A multimodal integrated minimally invasive laser ablation device

Abstract

This invention discloses a multimodal integrated minimally invasive laser ablation device, comprising an instrument body and a distal instrument head. The device integrates a laser execution module, a visual perception module, a surgical field environment management module, and a safety feedback monitoring module. Specifically, the laser execution module drives the focusing lens axially through a focusing mechanism, achieving non-contact precision ablation, overcoming the limitations of manual focusing and reducing the risk of fiber optic damage; the visual perception module's two camera modules jointly cover the external focal area, enhancing three-dimensional spatial perception of the target depth; the surgical field environment management module's air vents are directed towards the focal area to effectively disperse smoke and improve surgical field clarity; and the safety feedback monitoring module's non-contact temperature sensor monitors the focal area, comprehensively improving the safety of hemostasis operations. This invention achieves a high degree of integration of multimodal functions within a limited instrument space, significantly improving the operational continuity and treatment precision of minimally invasive surgery.

Description

Technical Field

[0001] This invention belongs to the field of medical device technology, and in particular relates to a multimodal integrated minimally invasive laser ablation device. Background Technology

[0002] In the field of minimally invasive surgery, laparoscopic surgery has become an important means of treating various intra-abdominal lesions due to its significant advantages such as minimal trauma, rapid recovery, and fewer postoperative complications. Meanwhile, laser ablation technology utilizes high-energy lasers to coagulate, vaporize, cut, or stop bleeding in biological tissues. It possesses characteristics such as high precision, relatively controllable heat-affected zones, and good hemostatic effects, and is therefore widely used in tissue treatment and lesion ablation during laparoscopic minimally invasive surgery.

[0003] Current laparoscopic laser surgery systems typically consist of a laser generator, optical fiber, and handheld or rod-type instruments. The conventional operating mode is as follows: the laser is transmitted via a medium such as a quartz optical fiber to the instrument tip, and then emitted directly from the fiber end face to the target tissue. In existing systems, the optical fiber often uses a flat-head or bare fiber structure and connects to the external laser via standard interfaces such as SMA905. During the surgery, the operator inserts the optical fiber or a rod-type instrument equipped with the fiber into the abdominal cavity through a trocar, and under the image guidance of an external independent laparoscope, performs ablation, coagulation, or cutting operations on the lesion tissue.

[0004] However, in actual clinical applications, the aforementioned traditional fiber-optic direct-fire laparoscopic laser instruments still have the following significant technical drawbacks: Optical fibers are susceptible to damage and pose a high risk of clogging: The laser beam emitted from traditional flat-head optical fibers is typically divergent. As the distance between the fiber end face and the tissue increases, the spot area rapidly expands, leading to a significant decrease in energy density per unit area. To achieve sufficient ablation or cutting effects, surgeons often need to bring the fiber end extremely close to, or even directly into, the target tissue. This contact or extremely close-range operation easily causes blood, tissue debris, carbides, and smoke particles to splash and adhere to the fiber end face, resulting in fiber end contamination, localized overheating, carbonization, or even burn-out damage. Once the fiber end face is contaminated, the laser transmission efficiency will decrease significantly, and the output stability will also decrease, potentially leading to fiber clogging in severe cases. In such situations, surgery usually needs to be interrupted to remove the fiber for cleaning or cutting, which not only prolongs the operation time and increases consumable costs but also raises the overall risk of the surgery.

[0005] Low energy utilization and high risk of thermal damage to surrounding tissues: After leaving the fiber optic end face, the diverging conical laser beam struggles to maintain sufficient power density over long distances. In non-contact operation, if the fiber maintains a safe distance from the tissue, an excessively large spot size leads to severe energy dispersion and a sharp decrease in ablation efficiency. Forcing the beam closer to the tissue to increase local energy density inevitably increases the aforementioned risks of end-face contamination and tissue adhesion. Furthermore, because the diverging beam struggles to form a stable and controllable focal plane, the boundary of the laser's effective area is often unclear, and some energy easily diffuses into surrounding normal tissue. Especially in the confined operating space of laparoscopy, the target tissue is often adjacent to important anatomical structures such as blood vessels, nerves, and intestines. The uncontrollable range of laser energy application greatly increases the risk of accidental injury, making it difficult to meet the requirements of precise minimally invasive treatment.

[0006] Limited field of view, insufficient depth perception, and poor resistance to smoke interference: Current laparoscopic laser surgery mainly relies on a separate laparoscope to provide a macroscopic view. Because the laparoscope lens and laser instruments are arranged separately, there is an inherent spatial angle between their observation and emission axes. When instruments penetrate narrow cavities or are ablated at specific angles, the instrument shaft or anatomical structures can easily obstruct the target area. Furthermore, traditional single laparoscopes only provide two-dimensional planar images. During non-contact laser ablation, the operator can only rely on experience to judge the spatial depth between the instrument tip, the laser focus, and the tissue surface. If the depth perception is inaccurate, the focus may fall before or after the tissue surface, leading to insufficient energy density or excessive tissue damage due to localized energy excess. More seriously, the large amount of smoke and vaporized particles generated during laser ablation easily accumulate between the ablation point and the camera's field of view. Because current instruments lack directional smoke extraction structures, the smoke not only blurs the image and obstructs the focus but also makes it difficult for doctors to observe the coagulation state and bleeding of the tissue in a timely manner, severely affecting the accurate determination of the hemostasis endpoint.

