A surgical robot for LCEC technology and a control method thereof

Abstract

The present application relates to the technical field of medical robots, and discloses a surgical robot for LCEC technology and a control method thereof, the surgical robot comprising: an image navigation registration module, a robot motion execution module, a sealed negative pressure tunnel construction module, a three-mode intelligent cryo-temperature control module, an ice ball intralesional resection module, an in-situ negative pressure specimen sampling module, a rewarming steady-state repair module and a computer main control module, and the control method comprising: acquiring preoperative image data and planning a preset path; establishing a negative pressure sealed artificial tunnel and evaluating; cutting tissue strips and collecting lesion tissue fluid according to the lesion position determined by the confocal imaging technology; regulating and controlling the suction pressure parameters, and in-situ extracting the resected tissue specimen; performing phased rewarming according to the biopsy process, and regulating and controlling the local microenvironment parameters, so as to realize the inhibition of recurrence of the lesion area and the preservation of organ function. The present application improves the safety, accuracy and standardization of lung nodule cryobiopsy.

Description

Technical Field

[0001] This invention relates to the field of medical robot technology, and in particular to a surgical robot for LCEC technology and its control method. Background Technology

[0002] Pulmonary nodules are a major imaging finding in early-stage lung cancer, and percutaneous lung biopsy is a routine method for obtaining pathological diagnosis. However, traditional biopsy carries risks of complications such as pneumothorax, bleeding, tumor implantation in the needle tract, and unsatisfactory specimen collection. This is especially true for small nodules less than 10 mm in diameter or lesions near blood vessels or the pleura, where the procedure is difficult and has low safety.

[0003] In recent years, cryobiopsy technology has attracted attention due to its ability to create an ice ball to fix lesions and reduce bleeding. Current cryobiopsy mainly employs a single cryoablation mode, inducing tissue necrosis through extremely low temperatures. However, this method has the following drawbacks: First, it cannot distinguish between different treatment purposes, leading to significant damage to normal tissue; second, the puncture process lacks active negative pressure isolation protection, making it impossible to eliminate risks such as pneumothorax, bleeding, and needle tract implantation; third, the freezing, excision, aspiration, and rewarming procedures are independent of each other, lacking parameter linkage and adaptive control, resulting in low automation and a high dependence on the physician's experience.

[0004] Furthermore, current cryobiopsy techniques for lesion removal often employ a 360-degree cylindrical rotary cutting technique, mimicking the rotary cutting of breast masses. This technique lacks directionality, resulting in fragmented tissue rather than complete tissue strips, failing to meet the pathological requirements for tissue structure and directionality. Simultaneously, existing technologies rely on macroscopic imaging such as CT scans to assess lesion location, lacking microscopic laser scanning imaging methods like confocal microscopy, making it difficult to accurately determine lesion boundaries and the optimal cutting direction. In terms of operational execution, current surgical robot systems mostly utilize bulky, rigid robotic arms, lacking the sensitivity of human fingers to perceive puncture resistance, tissue hardness, and ice ball boundaries. This leads to decisions regarding freezing, thawing, biopsy, and refreezing relying heavily on physician experience, hindering the achievement of full-process automation.

[0005] Therefore, this invention proposes a surgical robot and its control method for LCEC technology. Summary of the Invention

[0006] The purpose of this invention is to address the problems of high risk of bleeding during pulmonary nodule biopsy pneumothorax, limited freezing modes, and lack of negative pressure isolation protection in the prior art. To this end, a surgical robot and its control method for LCEC technology are proposed.

[0007] To achieve the above objectives, the present invention adopts the following technical solution: a surgical robot for LCEC technology, comprising: The image navigation and registration module is used to acquire preoperative or intraoperative image data, complete the three-dimensional reconstruction and spatial coordinate registration of the lesion area, and plan the preset path of the robot puncture actuator. The robot motion execution module is used to receive motion commands from the computer main control system and drive the puncture execution mechanism to enter the preset target area of ​​the human body through percutaneous, flexible endoscopy, tissue endoscopy, thoracoscopy, laparoscopy, or vascular interventional routes along a preset path. The closed negative pressure tunnel construction module is used to create a negative pressure closed artificial tunnel in the target area to isolate external air, blood seepage and infection sources; The three-mode cryo-intelligent temperature control module is used to adjust the output power and duration of the cryoprobe according to the preset timing sequence, forming cryogenic necrosis ice balls, cryogenic ablation ice balls, or reversible hibernation ice balls in the target cells. The ice hockey puck lesion resection module is used to cut complete tissue strips sequentially in a preset direction within the confined space of the ice hockey puck, and simultaneously collect the lesion tissue fluid that overflows during the cutting process; The in-situ negative pressure specimen sampling module is used to adjust the aspiration pressure parameters and extract tissue specimens in situ after excision. The rewarming steady-state repair module is used to perform staged rewarming according to the biopsy process after the specimen is extracted, and to regulate local microenvironment parameters to suppress recurrence in the lesion area and preserve organ function. The computer main control module is connected to the signals of each of the above modules and is configured to execute the control method for the surgical robot oriented to LCEC technology as described in claim 4.

[0008] A control method for a surgical robot based on LCEC technology includes the following steps: Step S1: The computer main control module controls the image navigation and registration module to acquire preoperative image data, plan a preset path, and control the robot motion execution module to enter the preset target area of ​​the human body through percutaneous, flexible endoscopy, tissue endoscopy, thoracoscopy, laparoscopy, or vascular intervention. Step S2: The computer main control module controls the sealed negative pressure tunnel construction module to build a negative pressure sealed artificial tunnel in the target area, and evaluates its sealing performance and stability during the tunnel formation process. Step S3: The computer main control module controls the three-mode cryo-intelligent temperature control module to adjust the output power and duration of the cryoprobe according to the preset timing sequence, so as to form cryogenic necrosis ice balls, cryogenic ablation ice balls, or reversible hibernation ice balls in the target cells. Step S4: The computer main control module controls the lesion resection module inside the ice puck. Within the confined space of the closed ice puck, complete tissue strips are cut according to the lesion location determined by confocal imaging technology, and the lesion tissue fluid that overflows during the cutting process is collected. Step S5: The computer main control module controls the in-situ negative pressure specimen sampling module, adjusts the aspiration pressure parameters, and extracts the excised tissue specimen in situ. In step S6, the computer main control module controls the rewarming steady-state repair module to perform staged rewarming according to the biopsy process and adjust the local microenvironment parameters to achieve recurrence suppression and organ function preservation in the lesion area.

[0009] The beneficial effects of the technical solution provided by this invention include at least the following: This invention plans a preset path through an image navigation registration module, enters the target area through a robot motion execution module, and automatically reduces the needle insertion speed and corrects the end deviation in real time when approaching the lesion, which can improve puncture accuracy.

[0010] This invention establishes a negative pressure sealed artificial tunnel through a closed negative pressure tunnel construction module, and evaluates its sealing performance and stability during the tunnel formation process. It can isolate external air, blood seepage and sources of infection, thereby reducing the risk of pneumothorax, bleeding and tumor needle tract implantation.

[0011] This invention uses a three-mode cryo-intelligent temperature control module to regulate the output power and duration of the cryoprobe, forming cryogenic necrosis ice balls, cryogenic ablation ice balls, or reversible hibernation ice balls within the target cells. It can select lesion inactivation, ablation, or reversible cell protection according to clinical needs, thereby preserving normal tissue.

[0012] This invention utilizes an intra-polo ball lesion resection module to cut an independent tissue strip within the confined space of the ice polo ball, based on the lesion location determined by confocal imaging technology. This allows for the cutting of a complete tissue strip with directional markings, meeting the precise requirements of pathology for tissue structure and lesion localization, while avoiding the tissue debris and incompleteness problems caused by traditional rotary cutting.

[0013] This invention utilizes confocal imaging technology to perform local laser scanning imaging at multiple stages, including preoperative path planning, post-pneumatic hoop positioning, and anterior biopsy confirmation. This allows for precise determination of lesion boundaries, infiltration depth, and optimal cutting direction, providing accurate navigation for directional cutting.

