensional sensing information without outputting any therapeutic laser, thus establishing a reliable safety benchmark for subsequent treatment operations and preventing accidental tissue damage.

[0026] The surgical treatment state is configured as the core, active state for treating the target using end-effector tools. This state encapsulates at least two treatment sub-strategies that can be dynamically switched based on real-time clinical goals. For example, it can comprehensively cover continuous clinical treatment scenarios ranging from "efficiently breaking up large stones" to "meticulously removing small fragments." These two sub-strategies can be regarded as hierarchical sub-states, but the top-level finite state machine still maintains the surgical treatment state as a single state exit / entry point.

[0027] The risk-avoidance state is configured as a global highest priority safety interruption state specifically for dealing with high-risk, time-sensitive situations, providing a safety net for the system, such as immediate and explicit physical / thermal damage risks caused by end-point tools, such as excessive temperature or pressure.

[0028] The constrained operating condition is used to handle non-acute, non-immediate risk abnormalities where operation cannot continue safely or effectively due to blurred vision, equipment failure, or sensor malfunction. Its core objective is to diagnose the root cause of the problem and provide the operator with clear and orderly recovery guidance, improving the efficiency of human-machine collaboration within the system, rather than executing emergency safety protection.

[0029] Each system state is pre-associated with at least two reachable system states. For example, consider a system with finite states including the initial aiming state, surgical treatment state, operational constraint state, and risk avoidance state. Figure 3 As shown, the at least two reachable system states of the initial aiming state include the surgical treatment state, the operating condition-constrained state, and the risk-avoidance state; the at least two reachable system states of the surgical treatment state include the initial aiming state, the operating condition-constrained state, and the risk-avoidance state; the at least two reachable system states of the operating condition-constrained state include the initial aiming state, the surgical treatment state, and the risk-avoidance state; the combination of reachable system states of the risk-avoidance state includes the initial aiming state and the surgical treatment state.

[0030] It is understood that the number and content of the finite system states corresponding to the system can be determined according to the actual surgical scenario. Similarly, the at least two reachable system state identifiers corresponding to each system state are also determined based on the surgical scenario to which the system is adapted. Therefore, this embodiment does not specifically limit the number of finite system states included in the system, or the reachable system states corresponding to each finite system state.

[0031] All data received by the system when an input event occurs, including control commands and status data.

[0032] The transition rules are the rules that the system must satisfy to undergo state transitions. In one embodiment, the transition rule from the initial aiming state to the surgical treatment state is a composite verification rule, which includes a lower limit of stone confidence and a range of direct state parameters, including real-time distance, real-time temperature, and real-time pressure; the transition rule from the initial aiming state to the risk avoidance state is that any direct state data exceeds the corresponding parameter threshold; the transition rule from the initial aiming state to the working condition-limited state is that the target confidence of the real-time image is lower than a predetermined confidence threshold; the transition rule from the surgical treatment state to the initial aiming state is a pause command, the target confidence being lower than the predetermined confidence threshold, or a treatment end signal; the transition rule from the surgical treatment state to the... The transition rules from the risk-avoidance state are as follows: a dynamic arbitration rule, or the real-time temperature exceeds a hard temperature threshold, or the real-time pressure exceeds a hard pressure threshold; the transition rules from the surgical treatment state to the operating condition-constrained state are as follows: the target confidence level is lower than a predetermined confidence level threshold, the system self-test result does not meet predetermined safety conditions, or the sensor validity verification fails; the transition rules from the risk-avoidance state to the initial aiming state or the surgical treatment state are as follows: the abnormal parameter data that triggered the risk-avoidance state has been eliminated and continues for a predetermined duration; the transition rules from the operating condition-constrained state to the initial aiming state or the surgical treatment state are as follows: the abnormal parameter data that triggered the operating condition-constrained state has been eliminated and continues for a predetermined duration.

[0033] Based on the foregoing embodiments, the transfer rules include a first transfer rule and / or a second transfer rule. The first transfer rule is a rule determined based on state data, and the second transfer rule is a transfer rule corresponding to the control command. For example... Figure 3 As shown, the first transition rule from the initial aiming state to the risk avoidance state is the direct state data exceeding the limit, and the second transition rule is the hardware emergency stop trigger; the first transition rule from the surgical treatment state to the risk avoidance state is the dynamic arbitration trigger rule, and the second transition rule is the hardware emergency stop trigger; the second transition rule from the operating condition-limited state to the risk avoidance state is the hardware emergency stop trigger; the transition rules between other predetermined system states all include only the first transition rule.

[0034] The transition rule from the initial aiming state to the surgical treatment state is a composite safety verification rule. This composite safety verification rule includes: the confidence score of the target stone output by the image recognition algorithm must be greater than a threshold. (For example, Simultaneously, the spatial calculation module determines the minimum Euclidean distance between the laser fiber tip (the tip of the end-effector) and the nearest soft tissue surface. (For example, (millimeters), and continuously meet the preset duration, while the intracavity temperature value fed back by the environmental monitoring module must be within the dynamic safety baseline. Within the range (e.g., Furthermore, the intracavitary pressure value must be at the baseline. Within the range, (for example, The pressure ranges mentioned above are merely examples; in upper urinary tract / renal pressure scenarios, a more conservative upper limit should typically be used and tied to reflux / pressure relief conditions.

[0035] For example, from the initial aiming state to the risk-avoidance state, if any direct state data exceeds the limit, that is, exceeds its independent safety hard threshold, such as a temperature sensor reading suddenly exceeding 43 degrees, pressure exceeding 50 mmHg, or... When there is insufficient safety clearance in soft tissue, the first transfer rule is triggered immediately, and the system unconditionally and with zero delay switches to the risk-avoidance state S2.

[0036] For example, the transition rule from the initial aiming state to the constrained working state is triggered when the target confidence of the real-time image is lower than a predetermined confidence threshold, or when the device communication status self-check rule or the sensor validity / reasonableness verification rule is triggered.

[0037] For example, the transition rules from the surgical treatment state to the initial aiming state may include: being triggered by the surgeon actively pressing the pause pedal or clicking the "pause" button on the interface; or being triggered when the basic rules are not met, such as smoke, bleeding causing complete obstruction of the field of vision, or loss of target tracking; or when, in the stone removal sub-state, the system determines that the treatment is complete because all visible fragments are smaller than the set endpoint threshold and this continues for a certain period of time.

[0038] For example, the transition rules from the surgical treatment state to the risk-avoidance state include triggering rules under two parallel and independent paths, constituting dual-regulation safety. These two independent paths include a first path and a second path. The first path can be called the intelligent path, corresponding to the aforementioned "efficiency-safety" dynamic arbitration rule. The second path can be called the hard threshold path, triggered when the temperature or pressure reaches an insurmountable absolute safety hard threshold (such as 43°C or 50 mmHg).