[0007] Low integration of instrument functions and over-reliance on operator experience: Existing laparoscopic laser instruments are relatively simple in function, mostly only performing passive laser transmission or simple guidance (such as being inserted into a metal rod), lacking integrated design for core functions such as visual imaging, spatial ranging, temperature feedback, smoke dissipation, and focus adjustment. In actual surgery, the overall effect of laser ablation is constrained by multiple factors such as focus position, tissue distance, local temperature, and visual field clarity. Because the instruments themselves lack the structural coordination of these functional modules, surgeons must simultaneously rely on an external laparoscope, independent suction instruments, and main unit power adjustment to complete complex operations. This separate operating platform not only leads to cumbersome and inefficient operation but also makes it extremely difficult to ensure consistent treatment results, placing extremely high demands on the operator's hand stability and clinical experience.

[0008] In summary, laparoscopic laser surgical instruments based on traditional bare or flat-headed optical fibers suffer from inherent limitations such as beam divergence, contact operation, easily obstructed field of vision, lack of depth sensing, and smoke interference. These limitations make it difficult to simultaneously achieve high efficiency, non-contact operation, precise positioning, and safety in tissue ablation. Therefore, how to achieve a high-density, compact integration of focused laser beam path, depth visual positioning, focus position adjustment, smoke dissipation, and tissue temperature feedback functions within the constraints of standard laparoscopic instrument dimensions, enabling surgeons to perform efficient and safe non-contact laser ablation with a clear field of vision and accurate spatial information, has become a critical technical problem urgently needing to be solved in the field of minimally invasive laser treatment instruments. Summary of the Invention

[0009] To address the problems of existing technologies, such as the easy contamination and damage of traditional optical fiber end faces, low energy utilization and high risk of thermal damage to surrounding tissues due to divergent beams, lack of depth perception and poor resistance to smoke interference in a two-dimensional single field of view, and the lack of integrated device functions leading to cumbersome operation and over-reliance on physician experience, this invention provides a multimodal integrated minimally invasive laser ablation device.

[0010] This invention is implemented as follows: a multimodal integrated minimally invasive laser ablation device includes an instrument body and an instrument head located at the distal end of the instrument body. The device further comprises: a laser execution module, including a transmission optical fiber, a focusing lens, and a focusing mechanism; the transmission optical fiber passes through the instrument body; the focusing lens is located at the instrument head and on the light-emitting side of the transmission optical fiber; the focusing mechanism is drively connected to the focusing lens and configured to drive the focusing lens to move along the axial direction of the instrument body; a visual perception module is located at the instrument head and includes two camera modules, the observation fields of which together cover the focal area of ​​the focusing lens outside the instrument head; a surgical field environment management module includes a smoke exhaust duct, which at least partially penetrates the instrument body and has an air outlet at the instrument head, the exhaust direction of which faces the focal area; and a safety feedback monitoring module includes a non-contact temperature sensor, which is located at the instrument head and its detection field covers the focal area.

[0011] In the above technical solution, preferably, the instrument body includes a proximal operating part and an extension rod connecting the operating part and the instrument head end; The focusing mechanism includes a lead screw rotatably mounted on the operating part, a knob coaxially fixedly connected to the lead screw, a lead screw nut threadedly engaged with the lead screw, and an axial drive member extending axially in the gap between the transmission optical fiber and the inner wall of the extension rod; the lead screw nut is connected to the axial drive member, the front end of the axial drive member is fixed to the distal rigid end of the transmission optical fiber, the focusing lens is fixed to the axial drive member, and the axial drive member is configured to move synchronously with the movement of the lead screw nut, thereby driving the distal end of the transmission optical fiber and the focusing lens to move axially synchronously.

[0012] In the above technical solution, preferably, the outer peripheral sidewall of the axial drive member is provided with a protruding limiting structure, and the inner wall of the extension rod is provided with a guide groove that slides with the limiting structure, and the extension direction of the guide groove is parallel to the axial direction of the extension rod.

[0013] In the above technical solution, preferably, the air vent has an elongated shape, is located between the two camera modules, and is arranged above the focusing lens; the central axis of the air vent is parallel to and does not coincide with the optical axis of the focusing lens.

[0014] In the above technical solution, preferably, the exhaust duct is provided with an air inlet, a conical expansion cavity, a circular transition hole and the air outlet in sequence from the proximal end to the distal end; The cross-sectional area of ​​the circular transition hole is larger than the cross-sectional area of ​​the air inlet, and the area of ​​the cross-section where the air outlet is located is adapted to the cross-sectional area of ​​the circular transition hole.

[0015] In the above technical solution, preferably, the two camera modules are symmetrically arranged on both sides of the head end of the instrument along a predetermined baseline distance, and the two camera modules together constitute a binocular visual positioning structure for acquiring spatial depth information.

[0016] In the above technical solution, preferably, there are two non-contact temperature sensors, each of which is an infrared temperature sensor, and they are symmetrically arranged on both sides of the instrument head.

[0017] In the above technical solution, preferably, the size of the laser spot after convergence from the focusing lens is inversely proportional to the diameter of the input beam to the focusing lens, satisfying the formula:

[0018] in, The size of the light spot. The wavelength of the laser. The focal length of the focusing lens is... The diameter of the beam. This represents the beam quality factor.

[0019] In the above technical solution, preferably, the light-emitting end of the transmission optical fiber is a flat end face, the light-emitting end of the transmission optical fiber is connected to the focusing lens through a standard threaded interface, and the optical surface of the focusing lens is provided with an anti-reflective coating that matches the input laser wavelength.