[0014] This invention integrates a bionic dexterous hand into the robot's motion execution module. By utilizing its force and tactile sensors to perceive puncture resistance, tissue hardness, and puck boundaries in real time, it automatically assists in making decisions on the timing and force of puncture, freezing, rewarming, biopsy, refreezing, and instrument removal, thus achieving human-like precision operation and automated closed-loop control.

[0015] This invention uses an in-situ negative pressure specimen sampling module to set a constant suction negative pressure that is more than twice the highest negative pressure in the thoracic cavity to prevent air embolism. It also adaptively adjusts the suction negative pressure according to the distance to the ice hockey puck boundary and the fluctuation of the tunnel negative pressure. When a blockage is encountered, it is linked to a cutting instrument to unblock the blockage, thus ensuring the integrity of the specimen and the suction efficiency.

[0016] This invention employs a phased rewarming strategy. Before biopsy, the probe is rapidly rewarmed until it can easily enter and exit the coaxial sheath, keeping the tunnel inside the ice ball open. After biopsy, the probe is rewarmed until a preset resistance is encountered, at which point the sheath is withdrawn. The needle tract is then closed by utilizing the thermal shrinkage and cooling effect. Hemostasis is achieved by using the physical pressure of the ice ball. This approach ensures unobstructed access for multiple biopsies while also achieving reliable hemostasis and needle tract closure.

[0017] This invention uses CT images to evaluate hockey performance in real time, and combines high negative pressure aspiration of fresh whole blood as the end indicator for biopsy, enabling repeated biopsies during the operation until pathological diagnosis, which significantly improves the diagnostic accuracy and avoids secondary surgery due to insufficient samples. Attached Figure Description

[0018] To more clearly illustrate the technical solutions and advantages in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the 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.

[0019] Figure 1 A schematic diagram of a surgical robot module provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of the method flow provided in an embodiment of the present invention. Detailed Implementation

[0020] To further illustrate the technical means and effects adopted by the present invention to achieve its intended purpose, the following, in conjunction with the accompanying drawings and preferred embodiments, details the specific implementation, structure, features, and effects of a surgical robot and its control method for LCEC technology proposed according to the present invention. In the following description, different "one embodiment" or "another embodiment" do not necessarily refer to the same embodiment. Furthermore, specific features, structures, or characteristics in one or more embodiments can be combined in any suitable form.

[0021] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0022] The following examples are for illustrative purposes only and are not intended to limit the scope of the invention.

[0023] The following description, in conjunction with the accompanying drawings, details a specific solution for a surgical robot and its control method for LCEC technology provided by the present invention.

[0024] Please see Figure 1 The diagram illustrates a surgical robot module for LCEC technology according to an embodiment of the present invention, comprising: The image navigation and registration module is used to acquire preoperative or intraoperative image data, complete the three-dimensional reconstruction and spatial coordinate registration of the lesion area, and plan the preset path of the robot puncture actuator. The robot motion execution module is used to receive motion commands from the computer main control system and drive the puncture execution mechanism to enter the preset target area of ​​the human body through percutaneous, flexible endoscopy, tissue endoscopy, thoracoscopy, laparoscopy, or vascular interventional routes along a preset path. The closed negative pressure tunnel construction module is used to create a negative pressure closed artificial tunnel in the target area to isolate external air, blood seepage and infection sources; The three-mode cryo-intelligent temperature control module is used to adjust the output power and duration of the cryoprobe according to the preset timing sequence, forming cryogenic necrosis ice balls, cryogenic ablation ice balls, or reversible hibernation ice balls in the target cells. The ice hockey puck lesion resection module is used to cut complete tissue strips sequentially in a preset direction within the confined space of the ice hockey puck, and simultaneously collect the lesion tissue fluid that overflows during the cutting process; The in-situ negative pressure specimen sampling module is used to adjust the aspiration pressure parameters and extract tissue specimens in situ after excision. The rewarming steady-state repair module is used to perform staged rewarming according to the biopsy process after the specimen is extracted, and to regulate local microenvironment parameters to suppress recurrence in the lesion area and preserve organ function. The computer main control module is connected to the signals of each of the above modules and is configured to execute the control method for the surgical robot oriented towards LCEC technology as described in claim 4.

[0025] Furthermore, the image navigation registration module includes an image acquisition submodule, a positioning submodule, and a 3D reconstruction and path planning submodule; The robot's motion execution module includes a bionic dexterous hand with bionic fingers and wrist, and integrates force sensors, tactile sensors, and puncture actuators to sense puncture resistance, tissue stiffness, hockey puck boundaries, and resistance changes during the biopsy process in real time. The sealed negative pressure tunnel construction module includes a negative pressure pump, a sealed sheath, and a pressure sensor.

[0026] Furthermore, the three-mode freezing intelligent temperature control module includes a freezing probe and a timing controller. The tip of the freezing probe is integrated with a temperature sensor to monitor the internal temperature of the ice puck. The intra-articular lesion resection module for ice hockey pucks includes directional cutting instruments and electrosurgical blades; The in-situ negative pressure specimen sampling module includes a vacuum pump and a specimen collection container; The rewarming steady-state repair module includes a heating controller and a drug injection channel.

[0027] It should be noted that the specific structure of each module is as follows: The image navigation and registration module includes an image acquisition submodule, a positioning submodule, and a 3D reconstruction and path planning submodule. The image acquisition submodule acquires DICOM format image data preoperatively or intraoperatively using a CT scanner or MRI device, and performs local laser scanning imaging of the lesion area using confocal imaging technology to obtain the true boundary, infiltration depth, and optimal puncture direction of the lesion. The positioning submodule registers the 3D spatial coordinates with the patient's surface coordinates using an electromagnetic navigation system or optical positioning system, with a registration accuracy within 1 mm. The 3D reconstruction and path planning submodule performs 3D reconstruction of the lesion area using image segmentation algorithms and uses a fast random search tree algorithm to plan a preset path from the puncture point on the body surface to the center of the lesion, avoiding blood vessels and vital organs. The distance between each interpolation point on the path and surrounding tissues is greater than a preset safety distance.

[0028] The robot's motion execution module includes a bionic dexterous hand with bionic fingers and a wrist, integrating force sensors, tactile sensors, and an end-effector. The bionic dexterous hand receives motion commands from the computer control system and drives the end-effector to move along a preset path. The force sensor is a strain-type multidimensional force sensor used to provide real-time feedback on axial force during the puncture process. The tactile sensor detects tissue hardness, puck boundaries, and resistance changes during the biopsy. The end-effector is a disposable coaxial puncture needle or a graduated puncture needle used to perform the puncture insertion action.

[0029] The sealed negative pressure tunnel construction module includes a negative pressure pump, a sealed sheath, and a pressure sensor. The negative pressure pump is a miniature diaphragm vacuum pump with a rated negative pressure of -80 kPa, used to generate controllable negative pressure. The sealed sheath is a double-layered medical polymer material sheath, with an inner lubricating coating and an outer sealing airbag, used to create an isolated artificial tunnel around the puncture needle tract. The pressure sensor is a MEMS piezoresistive pressure sensor with a range of -100 kPa to 0 kPa and an accuracy of ±0.5%, used to monitor the negative pressure value within the tunnel in real time at a sampling frequency of no less than 100 Hz and feed the pressure signal back to the computer main control module to prevent the entry of external air, blood seepage, and sources of infection.

[0030] The three-mode cryogenic intelligent temperature control module includes a cryogenic probe and a timing controller. The timing controller is a microcontroller based on a PID algorithm, used to adjust the output power and duration of the cryogenic probe with millisecond-level precision according to a preset timing sequence. The cryogenic probe is an argon-helium cryogenic probe with a tip diameter of 1.47 mm and an operating pressure of 20 MPa, used to form cryogenic necrotic ice balls, cryogenic ablation ice balls, or reversible hibernation ice balls within target cells. The tip of the cryogenic probe integrates a T-type thermocouple temperature sensor with a measurement range of -100℃ to +100℃ and an accuracy of ±0.5℃, used to monitor the internal temperature of the ice ball at a sampling frequency of no less than 10 Hz and transmit the temperature data to the main computer control module in real time.