[0039] For example, the transition rules from the surgical treatment state to the restricted operating state may include: triggering when any one of the real-time image quality score, the device self-test procedure, or the sensor validity verification rules fails to meet the requirements for continuing safe and effective treatment (such as lens contamination alarm or fiber optic end face detection abnormality).

[0040] For example, the transition rule from a risk-averse state to an initial targeting state or surgical treatment state includes: triggering risk parameters have continuously recovered to within a safe threshold, while a "safety observation period" has been established. "Full." The system then automatically and smoothly returns to the initial aiming state, and then returns to the state before the interruption according to the original context, for example, returning to the surgical treatment state before the interruption to continue lithotripsy.

[0041] For example, the transition rule from the restricted working state to the initial aiming state or the surgical treatment state can be configured such that when the system confirms through continuous monitoring that the specific anomaly that caused the entry into the restricted working state has been eliminated or improved to an acceptable level (for example, after outputting the above suggestion, the system detects that the image sharpness and contrast score has stabilized above the threshold δ again for 2 seconds), the diagnostic information box automatically disappears, the system triggers the recovery rule, and automatically returns to the surgical treatment state before entering the restricted working state (or returns to the initial aiming state for safe aiming as appropriate).

[0042] In summary, upon system power-on initialization, after recovering from the risk-averse or restricted operating state, and in any other state where the target stone is lost and cannot be continuously tracked, the system will enter the initial aiming state. After satisfying the composite verification rules in the initial aiming state, the system automatically enters the surgical treatment state. If the current system state is not in the risk-averse state, once the processor detects that the state data does not meet the safety threshold rules or dynamic arbitration rules, or detects a risk trigger command output by the hardware emergency stop switch, it will control the system to automatically transition from the current system state to the risk-averse state. In this case, the hardware emergency stop switch will output a risk trigger command after being pressed by the surgeon. If the current system state is in the initial aiming or surgical treatment state, and the real-time image does not meet the image quality conditions, the communication device self-test results do not meet the predetermined communication conditions, or the sensor output data does not meet the predetermined data conditions, the system will automatically enter the restricted operating state. Whether the sensor output data meets the predetermined data conditions can be determined by verifying the validity and / or rationality of the sensors.

[0043] It is understandable that, since there are similarities and differences in the surgical procedures between different surgical sites, some of the transfer rules in this embodiment will vary depending on the body part where the region of interest is located.

[0044] Of course, users can also define state transition rules between other sub-surgical treatment states based on the actual type of surgery.

[0045] In one embodiment, the system integrates a priority state machine decision engine unit, which is controlled by the processor to complete system state transitions according to a predetermined set of transition rules. Specifically, this engine unit is the intelligent hub of the system, embedding the definitions of multiple system states, the control logic for each system state, and the predetermined set of transition rules that drives all system state transitions. This predetermined set of transition rules is an encoding of clinical expert experience.

[0046] The technical solution provided by this invention, since the predetermined transfer rule set includes at least two reachable system states corresponding to each system state, transfer rules from each system state to its reachable system states, and state priority information between all system states, and the current input event includes state data and / or control instructions, can accurately determine the next system state based on the current input event, state priority information, and transfer rules from the current system state to its reachable system states. This next system state is the current system state or the optimal reachable system state, enabling the system to automatically and accurately complete the switching of system states based on global state data, allowing the system to automatically enter a system state that conforms to its current global state. By encoding the difficult-to-express and highly dependent on personal clinical experience into explicit and repeatable decision rules and state processes, the dependence of surgical results on the surgeon's personal experience is greatly reduced, enabling high-quality and safe surgical operations to be standardized and stably replicated, which is beneficial to the promotion and quality control of surgical techniques.

[0047] Based on the aforementioned embodiments, this system is a lithotripsy system. Accordingly, the surgical treatment state includes a stone fragmentation sub-state and a stone removal sub-state. The stone fragmentation sub-state is for larger stone bodies (e.g., kidney stones with a diameter ≥1.5 cm, ureteral stones with a diameter ≥1.0 cm, or stones that do not reach the size threshold but are hard and complex in shape), with the primary goal of maximizing stone fragmentation efficiency (the amount of stone volume reduction per unit time), and strictly monitoring to never exceed the real-time safety boundary; the stone removal sub-state is used to remove small fragments of 1-3 mm that have been fragmented.

[0048] In one embodiment, the state transition rule between the stone fragmentation sub-state and the stone removal sub-state is a stone diameter threshold. For example, if the current system state is the stone fragmentation sub-state, and it is determined based on continuous real-time images that the diameter of all stones in the region of interest is less than the stone diameter threshold, then the system automatically transitions from the stone fragmentation sub-state to the stone removal sub-state; if the current system state is the stone removal sub-state, and it is determined based on continuous real-time images that there are stones in the region of interest that are larger than the stone diameter threshold, then the system automatically transitions from the stone removal sub-state to the stone fragmentation sub-state.

[0049] In one embodiment, if the current system state is the stone fragmentation sub-state, then indirect state characteristics under the stone fragmentation sub-state are obtained, and the changing trend of stone fragmentation efficiency-stone fragmentation safety is determined based on the indirect state characteristics. Furthermore, the next system state is determined according to the changing trend, where the next system state is the stone fragmentation sub-state, the stone removal sub-state, the risk avoidance state, or the operating condition-limited state. The indirect state characteristics include the maximum allowable time for the exceedance ratio, the exceedance ratio being a target ratio exceeding a predetermined ratio threshold, and the target ratio being the ratio of the target stone's volume reduction rate to the comprehensive risk score. The volume reduction rate is determined based on the real-time images within a predetermined time period. The comprehensive risk score is a weighted sum of temperature, temperature change rate, and pressure fluctuation indicators. The target stone is located within the region of interest.