[0020] In the above technical solution, preferably, the air inlet, the focusing lens, the two camera modules, and the two non-contact temperature sensors are arranged in a predetermined spatial integration on the end face of the instrument head. The air inlet and the focusing lens are distributed on the vertical central axis of the end face, and the air inlet is located above the focusing lens; The two camera modules are symmetrically arranged on both sides of the vertical central axis, and the two non-contact temperature sensors are arranged on the side of the two camera modules away from the vertical central axis. The outer surface of the instrument head is cylindrical, and the maximum outer diameter of the instrument head is less than or equal to 15 mm.

[0021] Compared with the prior art, the present invention has the following beneficial effects: Achieving non-contact, precise focused ablation and effectively reducing the risk of fiber optic damage and blockage: This invention uses a focusing lens at the instrument tip to converge the diverging laser emitted from the fiber optic cable to a focal area on the outside of the instrument. This allows the laser to form a high-energy-density focal point without contact, thus efficiently performing tissue ablation, vaporization, or hemostasis. This design physically avoids the drawbacks of traditional fiber optic methods that require close or even direct contact with the target tissue. It significantly reduces the splashing and adhesion of blood, tissue debris, carbides, and smoke particles to the fiber optic output end, effectively lowering the incidence of localized overheating, carbonization, and blockage, and significantly improving the clinical durability of the instrument and the continuity of surgical procedures.

[0022] An innovative micro-motion focusing mechanism enhances laser execution precision and overcomes the limitations of manual operation. This invention, through a focusing mechanism, transforms the operator's relatively large hand movements (rotating the knob on the control unit) into micrometer-level precision displacements of the axial drive component within the extension rod via a lead screw and nut. This, in turn, drives the distal end of the transmission fiber and the focusing lens to achieve synchronous axial displacement, enabling precise translation and control of the laser focus position. This mechanical transmission structure allows for focus adjustment precision far exceeding the control limits achievable by directly pushing and pulling the instrument body by hand. Particularly in the suspended operation of long laparoscopic instruments, this design significantly reduces focus deviation caused by physiological hand tremors and overall instrument displacement, ensuring extremely stable laser focus on the target tissue and greatly improving ablation efficiency and treatment consistency.

[0023] The invention integrates a visual perception module to enhance spatial awareness and improve the accuracy of non-contact ablation positioning: A visual perception module is installed at the instrument tip. A binocular visual positioning structure is constructed using two camera modules symmetrically arranged along a predetermined baseline. The system can acquire dual-view image information of the target tissue in real time, thereby assisting in calculating the spatial three-dimensional relative positional relationship between the instrument tip, the focal area, and the tissue surface. Compared to the inherent deficiency of traditional single two-dimensional laparoscopic images lacking depth information, this invention provides the operator with an intuitive perception of the working distance and target depth, making it easier to precisely adjust the non-contact laser focus to the optimal working focal plane, thus reducing the risk of incomplete ablation or excessive damage to surrounding normal tissue due to focus deviation.

[0024] Constructing a curtain-like smoke exhaust duct improves surgical field clarity and ensures visual and positioning stability: This invention incorporates a surgical field environment management module, cleverly arranging a long, narrow air inlet between the two camera modules at the instrument head. Through the coordinated structure of the air inlet, conical expansion chamber for deceleration, and circular transition hole within the exhaust duct, the concentrated high-pressure airflow is shaped into a wide and thin sheet-like air curtain. This sheet-like air curtain can directionally and parallelly sweep across the focal area, promptly and efficiently dispersing accumulated smoke, vaporized particles, and hot airflow, preventing smoke from obstructing the camera module's field of view and the focusing lens's optical path. Compared to ordinary round-hole direct-blowing structures, this long, narrow air curtain flow field not only more comprehensively covers the main smoke-rising area but also significantly reduces the direct mechanical impact of exhaust on the target soft tissue and interference with bleeding point displacement.

[0025] Introducing a safety feedback monitoring module comprehensively improves the safety of hemostasis judgment: This invention incorporates a safety feedback monitoring module that integrates a non-contact temperature sensor at the instrument tip. This sensor is specifically designed for non-contact, real-time detection of the overall thermal state of the target tissue area during hemostasis and coagulation mode, ensuring that the detection field of view covers the focal area. Since the core of the clinical hemostasis process lies in bringing the tissue to a specific temperature range suitable for coagulation and closure, this invention objectively assists the operator in judging the hemostasis progress and the actual thermal state of the tissue through regional temperature feedback data. This mechanism overcomes the judgment bias caused by relying solely on the doctor's visual experience (such as observing tissue color changes or eschar formation) in traditional surgery, effectively avoiding the risk of overheating and thermal damage to important anatomical structures such as nerves and blood vessels around the lesion.

[0026] Supporting seamless switching between dual working modes greatly expands the clinical applicability of minimally invasive procedures: This invention features two independent working modes—cauterization and ablation—and hemostasis / coagulation, which can be flexibly switched according to actual clinical needs. In cauterization and ablation mode, the system uses a high-energy focused laser to rapidly vaporize or remove lesions; while in hemostasis / coagulation mode, the system outputs relatively gentle laser heat to achieve vascular closure and tissue coagulation, and combines real-time closed-loop feedback from a non-contact temperature sensor to ensure the safety boundaries of thermal action. This dual-mode design enables the invention to efficiently ablate diseased tissue while also handling precise hemostasis in small wounds, greatly enhancing the device's adaptability in complex and ever-changing minimally invasive surgical scenarios.