[0031] The intra-puck lesion resection module includes a directional cutting instrument and an electrosurgical cutter. The directional cutting instrument, within the puck's internal needle channel under a closed, high-negative-pressure environment, sequentially cuts individual tissue strips at the lesion's location determined by confocal imaging technology, along with adjacent locations, one complete tissue strip per direction. Simultaneously, negative pressure aspiration is initiated to collect any overflowing lesion fluid. The electrosurgical cutter assists in sheet-like cutting to improve fluid collection. During the cutting process, the distance between the cutting instrument tip and the puck's boundary is monitored in real-time using ultrasound or optical imaging at a frame rate of at least 30 frames per second to prevent the cutting from exceeding the puck's boundaries.

[0032] In-situ negative pressure specimen sampling module: includes a vacuum pump and a specimen collection container. The vacuum pump is a DC brushless vacuum pump with a rated negative pressure of -90 kPa, used to generate adjustable suction negative pressure, with an adjustment range of 0 to -90 kPa and an adjustment accuracy of ±1 kPa. The specimen collection container is a disposable, sealed collection bottle with a filter, with a volume of 50 ml to 200 ml, used to collect in-situ aspirated excised tissue specimens. During aspiration, pressure sensors and optical sensors monitor the aspiration pressure parameters and specimen flow rate in real time, and the negative pressure value is adjusted to ensure specimen integrity and prevent specimen breakage.

[0033] The rewarming steady-state repair module includes a heating controller and a drug injection channel. The heating controller is a PID-based temperature controller, used in conjunction with an electric heating wire or radiofrequency heating device, to perform phased rewarming according to the biopsy process: Before the biopsy, the cryoprobe is rapidly rewarmed to a temperature that allows it to easily enter and exit the coaxial closed negative pressure sheath, ensuring that the resistance when the cryoprobe withdraws is below a first preset resistance threshold, thus keeping the tunnel inside the ice ball open for easy access to the biopsy instrument; during the biopsy, repeated biopsy-freezing cycles are performed based on CT imaging and aspiration results; after the biopsy, the cryoprobe is rewarmed until the resistance when entering and exiting the coaxial closed negative pressure sheath reaches a second preset resistance threshold, which is greater than the first preset resistance threshold, and then withdrawn from the body along with the sheath. The needle path is closed using the thermal cooling and retraction effect, and hemostasis is achieved through physical compression by the ice ball; the rewarming rate is adjustable from 5℃ / min to 60℃ / min. The drug injection channel is a micro-tube with an inner diameter of 0.5 mm to 1 mm, integrated inside the puncture sheath, used to inject hemostatic drugs such as prothrombin complex or tranexamic acid, as well as repair factors such as platelet-rich plasma or stem cell factors into the local microenvironment to promote needle closure and organ function recovery. The injection rate can be adjusted within the range of 0.05 ml / s to 0.5 ml / s.

[0034] The computer main control module includes a central processing unit (CPU), memory, and input / output interfaces. The CPU is an industrial-grade multi-core processor with a clock speed of at least 2.0 GHz, used for executing program instructions and performing calculations. The memory includes a solid-state drive (SSD) and dynamic random-access memory (DRAM), used to store preset programs, sensor data, and surgical logs. The input / output interfaces include an Ethernet interface, an RS232 serial port, and a USB interface, used for signal connection with the image navigation registration module, robot motion execution module, closed negative pressure tunnel construction module, three-mode cryotherapy intelligent temperature control module, ice puck lesion resection module, in-situ negative pressure specimen sampling module, and rewarming steady-state repair module. The computer main control module issues control commands according to the preset program, receives sensor feedback data from each module, and executes the control method for the surgical robot based on LCEC technology as described in claim 4.

[0035] Please see Figure 2 This document illustrates a flowchart of a control method for a surgical robot based on LCEC technology according to an embodiment of the present invention, comprising the following steps: Step S1: The computer main control module controls the image navigation and registration module to acquire preoperative image data, plan a preset path, and control the robot motion execution module to enter the preset target area of ​​the human body through percutaneous, flexible endoscopy, tissue endoscopy, thoracoscopy, laparoscopy, or vascular intervention. Step S2: The computer main control module controls the sealed negative pressure tunnel construction module to build a negative pressure sealed artificial tunnel in the target area, and evaluates its sealing performance and stability during the tunnel formation process. Step S3: The computer main control module controls the three-mode cryo-intelligent temperature control module to adjust the output power and duration of the cryoprobe according to the preset timing sequence, so as to form cryogenic necrosis ice balls, cryogenic ablation ice balls, or reversible hibernation ice balls in the target cells. Step S4: The computer main control module controls the lesion resection module inside the ice puck. Within the confined space of the closed ice puck, complete tissue strips are cut according to the lesion location determined by confocal imaging technology, and the lesion tissue fluid that overflows during the cutting process is collected. Step S5: The computer main control module controls the in-situ negative pressure specimen sampling module, adjusts the aspiration pressure parameters, and extracts the excised tissue specimen in situ. In step S6, the computer main control module controls the rewarming steady-state repair module to perform staged rewarming according to the biopsy process and adjust the local microenvironment parameters to achieve recurrence suppression and organ function preservation in the lesion area.

[0036] It should be noted that the preset path refers to the interference-free motion trajectory from the puncture point on the body surface to the center of the lesion, planned by the image navigation registration module based on preoperative image data. Obtaining this path involves: first, generating a preliminary path that avoids blood vessels and vital organs using a fast random search tree algorithm; then, optimizing the path by angle constraints to ensure that the angle between the direction of the path at the center of the lesion and the long axis of the lesion is less than 15 degrees, ultimately obtaining the preset path; this path is used in step S1 to control the robot's motion execution module to enter the target area along the preset path.

[0037] A negative pressure sealed artificial tunnel refers to a negative pressure environment space established around the puncture needle tract by a negative pressure pump and a sealed sheath. This space is kept under negative pressure during the operation to isolate external air, blood seepage and infection sources. Its sealing performance is evaluated by pressure change rate and oxygen concentration as dual criteria during tunnel formation, and its stability is evaluated by pressure disturbance test.

[0038] The assessment of sealing and stability refers to the real-time monitoring of the pressure change rate and oxygen concentration inside the tunnel using pressure sensors and gas composition sensors during the negative pressure establishment process. After the negative pressure reaches the target value, a pressure disturbance is applied and the pressure recovery time is measured to determine whether there is a leak in the tunnel and whether its structure is stable.

[0039] The preset timing sequence refers to the control sequence of the output power and duration of the freezing probe pre-set in the three-mode freezing intelligent temperature control module. This timing sequence is set according to the physiological requirements of the three freezing modes (necrosis, ablation, and hibernation): the necrosis mode uses an exponentially increasing power curve, dropping to below -50°C within 30 seconds and maintaining it for 4 minutes; the ablation mode uses a step power, dropping to below -80°C within 15 seconds; the hibernation mode uses an adaptive step power, with an initial rate of 8°C / min, and is adjusted based on the ice ball boundary expansion rate; it is used in step S3 to regulate the freezing probe so that the corresponding ice ball is formed in the target cell.

[0040] Cryonecrotic ice balls are formed by controlling the output power of a cryoprobe to increase exponentially, causing the intracellular temperature to drop rapidly to below -40°C and maintain this temperature for a sufficient time. These ice balls have moderate hardness, leading to irreversible necrosis of target cells. They are used in step S3 to treat lesions that require complete inactivation.

[0041] Cryoablation ice ball refers to an ice ball formed by using a step-cooling curve to lower the surface temperature of a cryoprobe to below -140°C in a very short time, while simultaneously monitoring the expansion speed of the ice ball boundary in real time and automatically pausing cooling when the limit is exceeded. This ice ball has the highest hardness and achieves rapid ablation by piercing the cell membrane with intracellular ice crystals. It is used in step S3 to rapidly reduce tumor size in lesions.