[0050] Specifically, the core rule of the stone fragmentation process is the priority rule of "efficiency maximization." All laser parameters are adjusted to maximize the reduction in stone fragment volume per unit time (mm). 3 The fundamental principle is to maintain operation within safe heat load and injection range. Specifically, the implementation of the "efficiency maximization" rule relies on the "efficiency-safety" dynamic arbitration rule. Specifically, two assessments are performed in parallel: a) Calculating the crushed stone efficiency score: ,in, This represents the change in stone volume. This represents the time span corresponding to the change in stone volume, i.e., the time length. The physical meaning of this formula is the rate of volume reduction estimated based on the projected area of ​​the stone between consecutive real-time image frames or through 3D reconstruction. b) Calculate the comprehensive risk score: ,in, It is a function of temperature change over time. for The formula is used to calculate the temperature change within a given time window (e.g., 500 milliseconds) by fusing the real-time temperature value T(t) and the rate of temperature rise within that window using a multidimensional weighting function. ), and intracavitary pressure fluctuation indicators The core of the arbitration logic (trend prediction) rule lies in trend prediction, not static threshold comparison. The processor continuously calculates and compares... and The changing trend. When ( ) / ( If the ratio of efficiency to safety does not exceed a predetermined threshold K (e.g., K=2.0), the system remains in the current stone fragmentation state. If the ratio exceeds the predetermined threshold K for N consecutive calculation cycles (e.g., N=3, corresponding to approximately 1.5 seconds), it is determined that the safety risk trend has significantly and continuously deviated from the efficiency improvement trend, i.e., "safety trend prevails," and a safety interruption is immediately triggered to switch to a risk avoidance state or downgrade / pause within the surgical treatment state, depending on the system configuration and the current risk level. The "efficiency-safety" dynamic arbitration rule enables the system to mimic expert clinical thinking, focusing not only on the absolute values ​​of parameters but also on predicting and intervening in the changing trends of efficiency and risk. This achieves an optimization from the traditional "threshold alarm, passive response" to "trend warning, proactive decision-making," enabling better and safer decisions in complex situations.

[0051] For the stone removal sub-state, this system state is used to remove small fragments (1-3 mm) that have been fragmented. The clinical goal here shifts to prioritizing minimizing the risk of tissue thermal damage, optimizing fragment size for natural removal or retrieval, and preventing fragment displacement. The core rule is the "low heat accumulation" priority rule, meaning all parameter adjustments are fundamentally based on minimizing the heat input (J / mg) required for a unit mass of fragment to be vaporized or fragmented, actively controlling the heat load.

[0052] The stone fragmentation sub-state and the stone removal sub-state are configured to be automatically transferred (see [link]). Figure 4 Specifically, in the stone fragmentation sub-state, when it is determined based on multiple consecutive real-time images that "the main stone outline has disappeared, and the field of view is replaced by multiple discrete, moving small fragments," the system automatically switches from the stone fragmentation sub-state to the stone removal sub-state. Correspondingly, the status indicators and core visual elements displayed on the display device change accordingly to inform the operator that the treatment sub-state has fundamentally changed. In the stone removal sub-state, if a large stone is re-identified based on real-time images, the system automatically switches back to the stone fragmentation sub-state. Correspondingly, the status indicators and core visual elements displayed on the display device change accordingly to inform the operator that the treatment sub-state has fundamentally changed.

[0053] Setting the surgical treatment state to include at least two sub-surgical treatment states, and having the processor automatically switch between these at least two sub-surgical treatment states according to the actual surgical situation, helps to improve the surgeon's surgical experience and the safety of the surgery.

[0054] Different system states correspond to different control strategies; in other words, the system can only execute the control strategy matched to the corresponding system state when it is in different system states. Therefore, based on the aforementioned embodiments, when the current system state is the initial aiming state, if the target stone is visible, the laser is only allowed to output visible aiming light; if the target stone cannot be aimed due to being covered by target soft tissue, the laser is allowed to output ablation light for ablating the target soft tissue; when the current system state is the stone fragmentation sub-state, the distance between the laser and the soft tissue meets the distance condition, and the trend of change meets predetermined safety conditions, the laser energy and frequency are dynamically adjusted within a predetermined parameter range based on the real-time hardness analysis results and location of the target stone, with the principle of maximizing the reduction in stone volume per unit time; wherein the hardness is determined based on the real-time image and the real-time acoustic signal of the laser acting on the target stone; when the current system state is the stone cleaning sub-state, the heat load of the laser is controlled with the principle of minimizing the heat input required for the vaporization or pulverization of a unit mass of fragments.

[0055] Specifically, when the system is in the initial aiming state, the therapeutic laser output is forcibly disabled via hardware interlock or a highest priority command, allowing only low-power (typically <5 milliwatts) visible aiming light to be emitted. Laser output is only permitted when the user requires pre-treatment via laser output. For example, in some cases, the target stone may be partially or completely covered by polyps, mucosal flaps, or granulation tissue, preventing the system from executing the composite safety check rules in the initial aiming state (S0). In such cases, laser output is permitted to pre-ablate the soft tissue portion outside the stone.

[0056] When the system is in the surgical treatment phase, specifically the stone fragmentation sub-phase, the processor automatically switches and maintains the laser parameters within a combination of high energy, short to medium pulse width, and moderate frequency to support an efficient fragmentation process. Specifically, based on the perception of the stone's hardness and location, the laser energy and frequency are dynamically adjusted within a predetermined efficient parameter range. The laser energy range is selectable from 0.8 to 1.2 joules, and the frequency is selectable from 5 to 15 Hz. The stone hardness can be determined based on the acoustic signal and image texture features during the interaction between the stone and the laser. The default operating mode is a close-range operation for stones, i.e., the working distance from the fiber optic end to the stone surface. Controlling the distance within the recommended range (e.g., 0.5–2.0 mm, depending on the surgical procedure) improves energy coupling efficiency; while maintaining soft tissue safety gap constraints throughout the procedure. ,like If the distance approaches the predetermined threshold, the system will automatically prompt for fiber retraction or angle adjustment, and if necessary, trigger a risk avoidance state or a restricted operating state.

[0057] When the system is in stone-cleaning mode, the processor automatically switches and locks the laser parameters within a low-energy (typical range 0.2-0.5 joules), long-pulse-width, and low-frequency operating range. Based on real-time sensing of fragment distribution characteristics and tissue areas, it dynamically adjusts the laser energy and frequency within preset cleaning parameter ranges to prioritize maintaining a low-heat-load output mode. In areas with smaller and more stable fragments, a combination of lower energy and longer pulse widths is used. If a fragment movement trend or increased local debris is detected, the frequency is appropriately increased to enhance cleaning continuity while maintaining moderate parameter limits. The fragment distribution characteristics are determined based on fragment density and stone boundary clarity in the image; the energy range is selectable from 0.2–0.5 joules, and the frequency is selectable from 3–10 Hz.

[0058] It should be noted that, for the surgical treatment state, its internal dynamically switchable sub-state design allows the system to flexibly adapt to various clinical scenarios, from "simple lithotripsy" to "simple dissection" and even "post-lithotripsy dissection". The scalable rule base framework enables the system to adapt to future complex cases (such as impacted stones, pediatric stones) or new surgical procedures by adding new diagnostic rules or treatment sub-strategies, making the system highly practical.