[0027] Achieving highly compact integration of multimodal functions and significantly improving overall operational efficiency: This invention breaks through the functional limitations of traditional instruments. Under the constraints of the instrument body and outer diameter, it perfectly integrates multiple functions, including a laser execution module, a visual perception module, a surgical field environment management module, and a safety feedback monitoring module, on the end face of the instrument head. This highly spatial topologically integrated design allows the operator to continuously complete the entire process of observation, depth positioning, micro-motion focusing, laser ablation, smoke management, and safety monitoring on a single instrument platform. This solution completely eliminates the cumbersome steps of frequently switching between independent instruments and over-reliance on external auxiliary equipment in traditional minimally invasive surgery, elevating the continuity of surgical operations, treatment precision, and system safety to a new level. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 yes Figure 1 Enlarged view of part A; Figure 3 This is a schematic diagram of the focusing mechanism in this invention; Figure 4 This is a schematic diagram of the connection structure between the axial drive component and the transmission optical fiber in this invention; Figure 5 This is a schematic diagram of the integrated hole system at the front end of the extension rod in this invention; Figure 6 This is a schematic diagram of the structure of the first integrated terminal block in this invention; Figure 7 This is a schematic diagram of the structure of the second integrated terminal block in this invention. Detailed Implementation

[0029] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. To further illustrate the structure of the invention, a detailed description is provided below with reference to the accompanying drawings: This embodiment provides a multimodal integrated minimally invasive laser ablation device to address technical problems in existing laparoscopic laser treatment instruments, such as easy contamination and damage to the fiber end face, low laser energy utilization, and difficulty in accurately controlling the laser focus position. This enables highly efficient, precise, and safe non-contact tissue laser ablation and hemostasis. The device includes a main body and an instrument head located at the distal end of the main body. It integrates multiple functional modules, including laser focusing execution, depth vision-assisted positioning, smoke dispersion management, temperature feedback monitoring, and focus position adjustment, forming an integrated miniature treatment platform within a standard laparoscopic minimally invasive operating space.

[0030] Please see Figure 1 and Figure 2 The instrument body includes a proximal operating part 1 and an extension rod 2 connecting the operating part and the instrument tip. Its overall outer diameter is controlled within 15mm to accommodate conventional laparoscopic trocar channels. In this embodiment, the operating part is a handle, and the extension rod is a straight rod.

[0031] The device includes a laser execution module, which guides the laser output from an external laser generator into the instrument via a transmission optical fiber, and positions the laser focus in a predetermined working area in front of the instrument tip. This enables non-contact, highly efficient tissue ablation and hemostasis, effectively reducing the risks of fiber tip contamination, localized overheating, carbonization, and even tip burn-out caused by traditional contact operations. The laser execution module includes a transmission optical fiber 3, a focusing lens 4, and a focusing mechanism. The transmission optical fiber passes through the instrument body, the focusing lens is located at the instrument tip and on the light-emitting side of the transmission optical fiber, and the focusing mechanism is drively connected to the focusing lens, configured to drive the focusing lens to move axially along the instrument body.

[0032] Please see Figure 3 and Figure 4In the specific mechanical transmission and focusing mechanism, the focusing mechanism includes a lead screw 5 rotatably mounted on the operating part, a knob 6 coaxially fixedly connected to the lead screw, a lead screw nut 7 threadedly engaged with the lead screw, and an axial drive member 8 extending axially in the gap between the transmission optical fiber and the inner wall of the extension rod. In one specific embodiment, the lead screw can be a T6 specification lead screw with a lead of 1mm, and fixed to the operating part by a flange bearing; the knob can be fixed to the lead screw by a set screw. The lead screw nut is connected to the axial drive member, the front end of which clamps and fixes the distal rigid end of the transmission optical fiber, and the focusing lens is also fixed to the axial drive member. The operator rotates the knob, causing the lead screw to rotate, which in turn drives the lead screw nut to move back and forth linearly. The axial drive member then drives the distal end of the transmission optical fiber and the focusing lens to move axially synchronously within the instrument. This knob and lead screw transmission mechanism enables micron-level or fine-grained axial displacement control, overcoming the tremors and insufficient control precision caused by direct manual movement of the instrument. This allows the operator to achieve precise focus adjustment that is impossible by hand, ensuring a more stable laser focus on the target tissue. Furthermore, to ensure the stability of axial movement, the outer peripheral sidewall of the axial drive component has a protruding limiting structure, and the inner wall of the extension rod has a guide groove that slides along the limiting structure. The extension direction of the guide groove is parallel to the axial direction of the extension rod, allowing the axial drive component to slide only along the guide groove.

[0033] Considering that the device head integrates the visual perception module and safety feedback monitoring module described later, and that the aforementioned electronic components require power supply and bidirectional data signal transmission, this embodiment employs a precise irregular-shaped integrated design for the internal spatial arrangement and end structure to achieve complete physical isolation between the mechanical moving parts and the electronic cables. Specifically, a rib ring 9 is installed inside the proximal end of the extension rod near the handle, and a high-density integrated hole system is formed at the distal end of the extension rod. Optical fiber passage holes and wiring holes are independently opened on the rib ring, with the wiring holes located above the optical fiber passage holes. Correspondingly, the main body of the axial drive component is designed as a C-shaped rod, located below and outside the transmission optical fiber, and sliding through the optical fiber passage hole of the rib ring; a fixing block is provided at the distal front of the axial drive component for fixing the rigid distal end of the transmission optical fiber, the fixing block consisting of an upper fixing block 8-1 and a lower fixing block 8-2 that clamp together.