[0042] Reversible hibernation ice balls refer to ice balls formed by using an adaptive stepwise cooling curve. The initial cooling rate is relatively slow. When the intracellular temperature drops to -20°C, the cooling rate is adjusted according to the ice ball boundary expansion rate to gradually lower the intracellular temperature to -38°C to -42°C and maintain it for 3 minutes. This ice ball has the softest hardness, maintains the cell membrane integrity and the reversible hibernation state of the cells, and is used in step S3 to obtain living tissue for pathological examination and preserve the function of surrounding normal organs.

[0043] A closed ice ball refers to a low-temperature ice ball formed inside the target cells. This ice ball completely envelops the lesion area, forming a physical isolation barrier, and is used to provide a safe operating space for lesion resection in step S4.

[0044] The suction pressure parameter refers to the initial suction negative pressure value set according to the hockey puck type and the suction negative pressure value adjusted in real time according to the hockey puck boundary distance and tunnel negative pressure fluctuation. It is used to extract tissue specimens in situ in step S5 and ensure the integrity of the specimens.

[0045] Staged rewarming refers to using different rewarming strategies according to different stages of the biopsy process: before biopsy, rapid rewarming is performed until the cryoprobe can easily enter and exit the coaxial closed negative pressure sheath to keep the tunnel inside the ice ball open; during biopsy, repeated biopsy-freezing cycles are coordinated based on CT imaging and aspiration results; after biopsy, rewarming is performed until there is preset resistance when the cryoprobe is withdrawn and it is withdrawn along with the sheath, using the thermal cooling and cold return effect to close the needle path and use the ice ball for physical compression to stop bleeding, which is used in step S6 to achieve safe biopsy and hemostasis closure.

[0046] Local microenvironment parameters refer to parameters such as the type, dosage, and injection rate of hemostatic drugs and repair factors injected into the lesion area through the drug injection channel. These parameters are used in step S6 to suppress recurrence and preserve organ function in the lesion area.

[0047] In one specific implementation, this method is applied to a specialized surgical robot for minimally invasive biopsy of lung nodules. The robot includes a Tesla dexterous hand (with bionic fingers and wrist, integrating force sensors, tactile sensors, and a puncture actuator), an electromagnetic navigation system, a negative pressure pump, a sealed sheath, an argon-helium cryoprobe, a set of directional cutting instruments, an electrosurgical cutter, a specimen collection container, a computer control platform, a temperature sensor, a pressure sensor, a gas composition sensor, an optical sensor, an imaging module, a confocal imaging system, and a drug injection channel.

[0048] The patient, a 56-year-old female, presented with a solitary pulmonary nodule in the upper lobe of her right lung, measuring 12 mm in diameter, discovered during a physical examination. CT imaging showed the nodule to be roughly round with smooth margins and no spiculation, clinically suspected to be early-stage lung adenocarcinoma. The patient signed an informed consent form and underwent this surgery.

[0049] Specific implementation of step S1: Preoperatively, the patient undergoes a chest CT scan with a slice thickness of 1.25 mm, covering the entire lung and chest wall. The CT image data is imported into the computer control platform.

[0050] The 3D reconstruction and path planning submodule in the image navigation registration module performs 3D reconstruction of the CT image and automatically segments the pulmonary nodule lesions using a region growing algorithm. The 3D coordinates of the lesion center are calculated to be X 45.2 mm, Y 32.7 mm, Z 28.5 mm, with the long axis of the lesion oriented horizontally to the right and anteriorly by 12 degrees. Simultaneously, the spatial distances between the lesion and surrounding blood vessels are calculated: the nearest pulmonary artery is 6 mm from the lesion edge, and the nearest bronchus is 5 mm from the lesion edge.

[0051] Subsequently, local laser scanning imaging of the lesion area was performed using confocal imaging technology to obtain the true boundary, depth of invasion, and optimal puncture direction of the lesion. The confocal images showed that the lesion was mainly located at the 12 o'clock position, with clear boundaries and an invasion depth of approximately 2 mm.

[0052] The computer control platform initially planned an interference-free path from the superficial puncture point in the fourth intercostal space of the patient's back to the center of the lesion. This path was discretized into 50 interpolation points, each with a distance greater than a preset safety margin of 4 mm from surrounding blood vessels. Verification showed that the minimum distance between all interpolation points was 5 mm, meeting the safety requirements. Based on the lesion boundary and direction determined by confocal microscopy, the initial path was fine-tuned to more accurately point towards the lesion center.

[0053] The computer control platform calculates the angle between the direction of the preliminary planned path at the center point of the lesion and the long axis of the lesion. The tangent direction of the preliminary path at the center point of the lesion is 5 degrees to the right and forward, and the angle with the long axis of the lesion is 7 degrees, which is less than 15 degrees. No adjustment is needed, and this preliminary path is the final path.

[0054] The computer control platform uses an electromagnetic navigation device to register the final path to the patient's space. The transmitter of the electromagnetic positioning device is positioned above the patient's chest wall, and the receiver is mounted on the end effector of the Tesla dexterous hand. The registration error is 0.4 mm, less than the allowable value of 0.5 mm.

[0055] After the puncture began, the Tesla dexterous hand, carrying the puncture guide needle, advanced along the planned path at an initial speed of 10 mm / s. The computer control platform calculated the distance between the puncture tip and the lesion center in real time at a frequency of 100 Hz. When the distance to the lesion center reached 5 mm, the computer control platform automatically reduced the needle speed to 5 mm / s. Simultaneously, the computer control platform acquired the tip's pose in real time: the tip's position coordinates were X 45.2 mm, Y 32.6 mm, Z 28.3 mm, with a deviation of 0.3 mm from the theoretical coordinates, within the allowable range. When the tip advanced to within 2 mm of the lesion center, the tip positioning deviation reached 0.4 mm. The computer control platform detected a deviation exceeding 0.3 mm and automatically initiated correction, driving the robot motion execution module to move 0.1 mm along the positive X-axis and 0.2 mm along the negative Z-axis, bringing the tip back to the planned path. Ultimately, the puncture guide needle accurately reached the lesion center with a tip positioning deviation of 0.2 mm, and the puncture was completed. The patient experienced no pain and no pneumothorax occurred.

[0056] Step S2 is implemented as follows: After the puncture guide needle is in place, the outer sheath of the guide needle remains inside the puncture needle tract. The computer main control platform starts the closed negative pressure tunnel construction module.

[0057] The initial output of the negative pressure pump is -8 kPa. The computer control platform decreases the negative pressure value by 5 kPa in 0.5-second cycles. At the end of the 0.5-second cycle, the negative pressure is -13 kPa; at the end of the 1.0-second cycle, it is -18 kPa; at the end of the 1.5-second cycle, it is -23 kPa; at the end of the 2.0-second cycle, it is -28 kPa; at the end of the 2.5-second cycle, it is -33 kPa; at the end of the 3.0-second cycle, it is -38 kPa; and at the end of the 3.5-second cycle, it is -43 kPa. Pressurization stops once the target negative pressure value of -40 kPa is exceeded. The computer control platform allows the negative pressure to fluctuate within the range of -40 kPa to -45 kPa.

[0058] During the negative pressure establishment process, the pressure sensor recorded the negative pressure value inside the tunnel in real time at a sampling frequency of 100 Hz. In the first 0.5-second cycle, the pressure dropped from -8 kPa to -13 kPa, a change of -5 kPa over 0.5 seconds, with a pressure change rate of 10 kPa per second, exceeding the preset change threshold of 8 kPa per second. Simultaneously, the gas composition sensor detected an oxygen concentration of 18% inside the tunnel, higher than the preset concentration threshold of 15%. The computer control platform determined that the tunnel was poorly sealed, automatically reducing the pressurization rate to 2.5 kPa every 0.5 seconds, and initiating a sealing detection program. The sealing detection program maintained the current negative pressure between -13 kPa and -15 kPa, observing the pressure decay curve for 2 seconds. The pressure decreased by 0.8 kPa within 2 seconds, with a decay rate of 0.4 kPa per second, indicating a slight leakage, possibly originating from a tiny gap between the puncture needle track and the sheath.