[0059] Furthermore, both the stone fragmentation sub-state and the stone removal sub-state are matched with at least two predetermined treatment strategies. If the current system state is either the stone fragmentation sub-state or the stone removal sub-state, then based on the analysis results of the state data, a target surgical strategy corresponding to the analysis results is selected from the predetermined surgical strategy set corresponding to the current system state, and control data for the end-effector to perform surgical operations is output based on the target surgical strategy. In this way, the system can automatically select the optimal target surgical strategy for each sub-state in the surgical treatment state according to the real-time surgical situation, which can both ensure the surgical effect and improve the surgeon's surgical experience.

[0060] Building upon the aforementioned embodiments, if the current system state is in a risk-averse state, the processor issues a highest-priority command to the laser immediately and forcibly shuts down the treatment laser, thereby physically interrupting laser energy, locking the optical output port, and overwriting all user control interfaces and safety interlocks. The command directly reaches the hardware driver layer, and the device is in standby mode, unable to be restarted through normal operations. At this time, the processor can optionally automatically increase the flow rate of the infusion pump to assist in rapid cooling, or open the pressure relief valve. Furthermore, if the system is in a risk-averse state, it is governed by the highest-priority safety interruption and delayed recovery rules. These rules not only require that the risk parameters triggering the entry into the risk-averse state must be restored to a safe range, but more importantly, they must stably maintain a preset, complete "safety observation period" within this safe range. This ensures that risk trends have been contained, rather than merely temporary fluctuations or oscillations in parameters.

[0061] Based on the aforementioned embodiments, if the current system state is a restricted state, the processor suspends the output of the treatment laser, but may maintain the illumination and aiming beams. Additionally, if the current system state is a restricted state, an anomaly diagnosis result corresponding to the current anomaly characteristics is determined based on the mapping rule base, along with a recovery suggestion corresponding to that anomaly diagnosis result, and the recovery suggestion is displayed.

[0062] Specifically, if the current system state is under constrained operation, it runs a "fault diagnosis-recovery suggestion" mapping rule base (i.e., an expert system). Based on this mapping rule base, it can diagnose various common anomalies, such as: blurred vision caused by bleeding or tissue debris adhesion; abnormal energy coupling caused by laser fiber end-face contamination, damage, or accidental lens strikes; stone displacement and operational instability caused by improper irrigation water flow parameter settings. The system performs pattern matching with a predefined fault diagnosis tree based on one or more currently occurring anomaly features (such as image blurring, color histogram changes, specific error codes, and signal noise levels), triggers the anomaly diagnosis result with the highest confidence, and immediately calls the corresponding recovery suggestion. This recovery suggestion does not require mandatory execution; actions that may change pressure or temperature require verification that the changed pressure or temperature meets the corresponding parameter thresholds, and the surgeon may be required to confirm.

[0063] Based on the foregoing embodiments, the system also includes a display device 150 (see... Figure 5 The display device is used to display the status indicator of the current system status and the instruction indicator of the control instructions generated by the instruction module.

[0064] For example, if the current system state is the initial aiming state, the human-machine interface of the display device shows the initial aiming state indicator and real-time direct status data; if the current system state is the stone fragmentation sub-state, the human-machine interface of the display device shows the stone fragmentation sub-state indicator, real-time efficiency index, real-time risk index, and the real-time trends corresponding to the real-time efficiency index and real-time risk index, as well as real-time laser energy, frequency, pulse width, etc.; if the current system state is the stone removal sub-state, the human-machine interface of the display device shows the stone removal sub-state indicator, and highlights the laser parameter panel, real-time... The real-time energy value and pulse width value are different from those in the stone fragmentation state. If the current system state is in a risk-avoidance state, the human-machine interface of the display device switches to a high-alert state and displays the risk-avoidance state indicator and the triggering reason for the risk-avoidance state, such as temperature trend warning or pressure over-limit. If the current system state is in a condition-limited state, the human-machine interface of the display device displays the condition-limited state indicator and diagnostic-suggestion information. The diagnostic-suggestion information appears in pairs and is a unique and verifiable behavioral indicator for this state.

[0065] Figure 6 This is a flowchart illustrating a surgical system control method provided in an embodiment of the present invention. This embodiment is applicable to situations where the aforementioned surgical system automatically completes system state adjustments during surgery. This method can be executed by a surgical system control device, which can be implemented in hardware and / or software and can be configured in electronic devices such as computers or servers. Figure 6 As shown, the method in this embodiment includes: S110. Obtain status data through the status awareness module and / or generate control commands through the instruction module.

[0066] S120. Determine state priority information, at least two reachable system states corresponding to the current system state, and transition rules from the current system state to each reachable system state based on a predetermined set of transition rules.

[0067] S130. Determine the next system state based on the current input event, state priority information, and the transition rules from the current system state to each reachable system state; wherein, the next system state is the current system state or the optimal reachable system state, the current input event includes state data and / or control instructions, the transition rules include control instructions and / or state characteristics, and the state characteristics are determined based on the state data.

[0068] The technical solution provided by this invention, since the predetermined transfer rule set includes at least two reachable system states corresponding to each system state, transfer rules from each system state to its reachable system states, and state priority information between all system states, and the current input event includes state data and / or control instructions, can accurately determine the next system state based on the current input event, state priority information, and transfer rules from the current system state to its reachable system states. This next system state is the current system state or the optimal reachable system state, enabling the system to automatically and accurately complete the switching of system states based on global state data, allowing the system to automatically enter a system state that conforms to its current global state. By encoding the difficult-to-express and highly dependent on personal clinical experience into explicit and repeatable decision rules and state processes, the dependence of surgical results on the surgeon's personal experience is greatly reduced, enabling high-quality and safe surgical operations to be standardized and stably replicated, which is beneficial to the promotion and quality control of surgical techniques.

[0069] It should be noted that this embodiment has the same or corresponding features as the previous embodiments, and the previous embodiments can be referred to. This embodiment will not be repeated here.

[0070] To facilitate understanding of the technical solution, the embodiments of the present invention illustrate the working method of the system through five usage scenario examples.

[0071] For a typical kidney stone scenario, suppose a patient is diagnosed with a calcium oxalate stone approximately 20 mm in diameter in the renal pelvis of their right kidney. Based on this system, the following steps are used to perform surgery to remove this calcium oxalate stone.

[0072] S210, The system starts up and enters the initial aiming state S0.

[0073] The operator guides the laser fiber through the endoscope to the vicinity of the stone via a predetermined channel. After the system powers on and completes its self-test, it automatically enters the initial aiming state S0. The main interface of the display device clearly shows the "initial aiming state," initiating the self-verification process of each component. Once the self-verification process of each component is completed and all predetermined safety conditions are met, the acquisition and processing of status data begins. Stone identification is performed based on real-time images (confidence level 0.92); spatial calculations provide a real-time distance of 1.2 mm; the temperature sensor reading is 36.5℃; and the pressure is stabilized at 35 mmHg. The interface displays a green "compliant" status. If this state is maintained stably for 2.0 seconds, it is determined that the composite safety verification rules are met. Simultaneously, because the stone size is larger than the predetermined diameter threshold (1.5 cm), the system automatically triggers a state transition, smoothly transitioning from the current initial aiming state to the stone fragmentation sub-state S10, and defaulting to the high-efficiency fragmentation strategy.