[0034] Please see Figure 5 , Figure 6 and Figure 7In the spatial layout of the extension rod's head end, the integrated hole system includes an axial circular hole 2-1, a first recessed hole 2-2, and a second recessed hole 2-3. The axial circular hole is located at the bottom and is used to install a cylindrical focusing lens. The focusing lens is a component structure, that is, a focusing convex lens is installed inside a cylindrical shell. The proximal end of the cylindrical shell of the focusing lens component is connected to the distal rigid end of the transmission optical fiber via a thread, and the whole assembly can be smoothly axially guided and displaced within the axial circular hole. To fully utilize the limited cylindrical cross-sectional space above the axial circular hole, both the first and second recessed holes are designed as irregularly shaped holes, and the front end sidewall of the extension rod has a limiting sidewall notch that connects to the first and second recessed holes. The first recess is located directly above the axial circular hole and is used to install the first integrated end block 10. The first integrated end block serves as a base and integrates the visual perception module (i.e., camera module) and the surgical field environment management module (i.e., exhaust duct and air inlet). The second recess is formed in the space between the first recess and the axial circular hole and is used to install the second integrated end block 11. The second integrated end block serves as a base and integrates the safety feedback monitoring module (i.e., non-contact temperature sensor).

[0035] On the circular end face at the far end of the extension rod, in this embodiment, the first integrated end block and the second integrated end block present a highly dense asymmetric conformal nested irregular structure. That is, the first integrated end block is located in the top area of ​​the end face, and its upper boundary perfectly matches the arc of the inner wall of the extension rod to form an approximately bow shape (or crescent shape). The central air vent and the camera modules on both sides are compactly embedded inside. The second integrated end block is embedded between the first integrated end block and the axial circular hole below. Its upper edge closely conforms to the bottom edge of the first integrated end block, and its lower edge is arc-shaped and concave to conform to and wrap around the bottom axial circular hole. The whole is formed into an inverted "U" shaped (or saddle-shaped) topological cross section with the left and right wings extending outward and downward, and the outermost of the two wings respectively carry non-contact temperature sensors. This multi-layered, contour-following, nested assembly design within an extremely confined space not only maximizes the use of redundant cross-sectional area within a 15mm limit pipe diameter, achieving three-dimensional, interference-free arrangement of all optical, pneumatic, electronic vision, and thermal sensing elements, but also constructs a dual isolation barrier against solid heat conduction and physical vibration: the complex saddle-shaped topology of the second integrated end block acts as a structural partition, not only completely cutting off the solid heat conduction path from the high-power laser waste heat below to the high-precision binocular camera module above by utilizing the discontinuous module splicing boundary, but also effectively absorbing and dissipating the micro-mechanical resonance excited by the high-frequency exhaust jet and the axial micro-movement of the transmission bushing below through the inherent assembly damping between the irregularly shaped components. Thus, at the underlying physical architecture level, it ensures the optical image stabilization and extremely high thermal stability of the multimodal sensing system in high-load clinical applications.

[0036] Based on the above structure, the power supply harnesses and high-speed data transmission harnesses of the camera module and temperature sensor pass sequentially through the wiring holes above the rib ring from the proximal end, and are laid along the upper space inside the extension rod to the first integrated end block and the second integrated end block at the distal end, perfectly avoiding the C-shaped bracing rod and transmission optical fiber that reciprocate axially below. This design completely isolates the mechanical moving parts from the electronic harnesses in terms of physical structure and spatial layout principles, ensuring that the internal cables will not experience physical interference, entanglement, pulling, or insulation wear when the focusing lens and the distal end of the optical fiber are repeatedly adjusted axially. This greatly ensures the anti-interference capability of the multimodal sensor signal transmission and the overall clinical service life of the device.

[0037] In the laser ablation section, the output end of the transmission fiber adopts a flat-end face structure. Compared with traditional bare optical fibers, this structure simplifies the end-face processing and avoids complex cutting or spherical preparation. To ensure the reliability of the optical path connection, the rigid end of the output end of the transmission fiber is connected to the cylindrical shell of the focusing lens via a standard SMA905 threaded interface. Simultaneously, the fiber extends from the rear end of the instrument and is connected to the external laser generator via an SMA905 interface. In actual operation, the optical path transmission is as follows: the externally input laser, after passing through the flat-end face fiber head, is scattered in a conical shape, then refracted in the focusing lens (i.e., the focusing convex lens), and finally converges to a point at a predetermined working distance outside the instrument end face, thus forming a high-energy-density focal point for tissue ablation in a non-contact state. It should be noted that the size of the focused laser spot is inversely proportional to the diameter of the incident beam input to the focusing lens, and its optical parameters satisfy the following formula:

[0038] in, The size of the focused light spot. The wavelength of the incident laser is The focal length of the focusing lens is... Let be the diameter of the incident beam. The beam quality factor is a core indicator that measures the purity or focusing ability of a laser beam. In practical implementation, different focusing lens parameters need to be designed for different laser wavelengths (e.g., ablation or hemostasis lasers for different tissues). At the same time, in order to reduce the risk of laser reflection on the lens surface causing backburning damage to the fiber or lens, the optical surface of the focusing lens must be coated with an anti-reflection coating corresponding to the input laser wavelength.