[0059] The computer control platform continued to build up negative pressure at a reduced rate. At the end of the 4th second, the negative pressure was -15.5 kPa; at the end of the 4.5th second, it was -18 kPa; at the end of the 5th second, it was -20.5 kPa; at the end of the 5.5th second, it was -23 kPa; at the end of the 6th second, it was -25.5 kPa; at the end of the 6.5th second, it was -28 kPa; at the end of the 7th second, it was -30.5 kPa; at the end of the 7.5th second, it was -33 kPa; at the end of the 8th second, it was -35.5 kPa; at the end of the 8.5th second, it was -38 kPa; and at the end of the 9th second, it was -40.5 kPa. Pressurization stopped after reaching the target value. At this point, the oxygen concentration inside the tunnel had dropped to 12%, and the pressure change rate was 1 kPa per second, both within the preset threshold range.

[0060] After the negative pressure stabilized, the computer control platform initiated a tunnel stability assessment. The negative pressure pump rapidly released air within 0.2 seconds, causing the tunnel's negative pressure to drop instantaneously from -40.5 kPa to -38.5 kPa, generating a pressure disturbance of +2 kPa. Pressure sensors recorded the pressure changes after the disturbance: the negative pressure was -38.5 kPa immediately after the disturbance ended, rising to -39.2 kPa after 0.1 seconds, -39.8 kPa after 0.2 seconds, -40.2 kPa after 0.3 seconds, and -40.5 kPa after 0.4 seconds. The pressure recovery time was 0.4 seconds, less than 1 second, indicating that the tunnel was well-sealed and leak-free. The isolated artificial tunnel was completed, providing a safe isolation environment for subsequent operations.

[0061] Specific implementation of step S3: After the tunnel stabilizes, the computer main control platform activates the three-mode cryopreservation intelligent temperature control module. Based on the nature of the lesion as early-stage lung adenocarcinoma and the need to obtain biopsy tissue for pathological examination, this implementation method selects the cryopreservation hibernation mode.

[0062] The cryopreservation probe has an integrated temperature sensor at its tip, with an initial reading of 37 degrees Celsius. The cryopreservation probe begins cooling at an initial rate of 8 degrees Celsius per minute. At the 30th second, the temperature sensor shows that the intracellular temperature has dropped to -12 degrees Celsius; at the 60th second, the temperature has dropped to -20 degrees Celsius.

[0063] When the intracellular temperature drops to -20 degrees Celsius, the computer control platform initiates monitoring of the puck boundary expansion rate. The imaging module acquires an image of the puck boundary once per second and calculates the boundary expansion rate. At this point, the puck boundary expansion rate is 0.25 mm / s, less than the preset target rate of 0.30 mm / s, so the computer control platform increases the cooling rate to 9 degrees Celsius per minute. At the 75th second, the temperature drops to -22.5 degrees Celsius, and the expansion rate increases to 0.32 mm / s, exceeding the target rate, so the computer control platform reduces the cooling rate to 8 degrees Celsius per minute. At the 90th second, the temperature drops to -25 degrees Celsius, and the expansion rate is 0.31 mm / s, still exceeding the target rate, so the computer control platform reduces the cooling rate to 7 degrees Celsius per minute. At the 105th second, the temperature drops to -27.5 degrees Celsius, and the expansion rate is 0.29 mm / s, less than the target rate, so the computer control platform increases the cooling rate to 8 degrees Celsius per minute. At 120 seconds, the temperature dropped to -30 degrees Celsius, with an expansion rate of 0.30 mm / s, equal to the target rate. The computer control platform maintained a cooling rate of 8 degrees Celsius per minute. At 135 seconds, the temperature dropped to -32.5 degrees Celsius, with an expansion rate of 0.30 mm / s, remaining unchanged. At 150 seconds, the temperature dropped to -35 degrees Celsius, with an expansion rate of 0.29 mm / s, slightly less than the target rate. The computer control platform increased the cooling rate to 8.5 degrees Celsius per minute. At 165 seconds, the temperature dropped to -37.5 degrees Celsius, with an expansion rate of 0.30 mm / s, remaining unchanged. At 180 seconds, the temperature dropped to -40 degrees Celsius, with an expansion rate of 0.30 mm / s, reaching the target range.

[0064] The computer control platform maintained the temperature at -40 degrees Celsius for 3 minutes. Imaging showed that the ice puck completely enveloped the lesion area, with the edge of the puck approximately 2 millimeters from the lesion's edge, and no surrounding blood vessels were damaged. Temperature sensors recorded the temperature curve throughout the process, and the data was stored on the computer control platform. At the 360-second mark, the computer control platform automatically stopped cooling, and the ice puck stabilized at -40 degrees Celsius.

[0065] Step S4 implementation: The current negative pressure value in the tunnel is -40.5 kPa, and the target negative pressure value is -40 kPa, reaching 100% of the target value, which is greater than the 90% threshold. The computer control platform determines that it has entered the execution phase and starts the lesion removal module inside the ice hockey puck.

[0066] First, confocal imaging was used to confirm the precise location of the lesion within the ice puck. The confocal images showed that the lesion was mainly located at the 12 o'clock position, with its boundary approximately 2 millimeters from the edge of the ice puck.

[0067] The computer control platform directs the directional cutting instrument into the tunnel inside the ice puck, cutting complete tissue strips in the following sequence: first, a tissue strip is cut at the 12 o'clock position, then at the 3 o'clock position, then at the 6 o'clock position, and finally at the 9 o'clock position. Each direction produces an independent, complete tissue strip, with the cutting direction perpendicular to the long axis of the lesion. The cutting depth is determined by the thickness of the ice puck and the confocal boundary.

[0068] During the cutting process, negative pressure aspiration is initiated to simultaneously collect the lesion fluid that overflows during cutting. The imaging module monitors the distance between the tip of the directional cutting instrument and the edge of the puck in real time at a frequency of 30 frames per second. The initial distance is 3 mm. If it is greater than 0.5 mm, the computer control platform maintains normal cutting. When the tip of the cutting instrument approaches the edge of the puck (distance less than 0.5 mm), the instrument is finely adjusted away from the edge according to the direction of the most recently recorded velocity vector of the puck's edge expansion in step S3, ensuring that the cutting is always inside the puck. After the tissue strip is cut at the 12 o'clock position, cuts are made sequentially at the 3 o'clock, 6 o'clock, and 9 o'clock positions, with an independent tissue strip taken from each direction.

[0069] After the incision was completed, the lesion tissue was completely separated into multiple tissue strips with directional markings. Imaging showed that the hockey puck boundary was intact and the surrounding normal lung tissue was undamaged. The entire directional incision process lasted approximately 55 seconds, yielding four independent tissue strips, corresponding to the 12 o'clock, 3 o'clock, 6 o'clock, and 9 o'clock positions, respectively.

[0070] Specific implementation of step S5: After the cutting is completed, the computer main control platform starts the in-situ negative pressure specimen sampling module. The computer main control platform sets the suction negative pressure to a constant value of -200 cm water column (approximately -19.6 kPa), which is more than twice the highest negative pressure in the thoracic cavity to prevent outside air from being inhaled into the pulmonary blood vessels.

[0071] Suction begins, the vacuum pump starts, and the suction negative pressure stabilizes at -200 cm water column. The imaging module measures the distance between the ice puck boundary and the probe in real time, with an initial distance of 4 mm. This distance is greater than 2 mm and less than 5 mm, and the computer control platform maintains the current negative pressure unchanged. At the 5th second of suction, the distance shrinks to 2 mm, and the computer control platform temporarily reduces the suction negative pressure by 10 kPa (adjusting it to approximately -9.6 kPa) to prevent the ice puck boundary from being adsorbed. At the 8th second, the distance recovers to 3 mm, and the computer control platform restores the suction negative pressure to -200 cm water column.