[0074] S220, Complete the stone breaking operation in the stone fragmentation state.

[0075] The human-computer interface of the display device was updated to "Surgical Treatment State - Stone Fragmentation State". Based on the image texture, the system initially determined the stone to be of medium hardness and set the initial laser parameters to 1.0 joules / pulse and a frequency of 8 Hz. The operator pressed the laser pedal, and the treatment began. The "Efficiency Index" bar steadily increased as the stone was fragmented; the "Risk Index" bar also slowly increased due to continuous irradiation. After approximately 15 seconds of continuous irradiation, the intracavitary water temperature rose to 40.8℃, and the temperature rise rate was monitored to remain at a high level of 0.3℃ / second. At this point, due to the reduction in stone volume, the efficiency increase slowed down, and based on the "Efficiency-Safety" dynamic arbitration rule, it was found that the risk index increase had exceeded three times the efficiency increase for 1.5 seconds, meeting the warning conditions. Therefore, an indicator indicating a superior safety trend was output.

[0076] It is understandable that the laser parameters, frequency, and other data in this step are all matched with the analysis results of the current state data. If the analysis results of the current state data are significantly different from the above analysis results, the processor will select the target surgical strategy that matches the current analysis results from the set of surgical strategies in the current system state, and output control data, such as laser parameters and frequency, to the end tool based on the target surgical strategy to control the end tool to complete the corresponding surgical operation.

[0077] S230, transitioning from the stone fragmentation state to the risk-averse state S2.

[0078] The processor, based on the safety trend dominance flag, responds to the arbitration decision with the highest priority, forcibly and immediately switching from the stone fragmentation state S10 to the risk-avoidance state S2. The treatment laser is instantly shut off, the perfusion flow rate is automatically increased to enhance cooling, the interface becomes a highlighted warning state, displaying the risk-avoidance state flag, or simultaneously displaying the risk-avoidance state flag and the triggering reason, such as a temperature trend warning, and popping up a 5-second countdown lock. During this period, the laser pedal is locked and ineffective. The operator can clearly observe this automatic interruption and waiting process. Once the water temperature drops below 38.0℃, the countdown timer reaches zero, and all conditions of the delayed recovery rule are met, the system automatically exits the risk-avoidance state S2.

[0079] S240, transition from risk-averse state S2 to initial aiming state S0, and from initial aiming state S0 to stone-clearing sub-state S11.

[0080] The system exits the risk avoidance state and returns to the initial aiming state S0, executing the functional composite safety verification rules. After the verification passes, if the real-time image indicates that the main body of the original stone area has disappeared and has been replaced by a large number of fragments smaller than 3 mm, it directly enters the stone removal sub-state S11 in the surgical treatment state S1. The control interface highlights the laser parameter panel, and the laser automatically switches to 0.4 joules, long pulse width mode.

[0081] S250, from stone removal in phase S11 to the end of the surgery.

[0082] The operator continues the procedure, and the system uses a low-heat accumulation principle to pulverize and remove fragments. An interactive interface can be used to assist in indicating the stability of the fragments. When image analysis shows that all visible fragments are smaller than 1 mm, the cleaning is considered complete, and a completion indicator is output. The operator can then release the pedal, and the system automatically returns to the initial aiming state S0. The stone removal procedure is now finished.

[0083] For scenarios where the stone is covered by soft tissue, if the target stone is partially or completely covered by polyps, mucosal flaps, or granulation tissue, causing the system to fail to acquire a real-time image meeting the predetermined conditions and / or be unable to calculate the real-time distance when executing the composite safety verification rule in the initial aiming state S0, the system does not simply report an error or freeze. Its extensible rule base is triggered, and a preset "tissue coverage processing sub-rule" is activated. This rule guides the system to execute the following steps: S310, Strategy Invocation and Interface Prompts.

[0084] The system remains in the initial aiming state S0, but the interactive interface displays an overlay warning message above the safety verification panel, such as, "Tissue overlay detected; the overlay tissue can be pre-processed." Guided by the system, the surgeon uses a laser to precisely treat the overlay tissue, removing the soft tissue covering the target stone.

[0085] S320, monitoring organization separation.

[0086] The system continuously monitors the region of interest and distinguishes between tissue and stones based on the image processing results of real-time images. The results, risk warnings, and locking conditions are displayed on the interactive interface for the surgeon's reference.

[0087] S330, Status restored.

[0088] Once the covering tissue is removed and the stone surface is fully exposed, the confidence level of the real-time image increases, allowing the composite safety verification rules to continue execution and ultimately be satisfied. The system then transitions to the surgical treatment state S1 and automatically enters either the stone fragmentation sub-state or the stone removal sub-state based on the size of the exposed stone.

[0089] For "popcorn" lithotripsy scenarios within the confined space of the renal pelvis / calyces: In confined spaces such as the renal pelvis or calyces, when the stones have been initially broken into numerous small, dense fragments, traditional point-by-point precise irradiation is inefficient and easily causes fragments to scatter into hard-to-reach corners. In such cases, a "popcorn" lithotripsy method can be used.

[0090] Specifically, when the system is in surgical treatment state S1, and the scene depth analysis results of the real-time image show that the current environment meets the conditions of a confined space, and the target result is characterized as "a large number of dense, dynamic small fragment sets", the processor will preferentially call the "popcorn lithotripsy" strategy from the dynamic treatment selection rules, rather than the standard fine clearance strategy. Under this strategy, a combination of medium or low pulse energy and medium-high frequency parameters (e.g., selected within the range of 0.2–0.6J, 20–50Hz, or equivalent power / pulse sequences) is used to perform non-contact irradiation at the center of the fragment group; at the same time, the perfusion / recirculation controller can output pulse flushing or mild turbulence to promote the tumbling of fragments in the local circulating flow field, increasing the probability of collision and re-pulverization. The interactive interface displays popcorn mode indicators, such as "surgical treatment state - popcorn mode". During this process, the system will strengthen the monitoring of the comprehensive risk score R, especially the monitoring of local temperature (to avoid heat accumulation in confined spaces) and fragment movement trajectory (to prevent fragments from rushing into the renal calyx neck). When the debris is further pulverized to a predetermined size, or when the operator intervenes manually, or when the system detects a decrease in efficiency and an increase in risk to a predetermined risk threshold, the system exits this sub-strategy. It can automatically invoke other cleaning strategies to finish the process, or return to the initial aiming state S0, depending on the remaining debris.