[0039] In the gas path and surgical field environment management section, to address the issues of vaporization, carbonization fumes, and hot airflow obstructing the field of view caused by laser action on biological tissue, this embodiment constructs a precise directional smoke exhaust channel within the instrument. The smoke exhaust channel, from proximal to distal, sequentially comprises an air inlet, a conical expansion cavity, a circular transition hole, and the air port 12. Its fluid dynamics design philosophy aims to decelerate and reshape the high-speed jet: specifically, the cross-sectional area of ​​the circular transition hole is designed to be larger than that of the air inlet. For example, the radius of the air inlet is set to 0.5 mm, and the airflow enters the circular transition hole with a diameter of 1.6 mm (i.e., a radius of 0.8 mm) after passing through the conical expansion section, thereby achieving an area ratio of 2.56 between the expanded circular transition hole and the air inlet. According to the fluid dynamics continuity equation:

[0040] in, Let be the volumetric flow rate of the gas. The cross-sectional area of ​​the channel. The average velocity is [value missing]. Under conditions where the airflow rate is approximately constant, the increase in the channel cross-sectional area leads to a corresponding decrease in the average velocity. After expansion, the average velocity of the airflow at the circular transition orifice drops to approximately 39% of the average velocity at the inlet. This conical expansion deceleration structure can significantly reduce the local velocity of the airflow before it enters the inlet, effectively preventing excessively strong airflow from directly impacting the soft tissue surface with a high-speed jet, thereby reducing soft tissue deformation or bleeding point displacement caused by strong mechanical purging.

[0041] The decelerated gas then smoothly enters the front end. The cross-sectional area of ​​the air inlet is matched with the cross-sectional area of ​​the circular transition hole (i.e., their cross-sectional areas are similar), providing conditions for the smooth entry and redistribution of the airflow. To further shape the approximately cylindrical airflow, the air inlet has an elongated structure on its end face, thereby forming a wide and thin sheet-like flow field (i.e., an air curtain) in front of the target burning area. In terms of spatial layout, the air inlet is located between the two camera modules and arranged above the focusing lens (in this embodiment, approximately 6 mm above the focusing lens); furthermore, the central axis of the air inlet is parallel to but not aligned with the optical axis of the focusing lens. This eccentric and parallel layout allows the sheet-like airflow blown out by the elongated air inlet to sweep parallel across the area near the laser focus in a predetermined direction, effectively covering the main smoke rising channel between the binocular camera's field of view and the laser focus, thereby removing the smoke from the central field of view without significantly disturbing the target tissue. This ensures clear visibility at the burning point while preventing airflow from directly impacting the center of the burning point along the laser axis.

[0042] To ensure the safe and compliant application of the aforementioned open-air curtain smoke extraction mechanism in clinical laparoscopic pneumoperitoneum environments, this device requires closed-loop operation in conjunction with the standardized gas supply equipment in the operating room. Specifically, the device features a standard endotracheal connector (such as a Luer connector) on the proximal external end of the handle or instrument body, which connects to the internal smoke extraction duct. During surgery, this standard endotracheal connector is configured to connect to a medical-grade carbon dioxide (CO2) gas source. The gas medium entering and exiting the duct must be medical-grade CO2 gas; pumping in air or other non-absorbable gases is strictly prohibited to absolutely prevent serious complications such as intraoperative air embolism or tissue oxidation. Furthermore, considering that the elongated air inlet at the front of the device continuously blows carbon dioxide gas into the abdominal cavity to form an air curtain, to avoid gas accumulation in the abdominal cavity leading to excessive artificial pneumoperitoneum pressure, this device must be used in conjunction with a laparoscopic trocar with automatic pressure stabilization and exhaust function during actual clinical operation, or a synchronous exhaust channel must be established using an independent negative pressure suction line next to the operating table. By intervening in the "dynamic delivery and exhaust balance" of the pneumoperitoneum machine and the negative pressure system, not only can an extremely stable smoke curtain flow field be constructed above the laser ablation focus, but it can also ensure the constant pressure of the pneumoperitoneum inside the patient's abdominal cavity and the safety of vital signs throughout the entire surgical cycle.

[0043] In the sensor component and end face layout, to achieve spatial perception support for non-contact precise ablation, this embodiment sets a visual perception module at the instrument head end, which includes two miniature camera modules 13 on the left and right. The two camera modules are symmetrically arranged on both sides of the instrument head end along a predetermined baseline distance (in this embodiment, the baseline distance is set to approximately 6 mm). The observation fields of the two camera modules jointly cover the focal area of ​​the focusing lens outside the instrument head end, together forming a binocular visual positioning structure for acquiring spatial depth information. Since the binocular visual structure can simultaneously acquire target images from two different observation positions, the spatial depth data of the ablation area can be obtained based on the positional difference of the target in the left and right images (i.e., parallax information). This can help the operator accurately determine the relative positional relationship and spatial depth between the instrument end, the laser focus, and the target tissue surface, overcoming the shortcomings of traditional single two-dimensional laparoscopic images that lack depth perception and are difficult to determine whether the focus is located before or after the surface, making it easier to stably adjust the laser focus to the optimal action plane.

[0044] Meanwhile, to improve the safety and controllability of the treatment process, this device is equipped with a safety feedback monitoring module, which includes a non-contact temperature sensor 14. There are two non-contact temperature sensors, each an infrared temperature sensor (preferably an MLX90632 non-contact infrared temperature detection device), symmetrically arranged on both sides of the instrument head. Regarding the high integration of multimodal sensors, the air inlet, the focusing lens, the two camera modules, and the two non-contact temperature sensors are arranged in a predetermined spatial integration layout on the end face of the instrument head: the air inlet and the focusing lens are distributed on the vertical central axis of the end face, with the air inlet located above the focusing lens; the two camera modules are symmetrically arranged on both sides of the vertical central axis, and the two non-contact temperature sensors are arranged on the side of the two camera modules away from the vertical central axis. This dual-sensor arrangement structure, compared to single-point temperature measurement, expands the coverage of the target area and effectively reduces temperature judgment errors caused by tissue surface morphology, local obstruction, or unilateral observation bias. Meanwhile, since the outer surface of the instrument tip is cylindrical and the maximum outer diameter of the instrument tip is less than or equal to 15mm, this compact spatial topology arrangement not only achieves synergistic decoupling of optics, aerodynamics and thermodynamics, but also perfectly matches the usage limitations of the narrow operating space of standard laparoscopy.

