A photoacoustic imaging-guided surgical robot system and its control method

By introducing flexible photoacoustic probes and AI reconstruction technology into the surgical robot system, the problems of intraoperative anatomical changes and artifacts have been solved, achieving high-precision, real-time photoacoustic imaging and safe surgical navigation, significantly improving the accuracy and safety of the surgery.

CN122272176APending Publication Date: 2026-06-26WEST CHINA HOSPITAL SICHUAN UNIV
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
WEST CHINA HOSPITAL SICHUAN UNIV
Filing Date
2026-05-27
Publication Date
2026-06-26

AI Technical Summary

Technical Problem

Existing surgical robot systems cannot reflect changes in anatomical structures caused by physiological movements during surgery in real time. Traditional ultrasound images have limited resolution and lack intelligent decision-making mechanisms to achieve safety protection. The application of photoacoustic imaging technology in surgical robots faces artifacts and probe fit problems.

Method used

The system employs a flexible photoacoustic probe, a multi-wavelength fiber array, and a six-dimensional force sensor, combined with an optical tracker and an IMU inertial unit for signal preprocessing and motion compensation. It utilizes an AI reconstruction engine to generate high-precision photoacoustic images and segments tumor boundaries using VPC and U-Net++ models to generate real-time updated electronic fences for robot motion constraints.

Benefits of technology

It achieves real-time, artifact-free, high-precision photoacoustic imaging, significantly reducing the error rate in robotic surgery and improving the accuracy and safety of tumor resection.

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Abstract

This invention belongs to the field of medical devices, specifically relating to a photoacoustic imaging-guided surgical robot system and its control method. The photoacoustic imaging-guided surgical robot system includes an input module, a signal preprocessing module, a motion compensation processor, and an AI reconstruction engine. This invention dynamically adjusts array element delay using a curvature adaptive focusing algorithm; performs motion compensation on the photoacoustic signal using optical tracking and IMU data, and eliminates motion artifacts in the photoacoustic image with the assistance of image domain compensation. Simultaneously, it generates photoacoustic images with clear tumor boundaries and blood vessels based on VPC and U-Net++ modules, and includes an electronic fence whose coordinates are updated in real-time according to changes in photoacoustic hemoglobin during surgery. This significantly reduces the error rate in robotic surgery and has practical application value.
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