[0091] Regarding the coordinated operation of hemostasis and lithotripsy in confined spaces: During surgery in confined spaces such as the urethra or sites of stone impaction, local tissues are fragile (e.g., inflammatory polyps), and bleeding is easily triggered during lithotripsy. Therefore, hemostasis must be addressed simultaneously with lithotripsy. When the system performs lithotripsy in surgical treatment mode S1, especially when using an efficient fragmentation strategy, if the image analysis results change and / or the spectral analysis results include suspected bleeding features, a bleeding type is determined, triggering the invocation of the "coordinated hemostasis" composite rule. If first-type oozing is detected and the field of view remains usable, the surgical treatment mode is maintained, and optionally, a "first hemostasis sub-strategy" can be displayed on the interactive interface. This first hemostasis sub-strategy includes a recommended coagulation parameter range and a point-fire rhythm. In response to a first confirmation command, a coagulation beam corresponding to this first hemostasis sub-strategy is output. If a second type of bleeding is detected and the field of vision is available, the surgical treatment state is maintained, and a "second hemostasis sub-strategy" can be optionally displayed on the interactive interface. This second hemostasis sub-strategy includes a spot firing time interval. In response to a second confirmation command, a sequential hemostasis spot firing beam corresponding to the second hemostasis sub-strategy is output, and the continuous firing time is limited to a predetermined duration. The system can use the hemostasis strategy as a sub-strategy within S1. The bleeding volume of the second type of bleeding is less than that of the first type of bleeding. The second type of bleeding can be understood as mild bleeding. The laser energy corresponding to the second hemostasis sub-strategy is lower than that corresponding to the first hemostasis sub-strategy, and the pulse width corresponding to the second hemostasis sub-strategy is shorter than that corresponding to the first hemostasis sub-strategy; the coagulation range percentage corresponding to the second hemostasis sub-strategy is lower than that corresponding to the first hemostasis sub-strategy. If the image analysis results show that bleeding affects the field of vision or the boundary is unclear, the system preferentially enters the working condition-limited state S3, prompting "Restore the field of vision first, then stop the bleeding / lithotripsy"; if necessary, it enters the risk avoidance state S2 to directly interrupt the treatment laser. If the synergistic hemostasis is effective and the bleeding signal weakens, a "continue hemostasis" or "irrigation" indicator will be output on the interactive interface, and the operation will continue in the stone fragmentation state. If the bleeding cannot be controlled or causes a sharp increase in the overall risk score R, the operation will enter a risk avoidance state, allowing the surgeon to take other hemostasis measures.

[0092] Regarding intelligent diagnosis and recovery scenarios for abnormal operating conditions. Suppose that in a stone fragmentation state, upon detecting a sudden, minor hemorrhage in the surgical area, the real-time image quality score drops sharply from 0.9 to 0.4 within 0.2 seconds, falling below a predetermined image quality threshold. For example... The system transitions from the stone fragmentation state to the restricted operating state. Simultaneously, the processor identifies at least one candidate cause based on image characteristics such as red fog, decreased contrast, or increased blurriness, including lens blood fog contamination, lens debris, and smoke obstruction. It outputs a recovery suggestion sequence corresponding to the confidence ranking of this candidate cause, for example: Suggestion 1: Short-term irrigation / brief withdrawal; Suggestion 2: If equipped with a return / suction or pressure relief channel, prioritize its opening to restore visual field and control pressure. The system sets the pressure threshold to configurable and prioritizes "avoiding excessive intrarenal pressure" as one of the recovery suggestions' constraints. When "increasing perfusion to restore visual field," the system must simultaneously implement pressure relief / suction / return control to avoid simply increasing perfusion leading to a pressure increase. Suggestion 3: If bleeding persists or visual field cannot be restored, switch to a risk-avoidance state. Following the prompts, the operator gradually clarifies the visual field through short-term irrigation or fine-tuning perfusion, provided that the intrarenal pressure (IRP) and real-time pressure do not exceed limits. When the processor detects that the image quality score has recovered to 0.8 and stabilized for more than 2 seconds, and that the real-time pressure and real-time temperature are continuously stable within the safe range, it transitions from the current restricted working state to the initial aiming state S0, performs a safety check according to the composite safety check rules, and enters the stone breaking sub-state to continue stone breaking after the check passes. If the number of abnormal repetitions reaches a predetermined threshold, the restricted working state is maintained, and the instrument check mark and sensor check mark are output through the interactive interface.

[0093] The above five scenario examples fully demonstrate how the system described in the embodiments of the present invention can intelligently, safely, and adaptively complete laser lithotripsy procedures in various scenarios by driving a four-state finite state machine through a predetermined set of transition rules without manual intervention or complex parameter adjustments.

[0094] Figure 7 This is a schematic diagram of the structure of a surgical system control device provided in an embodiment of the present invention. Figure 7 As shown, the surgical system control device includes: The acquisition module 210 is used to acquire the status data through the status sensing module and / or generate the control command through the instruction module; The rule determination module 220 is used to determine state priority information, at least two reachable system states corresponding to the current system state, and the transfer rules from the current system state to each of the reachable system states based on a predetermined set of transfer rules. The state transition module 230 is used to determine the next system state based on the current input event, the state priority information, and the transition rules from the current system state to each reachable system state; wherein the next system state is the current system state or the optimal reachable system state, the current input event includes the state data and / or the control command, the transition rules include the control command and / or state features, and the state features are determined based on the state data.

[0095] The technical solution provided by this invention, since the predetermined transfer rule set includes at least two reachable system states corresponding to each system state, transfer rules from each system state to its reachable system states, and state priority information between all system states, and the current input event includes state data and / or control instructions, can accurately determine the next system state based on the current input event, state priority information, and transfer rules from the current system state to its reachable system states. This next system state is the current system state or the optimal reachable system state, enabling the system to automatically and accurately complete the switching of system states based on global state data, allowing the system to automatically enter a system state that conforms to its current global state. By encoding the difficult-to-express and highly dependent on personal clinical experience into explicit and repeatable decision rules and state processes, the dependence of surgical results on the surgeon's personal experience is greatly reduced, enabling high-quality and safe surgical operations to be standardized and stably replicated, which is beneficial to the promotion and quality control of surgical techniques.

[0096] In one embodiment, the system further includes an end-effector tool; The direct status data includes some or all of the real-time temperature, real-time fluid pressure, and real-time distance, where the real-time distance is the distance between the end-effector and the region of interest.

[0097] In one embodiment, the union of the current system state and at least two reachable system states of the current system state includes some or all of the transitions between the initial aiming state, the surgical treatment state, the operating condition-constrained state, and the risk-avoidance state.