[0072] During the suction process, in step S2, the tunnel pressure sensor showed that the tunnel negative pressure value fluctuated between -40 kPa and -43 kPa, with a fluctuation range of 3 kPa. The computer control platform adjusted the suction negative pressure value proportionally: for every 1 kPa increase in tunnel negative pressure fluctuation, the suction negative pressure value decreased by 5 kPa (from a base of -200 cm water column). With a fluctuation range of 3 kPa, the computer control platform reduced the suction negative pressure by 15 kPa from -200 cm water column, adjusting it to approximately -4.6 kPa. This adjustment value was within the safe range, and the computer control platform executed the reduction operation. At the 12th second, the tunnel negative pressure fluctuation range decreased to 1 kPa, and the computer control platform increased the suction negative pressure to approximately -14.6 kPa.

[0073] An optical sensor, consisting of a light-emitting diode (LED) and a photodetector, is installed inside the aspiration tubing. When the specimen flow rate is normal, the light is intermittently blocked, and the photodetector outputs a pulse signal. At the 15th second, the computer control platform detects that the specimen flow rate has been below the preset lower limit of 15 pulses per second for two consecutive seconds, and the current pulse frequency is only 5 pulses per second, indicating a blockage at the inlet of the aspiration tubing. The computer control platform automatically triggers the directional cutting instrument in step S4 to perform a reciprocating motion: the directional cutting instrument advances 2 mm forward within 0.3 seconds, then retreats 2 mm, axially breaking up the specimen fragments blocking the inlet of the aspiration tubing. The optical sensor detects that the pulse frequency has returned to 30 pulses per second, and the computer control platform determines that the blockage has been cleared, resuming normal aspiration.

[0074] At the 25-second mark of aspiration, the imaging showed that the specimen had been completely removed from the ice puck, and the pulse frequency in the aspiration tubing dropped to 2 pulses per second, lasting for 3 seconds before the computer control platform stopped aspiration. The entire process lasted approximately 28 seconds. The negative pressure reduction triggered by the distance from the ice puck boundary occurred twice, the negative pressure ratio adjustment triggered by tunnel fluctuations was continuously effective, and the blockage-clearing reciprocating motion was executed once. The tissue specimen (including four tissue strips at the 12 o'clock, 3 o'clock, 6 o'clock, and 9 o'clock positions, as well as the collected tissue fluid) was completely aspirated into the specimen collection container, with a total specimen weight of approximately 1.2 grams and a volume of approximately 1.1 cubic centimeters.

[0075] Step S6 is implemented as follows: After aspiration, CT images show the ice ball resembling a half-eggshell, firmly encasing the lesion. The computer control platform initiates the rewarming steady-state repair module, entering a phased rewarming procedure.

[0076] Phase 1: Pre-biopsy rewarming (keeping the tunnel open) Based on the type of ice hockey puck being a frozen hibernation puck, the computer control platform controls the rapid rewarming of the cryopreservation probe. When the cryopreservation probe temperature rises to -10℃, the resistance to its entry and exit from the coaxial sealed negative pressure sheath is detected. At this point, the resistance is lower than a first preset resistance threshold (e.g., 5 Newtons), allowing the cryopreservation probe to easily exit. The computer control platform determines that the tunnel opening conditions are met, controls the cryopreservation probe to exit, and keeps the tunnel inside the ice hockey puck open, facilitating the entry of biopsy instruments.

[0077] Phase Two: Repeated Biopsies-Cryopreservation Cycles The computer control platform controls the replacement of the biopsy instrument (directional cutting instrument) and its entry into the tunnel inside the ice hockey puck for biopsy. During the biopsy, the in-situ negative pressure specimen sampling module uses high negative pressure for aspiration. When the optical sensor in the aspiration tubing detects fresh whole blood, the computer control platform determines that the biopsy is complete and immediately stops aspiration.

[0078] Subsequently, the computer control platform selects the corresponding freezing mode based on the type of ice ball (frozen hibernating ice ball) formed in step S3, and controls the freezing probe to re-enter the tunnel for refreezing. Real-time monitoring of CT images and confocal imaging is performed. When the images show the ice ball to have an eggshell-like appearance or a spherical low-density appearance, and confocal imaging confirms no residual lesions, the first-stage rewarming is executed again, and the biopsy procedure is repeated.

[0079] The above biopsy-freeze cycle was repeated multiple times until the aspirated specimen was confirmed by on-site pathology. In this case, the pathology report after the first biopsy indicated insufficient cell count, so a second biopsy was performed; the pathology report after the second biopsy confirmed the diagnosis of lung adenocarcinoma.

[0080] Phase 3: Post-biopsy rewarming (hemostasis and sealing) After the final biopsy, the computer control platform controls the cryoprobe to rewarm. When the cryoprobe temperature reaches -5°C, the resistance to its entry and exit from the coaxial closed negative pressure sheath is detected. At this point, the resistance reaches a second preset resistance threshold (e.g., 15 Newtons), which is greater than the first preset resistance threshold. The computer control platform then controls the cryoprobe to be withdrawn from the body along with the sheath, using the thermal shrinkage and cooling retraction effect to close the needle path, and using the residual freezing effect of the ice ball to physically compress and stop the bleeding.

[0081] Phase 4: Verification and Closure The imaging module scan showed complete closure of the needle tract, with no active bleeding and no residual lesions. The computer control platform controlled the Tesla dexterous hand to slowly withdraw all instruments at a speed of 10 mm / s along the preset withdrawal path. Real-time imaging monitoring during withdrawal ensured no tissue traction. After complete instrument withdrawal, the computer control platform automatically released medical adhesive at the puncture site. The adhesive was a cyanoacrylate-based tissue adhesive, with a release volume of 0.2 ml, which solidified within 5 seconds to form a sealing layer. The puncture site was completely sealed, with no gas or liquid leakage.

[0082] After the entire procedure was completed, the lesion tissue specimen (including four tissue strips at the 12 o'clock, 3 o'clock, 6 o'clock, and 9 o'clock positions and tissue fluid) was safely collected into the specimen collection container, meeting the requirements for HE staining, immunohistochemistry, and gene sequencing. The pathological diagnosis was early-stage lung adenocarcinoma. The total operation time was approximately 50 minutes, including 3 minutes for puncture, approximately 12 seconds for tunnel construction, 6 minutes for freezing, approximately 55 seconds for directional cutting, approximately 28 seconds for aspiration, approximately 8 minutes for repeated biopsy cycles, and approximately 5 minutes for rewarming and sealing. The patient experienced no pain during the procedure, and postoperative CT scans showed good closure of the puncture site with no complications such as pneumothorax, bleeding, or infection. The patient was discharged on the second postoperative day, and a follow-up on the seventh day showed good healing of the puncture site with no signs of recurrence. This specific implementation verifies the feasibility, safety, and effectiveness of the method of the present invention.

[0083] Step S1 further includes the following sub-steps: S1-1: Based on the acquired preoperative image data, the lesion is automatically segmented and its three-dimensional coordinates and spatial distance from surrounding blood vessels and organs are calculated. An interference-free path from the puncture point on the body surface to the center of the lesion is initially planned. The distance between each interpolation point of this path and the blood vessels and organs is greater than the preset safe distance. S1-2, using confocal imaging technology to perform local laser scanning imaging of the lesion area, obtain the true boundary, infiltration depth and puncture direction of the lesion, and correct the preliminary planned path; S1-3, calculate the angle between the direction of the modified preliminary planning path at the center point of the lesion and the direction of the long axis of the lesion. If the angle is greater than or equal to 15 degrees, adjust the entry point or direction of the preliminary planning path so that the angle of the final path is less than 15 degrees. S1-4 aligns the final path to the patient space. During the puncture, the distance between the distal end and the center of the lesion is calculated in real time. When the distance is less than 5 mm, the needle insertion speed is automatically reduced by 50%, and the distal end position is fed back in real time. When the distal end positioning deviation exceeds 0.3 mm, it is automatically corrected.

[0084] It should be noted that automatic lesion segmentation refers to the computer control module automatically identifying and separating the boundaries of pulmonary nodule lesions based on preoperative CT or MRI image data using image segmentation algorithms, and calculating the coordinates of the lesion in three-dimensional space as well as the spatial distance between the lesion and surrounding blood vessels and organs. Simultaneously, confocal imaging technology is used to perform local laser scanning imaging of the lesion area to obtain the true boundaries, infiltration depth, and optimal puncture direction of the lesion, which is then used to correct the segmentation results.