[0045] Based on the coordinated configuration of the above modules, this device supports two working modes: ablation and hemostasis / coagulation, to adapt to different clinical scenarios. In ablation mode, the system outputs a high-power laser to rapidly vaporize, cut, or remove the target tissue. In this mode, binocular vision positioning accuracy and air curtain smoke extraction ensure surgical field clarity and energy utilization efficiency. In hemostasis / coagulation mode, the laser output power is relatively low, aiming to bring the locally bleeding tissue to a temperature range suitable for protein coagulation and vascular closure. Here, because the infrared temperature sensor has a certain field of view, it is not used to accurately measure the instantaneous peak temperature of the laser focus in ablation mode, but rather to monitor the overall average thermal state of the target tissue area in hemostasis mode. The operator uses this temperature feedback to help determine whether the tissue has reached the effective hemostasis temperature, avoiding the risk of local overheating and thermal damage to surrounding nerves, blood vessels, and other important structures caused by relying solely on empirical operations such as observing tissue color changes or eschar formation.

[0046] To convert the multimodal underlying physical signals acquired by this device into feedback indicators that clinicians can directly recognize, thus meeting the necessity for assisted judgment, this embodiment also includes a host console system for use in conjunction with it. The host console system has an embedded image processing and data calculation module. The specific working mechanism is as follows: two camera modules located at the instrument head output dual-channel video streams to the host console in real time. The console calculates the dense depth map or three-dimensional point cloud of the tissue within the field of view in real time using dual-target positioning parameters and a stereo matching algorithm (such as the SGM algorithm), and then calculates the relative axial spatial distance (i.e., focus deviation value) between the current theoretical laser focus and the actual tissue surface. Simultaneously, the console receives temperature data streams from the MLX90632 infrared temperature sensors on both sides, and obtains the average temperature value of the working area after weighted fusion processing. Finally, the host console dynamically overlays and renders the calculated distance deviation value (e.g., "current focus distance from tissue surface: +2.1mm") and the real-time temperature value (e.g., "average temperature of target area: 65℃") onto the real-time surgical screen presented by binocular vision in the form of OSD (on-screen graphic prompt). This hardware and software combined signal fusion display mechanism makes up for the lack of a visual presentation carrier on the pure instrument hardware side, and opens up a technical closed loop of perception, calculation and feedback, enabling doctors to truly complete the micro-motion adjustment of the focusing mechanism and non-contact precision ablation under the guidance of digital images.

[0047] In the technical solution proposed in this invention, the high-density spatial topology arrangement and irregular hole system formed by each functional module in the confined space at the head end of the instrument not only realize the basic independent functions of each module in actual high-frequency composite operation, but also generate deep physical and environmental control effects through cross-physical field structural synergy.

[0048] At the optical-gas synergy level, the structural design of this device effectively suppresses the hidden "thermal lensing effect" in minimally invasive laser ablation. When a high-power laser continuously burns tissue, the local air experiences a strong change in refractive index gradient due to drastic temperature rise (i.e., thermal lensing effect). This effect not only causes the laser focus to diverge and shift but also severely distorts the parallax image of the binocular camera module below, leading to depth calculation distortion. In this embodiment, the air inlet is located directly above the focusing lens and is arranged in a long strip shape. During the surgery, the high-pressure medical gas continuously blown out from the air inlet has a temperature significantly lower than the ambient temperature of the laser working area. This wide, flat sheet-like air curtain not only disperses visible smoke particles laterally but also constructs a constantly refreshed "constant-temperature, isodense gas medium layer" in front of the laser focus and the binocular observation field of view. This specific fluid barrier continuously disrupts and reshapes the thermodynamic gradient in front, eliminating optical refractive index distortion caused by local gas volume heating from a fundamental physical mechanism, ensuring high-fidelity laser energy transmission and absolute pixel-level accuracy in binocular visual depth measurement.

[0049] At the gas and heat coordination level, the spatial layout of this device constructs a dynamic "cold-end reference microenvironment" for high-sensitivity temperature monitoring. In existing technologies, as the operation time increases, the instrument tip will heat up overall due to waste heat conducted by optical fibers and tissue thermal radiation, which will cause severe temperature drift errors in the infrared temperature sensor directly placed at the instrument tip. In this embodiment, the medical gas flowing through the internal exhaust duct and undergoing conical expansion and deceleration at the front end will generate a weak throttling cooling effect during the expansion and depressurization process; at the same time, this duct is arranged adjacent to the second integrated end block in which the non-contact temperature sensor is embedded. This spatial fit between the internal flow channel and the sensor embedding position allows the continuous relatively low-temperature CO2 gas flow to naturally act as the internal circulating cooling medium of the second integrated end block before being discharged from the instrument. This synergistic structure ingeniously removes the waste heat accumulated at the instrument tip, providing an extremely stable cold-end thermal microenvironment for the outermost infrared temperature sensor under the stringent constraints of no additional water cooling device, significantly suppressing the sensor temperature drift phenomenon under high-frequency continuous surgery.