[0098] In one embodiment, the system is a stone crushing system; The surgical treatment state includes the stone fragmentation state and the stone removal state.

[0099] In one embodiment, the state transition module is used to: If the current system state is the stone breaking sub-state, then the indirect state characteristics under the stone breaking sub-state are obtained, the changing trend of stone breaking efficiency-stone breaking safety is determined based on the indirect state characteristics, and the next system state is determined according to the changing trend, wherein the next system state is the stone breaking sub-state, the stone cleaning sub-state, the risk avoidance state, or the working condition limited state. The indirect state characteristics include the maximum allowable time for the excess ratio, the excess ratio being a target ratio exceeding a predetermined ratio threshold, and the target ratio being the ratio of the target stone's volume reduction rate to the comprehensive risk score. The rate of volume reduction is determined based on the real-time images over a predetermined period of time. The comprehensive risk score is a weighted sum of temperature, temperature change rate, and pressure fluctuation indicators. The target stone is located within the region of interest.

[0100] In one embodiment, the at least two reachable system states of the initial aiming state include the surgical treatment state, the operational constraint state, and the risk avoidance state; The surgical treatment state has at least two reachable system states, including the initial aiming state, the condition-constrained state, and the risk-avoidance state. The at least two reachable system states of the operating condition-constrained state include the initial aiming state, the surgical treatment state, and the risk avoidance state; The reachable system state combination of the risk-avoidance state includes the initial aiming state and the surgical treatment state.

[0101] In one embodiment, the transition rule from the initial aiming state to the surgical treatment state is a composite verification rule, which includes a lower limit of stone confidence and a range of direct state parameters, including real-time distance, real-time temperature, and real-time pressure. The transition rule from the initial aiming state to the risk-avoidance state is that any direct state data exceeds the corresponding parameter threshold. The transition rule from the initial aiming state to the constrained working state is that the target confidence of the real-time image is lower than a predetermined confidence threshold. The transition rule from the surgical treatment state to the initial aiming state is: a pause command, the target confidence level being lower than a predetermined confidence threshold, or a treatment end signal; The transition rule from the surgical treatment state to the risk avoidance state is a dynamic arbitration rule, or the real-time temperature exceeds a hard temperature threshold, or the real-time pressure exceeds a hard pressure threshold. The transition rule from the surgical treatment state to the working condition-limited state is as follows: the target confidence level is lower than a predetermined confidence threshold, the system self-test result does not meet the predetermined safety conditions, or the sensor validity verification fails. The transition rule from the risk-avoidance state to the initial aiming state or the surgical treatment state is that the abnormal parameter data that caused the risk-avoidance state has been eliminated and continues for a predetermined duration. The transition rule from the constrained working state to the initial aiming state or the surgical treatment state is that the abnormal parameter data that caused the constrained working state has been eliminated and continues for a predetermined duration.

[0102] In one embodiment, some of the transfer rules differ depending on the body part where the region of interest is located.

[0103] In one embodiment, the end-effector includes a laser, and the device further includes an implementation module for: When the current system state is the initial aiming state, if the target stone is visible, the laser is only allowed to output visible aiming light; if the target stone cannot be aimed due to being covered by target soft tissue, the laser is allowed to output ablation light for ablating the target soft tissue. Under the conditions that the current system state is the stone fragmentation state, the distance between the laser and the soft tissue meets the distance condition, and the change trend meets the predetermined safety conditions, the principle is to maximize the reduction of stone volume per unit time. Based on the real-time hardness analysis results and location of the target stone, the laser energy and frequency of the laser are dynamically adjusted within a predetermined parameter range. The hardness is determined based on the real-time image and the real-time acoustic signal of the laser acting on the target stone. When the current system state is the stone removal sub-state, the heat load of the laser is controlled based on the principle of minimizing the heat input required for the vaporization or pulverization of fragments per unit mass.

[0104] In one embodiment, both the stone fragmentation sub-state and the stone removal sub-state are matched with at least two predetermined treatment strategies; the implementation module is further configured to: If the current system state is the stone fragmentation sub-state and the stone removal sub-state, then based on the analysis results of the state data, a target surgical strategy corresponding to the analysis results is selected from the predetermined surgical strategy set corresponding to the current system state, and control data for the end-effector to perform surgical operations is output based on the target surgical strategy.

[0105] In one embodiment, the device further includes a display device; The display device is used to display the status indicator of the current system status and the instruction indicator of the control instructions generated by the instruction module.

[0106] The surgical system control device provided in the embodiments of the present invention can execute the surgical system control method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the method execution.

[0107] It is worth noting that the various units and modules included in the above-mentioned surgical system control device are only divided according to functional logic, but are not limited to the above division, as long as the corresponding functions can be realized; in addition, the specific names of each functional unit are only for easy differentiation and are not used to limit the protection scope of the embodiments of the present invention.

[0108] Figure 8 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. The electronic device 10 is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (such as helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0109] like Figure 8 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 may also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0110] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0111] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as surgical system control methods.

[0112] In some embodiments, the surgical system control method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on electronic device 10 via read-only memory (ROM) 12 and / or communication unit 19. When the computer program is loaded into random access memory (RAM) 13 and executed by processor 11, one or more steps of the surgical system control method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform the surgical system control method by any other suitable means (e.g., by means of firmware).

[0113] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0114] Computer programs for implementing the surgical system control method of the present invention can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be implemented. The computer programs can be executed entirely on the machine, partially on the machine, as a standalone software package partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0115] This invention provides a computer-readable storage medium storing computer instructions for causing a processor to execute a surgical system control method, including: The state data is acquired through the state perception module and / or the control command is generated through the instruction module; Based on a predetermined set of transition rules, determine state priority information, at least two reachable system states corresponding to the current system state, and transition rules from the current system state to each of the reachable system states; The next system state is determined based on the current input event, the state priority information, and the transition rules from the current system state to each reachable system state. Wherein, the next system state is the current system state or the optimal reachable system state, the current input event includes the state data and / or the control command, the transition rule includes the control command and / or state features, and the state features are determined based on the state data.

[0116] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0117] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0118] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or middleware components (e.g., application servers), or frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0119] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0120] In particular, according to embodiments of the present invention, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of the present invention include a computer program product comprising a computer program carried on a non-transitory computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via communication unit 19, or installed from storage unit 18, or installed from ROM 12. When the computer program is executed by processor 11, it performs the functions defined in the methods of the embodiments of the present invention.

[0121] This invention also provides a computer program product, including a computer program that, when executed by a processor, implements the surgical system control method according to any embodiment of the invention.