[0085] An interference-free path refers to a trajectory from the puncture point on the body surface to the center of the lesion. The distance between each interpolation point on this trajectory and the surrounding blood vessels and organs is greater than the preset safety distance to ensure that important tissue structures are not damaged during the puncture process.

[0086] The preset safety distance refers to the minimum safe distance calculated by the error superposition formula based on the outer diameter of the puncture needle (1.5mm), the positioning error of the image navigation system (±0.5mm), and the tissue displacement caused by respiratory motion (±1mm). It is 2.6mm, rounded down and with a 1mm margin added, and set to 4mm. It is used to constrain the distance between each interpolation point and the blood vessel or organ to be greater than this value during path planning. Otherwise, the path is deemed unsafe and replanned.

[0087] The direction of the preliminary planned path at the center point of the lesion refers to the angle between the tangent direction of the preliminary planned puncture path and the long axis direction of the lesion when it reaches the center point of the lesion. This angle is used to assess whether the puncture path is conducive to the uniform wrapping of the lesion by the subsequent puck.

[0088] The long axis direction of a lesion refers to the direction of the largest diameter in the three-dimensional shape of the lesion. It is usually obtained by calculating the smallest circumscribed ellipsoid of the lesion after image segmentation, and can be further confirmed by combining confocal imaging technology.

[0089] Adjusting the entry point or direction of the initial planned path means that when the angle between the direction of the initial planned path at the center point of the lesion and the direction of the long axis of the lesion is greater than or equal to 15 degrees, the position of the puncture point on the body surface is reselected or the path direction is changed so that the angle of the final path at that point is less than 15 degrees, so that the ice ball can evenly wrap the lesion during the freezing process.

[0090] Registration to patient space refers to aligning the pre- or intraoperative planned path coordinates with the patient's actual body surface and internal anatomical structures using an electromagnetic positioning or optical navigation system, enabling the robot to perform punctures according to the planned path.

[0091] The distance between the end of the robot and the center of the lesion refers to the real-time straight-line distance between the end of the robot's puncture actuator and the center point of the lesion during the puncture process, which is calculated in real time by the navigation system.

[0092] Automatically reducing the needle insertion speed by 50% means that when the distance between the puncture tip and the center of the lesion is less than 5 mm, the computer main control module automatically reduces the current needle insertion speed to half of the original speed to reduce the risk of overshoot and improve the accuracy of the puncture endpoint.

[0093] The end-effector pose refers to the spatial position and orientation of the end of the robot's puncture actuator, including three-dimensional coordinates and rotation angles in three directions, which are collected in real time by the positioning submodule and fed back to the computer main control system.

[0094] End-point positioning deviation refers to the spatial positional difference between the actual puncture end-point pose and the theoretical pose in the planned path, usually expressed in millimeters.

[0095] Automatic correction refers to the process where, when the end-effector positioning deviation exceeds 0.3 mm, the computer main control module automatically drives the robot motion execution module to correct the position based on the direction of the deviation, so that the end-effector returns to the planned path.

[0096] Confocal imaging technology refers to the use of confocal laser scanning endoscopes to perform local high-resolution imaging of lesion areas, obtain the cellular boundaries, invasion depth and optimal puncture direction of the lesions, and use them to guide path planning and lesion localization.

[0097] The proposed solution overcomes the limitations of traditional puncture methods that rely on doctors' experience to determine the path by introducing preoperative image automatic segmentation, confocal precise positioning, and path geometry optimization technology.

[0098] Specifically, firstly, based on the acquired preoperative CT or MRI images, the lesion is automatically segmented, and its three-dimensional coordinates and spatial distances to surrounding blood vessels and organs are calculated. Simultaneously, confocal imaging technology is used to perform local laser scanning of the lesion area to obtain its true boundary, infiltration depth, and optimal puncture direction, thus correcting the segmentation results and path direction. Based on this, an interference-free path is planned from the puncture point on the body surface to the center of the lesion, where the distance between each interpolation point and the blood vessels and organs is greater than a preset safety margin. This effectively provides a safe passage for the puncture operation, avoiding vital tissues and organs, and the confocal imaging ensures that the path direction matches the true boundary of the lesion.

[0099] Next, the angle between the direction of the initially planned path at the lesion's center point and the lesion's long axis is calculated. If this angle is greater than or equal to 15 degrees, the entry point or direction of the initially planned path is adjusted so that the angle of the final path is less than 15 degrees. This step is equivalent to geometrically optimizing the path direction, making the final path more conducive to the uniform encapsulation of the lesion by the ice ball during subsequent freezing, thus improving the freezing effect. Confocal imaging technology is used in this process to verify whether the optimized path is still aligned with the lesion's core.

[0100] Finally, the final path is registered to the patient's space, ensuring precise alignment between the planned path and the patient's actual position. During the puncture, the distance between the distal end and the lesion center is calculated in real time. When this distance is less than 5 mm, the needle insertion speed is automatically reduced to slow the distal end's approach speed and avoid overshoot. Simultaneously, the distal end's pose is fed back in real time, and automatic correction is performed when the distal end's positioning deviation exceeds 0.3 mm, ensuring the puncture endpoint accurately reaches the lesion center. The entire process forms a complete closed loop from image segmentation, confocal precise positioning, path direction optimization to real-time correction. This allows the robot to automatically generate a safe, optimized path based on preoperative image data and confocal microscopic information, and dynamically adjust the distal end's pose during the puncture based on real-time positioning information, ultimately achieving precise lesion arrival.

[0101] Step S2 further includes the following sub-steps: S2-1 controls the negative pressure pump to generate negative pressure in a step-by-step manner. The initial negative pressure is -5kPa to -10kPa, and it decreases by 5kPa every 0.5 seconds until the preset target negative pressure value is reached. It also forms an isolated artificial tunnel around the needle channel through a sealed sheath tube. S2-2, during the negative pressure establishment process, the pressure change rate and oxygen concentration in the tunnel are monitored in real time by pressure sensor and gas composition sensor. If the pressure change rate exceeds the preset change threshold or the oxygen concentration is higher than the preset concentration threshold, the tunnel is judged to be poorly sealed, the pressurization rate is reduced and the sealing detection program is started. S2-3: When the negative pressure reaches the target value, the tunnel stability assessment is initiated. A pressure disturbance is applied, and the pressure recovery time is measured. If the recovery time exceeds 1 second, a leak is determined, and sealant is automatically injected through the drug injection channel for local sealing.

[0102] It should be noted that the step-by-step increase method for generating negative pressure means that the negative pressure pump gradually increases the negative pressure value according to the preset time interval and pressure step. The initial negative pressure is set from -5kPa to -10kPa, and the current negative pressure value is reduced by 5kPa every 0.5 seconds, so that the negative pressure gradually increases in a step-like manner until the preset target negative pressure value is reached.

[0103] The preset target negative pressure value refers to the final negative pressure value pre-set by the closed negative pressure tunnel construction module when establishing a closed negative pressure artificial tunnel in the target area. This value is obtained based on the elastic modulus of lung tissue (approximately 5 kPa) and the performance of the negative pressure pump (maximum -80 kPa). It is automatically calculated within the range of -30 kPa to -50 kPa by assessing the patient's chest wall thickness and lesion location preoperatively, and is usually taken as -40 kPa. It is used as the endpoint of the negative pressure pump pressurization in step S2-1, and to determine the cutting initiation condition in step S4-1 (the negative pressure reaches 90% of the target value).

[0104] A closed sheath is a hollow tubular instrument whose outer wall fits tightly against the puncture needle tract wall. The internal channel is used to connect a negative pressure pump and a pressure sensor. A closed negative pressure space is formed between the outer wall of the sheath and the needle tract tissue through negative pressure suction.

[0105] An isolated artificial tunnel refers to a closed negative pressure space formed around the puncture needle tract by negative pressure suction, which physically isolates the puncture instrument from the outside air, blood seepage and sources of infection.

[0106] The pressure change rate refers to the change in negative pressure value inside the tunnel per unit time. It is collected and calculated in real time by pressure sensors and used to judge the changing trend of tunnel sealing performance.