[0050] Finally, at the level of mechanical and electrical decoupling, the irregular cross-section isolation structure of this embodiment provides high-frequency micro-vibration absorption capability. During micrometer-level focus calibration via the focusing mechanism, the rotation of the lead screw inevitably generates high-frequency mechanical resonance. In this embodiment, the axial drive component used to support the reciprocating motion of the optical fiber adopts a C-shaped bracing structure. Compared to a solid rigid push rod, the geometric shape of the opening of this C-shaped bracing, when sliding within the rib ring and guide groove, endows it with radial micro-elastic deformation capability. This inherent structural damping characteristic effectively absorbs and dissipates high-frequency mechanical micro-vibrations transmitted from the near-end lead screw, thereby completely cutting off the transmission path of mechanical resonance to the binocular camera module and optical focusing lens located at the same end of the instrument head. This electromechanical isolation design, while achieving smooth focus displacement, maximizes the coaxiality of the optical lens group during micro-motion and the anti-shake stability of the camera module when acquiring image sequences.

[0051] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A multimodal integrated minimally invasive laser ablation device, comprising an instrument body and an instrument head located at the distal end of the instrument body, characterized in that, Also includes: The laser actuation module includes a transmission optical fiber, a focusing lens, and a focusing mechanism. The transmission optical fiber passes through the instrument body, the focusing lens is disposed at the head end of the instrument and located on the light-emitting side of the transmission optical fiber, and the focusing mechanism is drivenly connected to the focusing lens and configured to drive the focusing lens to move along the axial direction of the instrument body. A visual perception module, located at the head end of the instrument, includes two camera modules, the observation fields of the two camera modules together covering the focal area of ​​the focusing lens outside the head end of the instrument; The surgical field environment management module includes a smoke exhaust duct that at least partially penetrates the instrument body and has an air port at the instrument head end, with the exhaust direction of the air port facing the focal region. The safety feedback monitoring module includes a non-contact temperature sensor, which is disposed at the end of the instrument head and the detection field covers the focal area.

2. The multimodal integrated minimally invasive laser ablation device according to claim 1, characterized in that, The instrument body includes a proximal operating part and an extension rod connecting the operating part and the instrument head end; The focusing mechanism includes a lead screw rotatably mounted on the operating part, a knob coaxially fixedly connected to the lead screw, a lead screw nut threadedly engaged with the lead screw, and an axial drive member extending axially in the gap between the transmission optical fiber and the inner wall of the extension rod; the lead screw nut is connected to the axial drive member, the front end of the axial drive member is fixed to the distal rigid end of the transmission optical fiber, the focusing lens is fixed to the axial drive member, and the axial drive member is configured to move synchronously with the movement of the lead screw nut, thereby driving the distal end of the transmission optical fiber and the focusing lens to move axially synchronously.

3. The multimodal integrated minimally invasive laser ablation device according to claim 2, characterized in that, The outer peripheral sidewall of the axial drive member is provided with a protruding limiting structure, and the inner wall of the extension rod is provided with a guide groove that slides with the limiting structure. The extension direction of the guide groove is parallel to the axial direction of the extension rod.

4. The multimodal integrated minimally invasive laser ablation device according to claim 1, characterized in that, The air vent has an elongated shape and is located between the two camera modules, and is positioned above the focusing lens; the central axis of the air vent is parallel to but does not coincide with the optical axis of the focusing lens.

5. The multimodal integrated minimally invasive laser ablation device according to claim 4, characterized in that, The exhaust duct is provided with an air inlet, a conical expansion cavity, a circular transition hole and the air port in sequence from the proximal end to the distal end; The cross-sectional area of ​​the circular transition hole is larger than the cross-sectional area of ​​the air inlet, and the area of ​​the cross-section where the air outlet is located is adapted to the cross-sectional area of ​​the circular transition hole.

6. The multimodal integrated minimally invasive laser ablation device according to claim 1, characterized in that, The two camera modules are symmetrically arranged on both sides of the head end of the instrument along a predetermined baseline distance, and the two camera modules together constitute a binocular visual positioning structure for acquiring spatial depth information.

7. The multimodal integrated minimally invasive laser ablation device according to claim 1, characterized in that, The number of non-contact temperature sensors is two, and the two non-contact temperature sensors are infrared temperature sensors, which are symmetrically arranged on both sides of the instrument head.

8. The multimodal integrated minimally invasive laser ablation device according to claim 1, characterized in that, The size of the laser spot after convergence from the focusing lens is inversely proportional to the diameter of the input laser beam, satisfying the formula: in, The size of the light spot. The wavelength of the laser. The focal length of the focusing lens is... The diameter of the beam. This represents the beam quality factor.

9. The multimodal integrated minimally invasive laser ablation device according to claim 1, characterized in that, The light-emitting end of the transmission optical fiber is a flat end face, and the light-emitting end of the transmission optical fiber is connected to the focusing lens through a standard threaded interface. The optical surface of the focusing lens is provided with an anti-reflective coating that matches the input laser wavelength.

10. The multimodal integrated minimally invasive laser ablation device according to any one of claims 1 to 9, characterized in that, The air inlet, the focusing lens, the two camera modules, and the two non-contact temperature sensors are arranged in a predetermined spatial integration on the end face of the instrument head. The air inlet and the focusing lens are distributed on the vertical central axis of the end face, and the air inlet is located above the focusing lens; The two camera modules are symmetrically arranged on both sides of the vertical central axis, and the two non-contact temperature sensors are arranged on the side of the two camera modules away from the vertical central axis. The outer surface of the instrument head is cylindrical, and the maximum outer diameter of the instrument head is less than or equal to 15 mm.

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