[0122] In implementing the computer program product, computer program code for performing the operations of this invention can be written in one or more programming languages ​​or a combination thereof. Programming languages ​​include object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0123] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0124] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A surgical system based on a finite state machine, characterized in that, include: The instruction module is used to generate control instructions; A state awareness module is used to acquire state data corresponding to the region of interest, the state data including real-time images and direct state data; The processor is configured to acquire the state data through the state awareness module and / or generate the control instructions through the instruction module; determine state priority information, at least two reachable system states corresponding to the current system state, and transition rules from the current system state to each of the reachable system states based on a predetermined transition rule set; and determine the next system state according to the current input event, the state priority information, and the transition rules from the current system state to each of the reachable system states. Wherein, the next system state is the current system state or the optimal reachable system state, the current input event includes the state data and / or the control command, the transition rule includes the control command and / or state features, and the state features are determined based on the state data.

2. The system according to claim 1, characterized in that, The system also includes end-point tools; The direct status data includes at least one of real-time temperature and real-time distance, wherein the real-time distance is the distance between the end-effector and the region of interest. The processor is further configured to, when the current system state is an initial aiming state or a surgical treatment state, generate control instructions for the end-effector based on the end-effector control strategy corresponding to the current system state.

3. The system according to claim 2, characterized in that, The direct state data also includes real-time fluid pressure.

4. The system according to claim 2, characterized in that, The union of the current system state and at least two reachable system states of the current system state includes some or all of the transitions between the initial aiming state, the surgical treatment state, the operating condition-constrained state, and the risk-avoidance state.

5. The system according to claim 4, characterized in that, The system is a stone crushing system; The surgical treatment state includes the stone fragmentation state and the stone removal state.

6. The system according to claim 5, characterized in that, If the current system state is the stone breaking sub-state, then the indirect state characteristics under the stone breaking sub-state are obtained, the changing trend of stone breaking efficiency-stone breaking safety is determined based on the indirect state characteristics, and the next system state is determined according to the changing trend, wherein the next system state is the stone breaking sub-state, the stone cleaning sub-state, the risk avoidance state, or the working condition limited state. The indirect state characteristics include the maximum allowable time for the excess ratio, the excess ratio being a target ratio exceeding a predetermined ratio threshold, and the target ratio being the ratio of the target stone's volume reduction rate to the comprehensive risk score. The volume reduction rate is determined based on the real-time images within a predetermined time period; The comprehensive risk score is a weighted sum of temperature, temperature change rate, and pressure fluctuation indicators. The target stone is located within the region of interest.

7. The system according to claim 4, characterized in that, The at least two reachable system states of the initial aiming state include the surgical treatment state, the operating condition-constrained state, and the risk-avoidance state; The surgical treatment state has at least two reachable system states, including the initial aiming state, the condition-constrained state, and the risk-avoidance state. The at least two reachable system states of the operating condition-constrained state include the initial aiming state, the surgical treatment state, and the risk avoidance state; The reachable system state combination of the risk-avoidance state includes the initial aiming state and the surgical treatment state.

8. The system according to claim 4, characterized in that, The transition rule from the initial aiming state to the surgical treatment state is a composite verification rule. The composite verification rule includes a lower limit of stone confidence and a range of direct state parameters. The direct state parameters include real-time distance, real-time temperature, and real-time pressure. The transition rule from the initial aiming state to the risk-avoidance state is that any direct state data exceeds the corresponding parameter threshold. The transition rule from the initial aiming state to the constrained working state is that the target confidence of the real-time image is lower than a predetermined confidence threshold. The transition rule from the surgical treatment state to the initial aiming state is: a pause command, the target confidence level being lower than a predetermined confidence threshold, or a treatment end signal; The transition rule from the surgical treatment state to the risk avoidance state is a dynamic arbitration rule, or the real-time temperature exceeds a hard temperature threshold, or the real-time pressure exceeds a hard pressure threshold. The transition rule from the surgical treatment state to the working condition-limited state is as follows: the target confidence level is lower than a predetermined confidence threshold, the system self-test result does not meet the predetermined safety conditions, or the sensor validity verification fails. The transition rule from the risk-avoidance state to the initial aiming state or the surgical treatment state is that the abnormal parameter data that caused the risk-avoidance state has been eliminated and continues for a predetermined duration. The transition rule from the constrained working state to the initial aiming state or the surgical treatment state is that the abnormal parameter data that caused the constrained working state has been eliminated and continues for a predetermined duration.

9. The system according to claim 1, characterized in that, Some of the transfer rules described vary depending on the body part where the region of interest is located.

10. The system according to claim 6, characterized in that, The end effector includes a laser, and the processor is further configured to: When the current system state is the initial aiming state, if the target stone is visible, the laser is only allowed to output visible aiming light; if the target stone cannot be aimed due to being covered by target soft tissue, the laser is allowed to output ablation light for ablating the target soft tissue. Under the conditions that the current system state is the stone fragmentation state, the distance between the laser and the soft tissue meets the distance condition, and the change trend meets the predetermined safety conditions, the principle is to maximize the reduction of stone volume per unit time. Based on the real-time hardness analysis results and location of the target stone, the laser energy and frequency of the laser are dynamically adjusted within a predetermined parameter range. The hardness is determined based on the real-time image and the real-time acoustic signal of the laser acting on the target stone. When the current system state is the stone removal sub-state, the heat load of the laser is controlled based on the principle of minimizing the heat input required for the vaporization or pulverization of fragments per unit mass.

11. The system according to claim 5, characterized in that, Both the stone fragmentation sub-state and the stone removal sub-state are matched with at least two predetermined treatment strategies; The processor is further configured to, if the current system state is the stone fragmentation sub-state and the stone removal sub-state, select a target surgical strategy corresponding to the analysis result from a predetermined surgical strategy set corresponding to the current system state based on the analysis result of the state data, and output control data for the end-effector to perform surgical operations based on the target surgical strategy.

12. The system according to claim 1, characterized in that, It also includes a display device; The display device is used to display the status indicator of the current system status and the instruction indicator of the control instructions generated by the instruction module.

13. A surgical system control method, characterized in that, Executed by a processor in any one of the systems described in claims 1-10, comprising: The state data is acquired through the state perception module and / or the control command is generated through the instruction module; Based on a predetermined set of transition rules, determine state priority information, at least two reachable system states corresponding to the current system state, and transition rules from the current system state to each of the reachable system states; The next system state is determined based on the current input event, the state priority information, and the transition rules from the current system state to each reachable system state. Wherein, the next system state is the current system state or the optimal reachable system state, the current input event includes the state data and / or the control command, the transition rule includes the control command and / or state features, and the state features are determined based on the state data.

14. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that are used to cause a processor to execute the surgical system control method of claim 13.

15. A computer program product, characterized in that, The computer program product includes a computer program that, when executed by a processor, implements the surgical system control method according to claim 13.

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