[0107] A gas composition sensor is a sensor that can detect the oxygen concentration in the gas inside a tunnel, and is used to determine whether there is a leak in the tunnel that connects to the outside air.

[0108] The preset change threshold refers to the upper limit of the pressure change rate warning during the negative pressure establishment process, which is set to 8 kPa / s. This value is obtained based on the smaller of the rated maximum change rate of the negative pressure pump (15 kPa / s) and the safe change rate that human tissue can withstand (8 kPa / s); it is used to monitor the pressure change rate in the tunnel in real time in step S2-2. When the threshold is exceeded, it is determined that the tunnel is not sealed properly, the pressurization rate is automatically reduced and the sealing detection program is started.

[0109] The preset concentration threshold refers to the maximum allowable oxygen concentration inside the tunnel, which is set to 15%. This value is obtained based on the midpoint between atmospheric oxygen concentration (21%) and interstitial oxygen concentration in human tissue (usually below 5%), serving as a sensitive boundary for determining whether the tunnel is connected to the outside air; it is used to monitor oxygen concentration in step S2-2, and when it exceeds 15%, the tunnel is deemed to be poorly sealed.

[0110] Reducing the pressurization rate means that when an abnormality in the tunnel sealing is detected, the computer main control module automatically reduces the pressurization step size of the negative pressure pump or extends the pressurization interval time to avoid continuing to build negative pressure rapidly under poor sealing conditions, which could cause tissue damage.

[0111] The sealing detection procedure refers to an automated detection process that is initiated after a tunnel is determined to be poorly sealed. It includes stopping pressurization, maintaining the current negative pressure, analyzing the pressure decay curve, and locating the leak point.

[0112] Tunnel stability assessment refers to the test method for the stability of tunnel structure after negative pressure reaches the target value. It includes applying a pressure disturbance of known amplitude and duration, and then measuring the time required for the pressure to recover to the level before the disturbance.

[0113] Pressure disturbance refers to a brief pressure change actively applied to test tunnel stability. It is usually an amplitude of ±2 kPa and lasts for 0.2 seconds, achieved by a negative pressure pump rapidly drawing in or releasing air.

[0114] Pressure recovery time refers to the time elapsed from the end of the pressure disturbance until the negative pressure value inside the tunnel recovers to within ±5% of the target negative pressure value before the disturbance. It is used to quantify the sealing performance and structural rigidity of the tunnel.

[0115] Sealant refers to medical bio-adhesive or biodegradable polymer materials used to seal tiny leaks in tunnels. It is injected into the leak site through a drug injection channel and forms a sealing layer after curing.

[0116] Partial sealing refers to the targeted sealing of leak points on the tunnel wall, rather than rebuilding the entire tunnel, in order to minimize interference with surrounding normal tissues.

[0117] This application's solution overcomes the limitations of traditional puncture methods, which cannot actively isolate the puncture channel, by introducing a stepped negative pressure establishment, real-time sealing monitoring, and pressure disturbance stability assessment. Specifically, firstly, the negative pressure pump is controlled to generate negative pressure in a stepped manner. The initial negative pressure is a preset low value, and the pressure is reduced by a preset step size at preset time intervals until a preset target negative pressure value is reached. An isolated artificial tunnel is then formed around the needle tract through a sealed sheath. The stepped increase in negative pressure avoids sudden tissue collapse or damage caused by excessively rapid negative pressure establishment, while providing sufficient time window for real-time monitoring. Secondly, during the negative pressure establishment process, the pressure change rate and oxygen concentration within the tunnel are monitored in real time using pressure sensors and gas composition sensors. The pressure change rate reflects the dynamic trend of the tunnel's sealing performance, while the oxygen concentration directly indicates whether the tunnel is connected to the outside air. If the pressure change rate exceeds a preset threshold or the oxygen concentration is higher than a preset concentration threshold, the tunnel is deemed to be poorly sealed. At this point, the pressurization rate is automatically reduced, and a sealing detection program is initiated to slow down the negative pressure establishment speed and further analyze the cause of leakage. This is equivalent to introducing a dual-criteria safety monitoring mechanism during tunnel formation, ensuring timely adjustments to the strategy when sealing conditions are not met, and preventing the continued establishment of negative pressure under poor sealing conditions. Finally, once the negative pressure reaches the target value, a tunnel stability assessment is initiated by applying a pressure disturbance of preset amplitude and duration, and measuring the pressure recovery time. If the recovery time exceeds a preset time threshold, a minor leak is identified, and sealant is automatically injected through the drug injection channel for local sealing. This assessment method can detect minor leaks that are difficult to detect with static pressure monitoring, and repair tunnel defects without shutting down the system through active sealing, ensuring that the tunnel maintains a stable negative pressure seal throughout the entire operation.

[0118] In step S3, the specific methods for forming cryogenic necrosis ice balls, cryogenic ablation ice balls, or reversible hibernation ice balls within the target cells include: For frozen necrotic ice balls, the output power of the freezing probe is controlled to increase exponentially, so that the intracellular temperature drops to less than -40°C within 30 seconds and is maintained at that temperature for 4 minutes. For frozen and thawed ice balls, a step cooling curve is used to reduce the surface temperature of the freezing probe to less than -140°C within 15 seconds, and the expansion rate of the ice ball boundary is monitored in real time. If the expansion rate exceeds the preset expansion threshold, the cooling is automatically paused until the expansion rate drops below the preset expansion threshold before cooling continues. For frozen hibernating ice balls, an adaptive step cooling curve is adopted. The initial cooling rate is 8℃ / min. When the intracellular temperature drops to -20℃, the expansion rate of the ice ball boundary is detected in real time. If the expansion rate is greater than the preset target rate, the cooling rate is reduced. If the expansion rate is less than the preset target rate, the cooling rate is increased, so that the intracellular temperature gradually drops to -38℃ to -42℃ and is maintained at this temperature for 3 minutes before automatically stopping the cooling.

[0119] It should be noted that the exponential function-based increase means that the output power of the cryopreservation probe increases exponentially over time. Initially, the power increases slowly, but the rate of increase gradually accelerates in the middle and later stages, so as to achieve a rapid cooling effect of reducing the intracellular temperature to less than -40°C within 30 seconds.

[0120] A step cooling curve refers to a sudden cooling method in which the surface temperature of a frozen probe is directly reduced from the initial temperature to less than -140°C within a very short time of 15 seconds, without going through an intermediate temperature transition stage.

[0121] The puck boundary expansion rate refers to the distance the puck boundary expands outward per unit time, as obtained through real-time video monitoring during the freezing process, and is measured in millimeters per second.

[0122] The preset expansion threshold refers to the safe upper limit of the ice puck boundary expansion speed under cryoablation mode, which is set to 0.6 mm / s. This value is obtained based on the elastic limit strain rate experiment of normal lung tissue. When the expansion speed exceeds 0.6 mm / s, the probability of irreversible damage to the surrounding normal lung tissue exceeds 5%. It is used to monitor the ice puck boundary expansion speed in real time in step S3. If the speed exceeds this threshold, the cooling will be automatically paused and will continue only after the speed drops below the threshold.

[0123] An adaptive stepped cooling curve refers to a cooling rate that is not constant but dynamically adjusted based on real-time feedback from the rate of ice puck boundary expansion, forming multiple stepped segments with different cooling rates, so that the intracellular temperature gradually decreases to reach the target temperature range.

[0124] The preset target rate refers to the ideal value of the ice ball boundary expansion rate in cryopreservation mode, which is 0.30 mm / s. This value is obtained by calculating the theoretical average expansion rate (approximately 0.089 mm / s) based on the lesion diameter (usually 12 mm) and the required freezing time (3 minutes), and then optimizing it in combination with clinical safety margin. It is used in step S3 to compare the actual expansion rate with this value. If the actual rate is greater than the target, the cooling rate is reduced; if it is less than the target, the cooling rate is increased.

[0125] Reducing the cooling rate means that when the ice puck boundary expansion rate is greater than the preset target rate, the computer main control module reduces the increase rate of the freezing probe's output power, thus slowing down the cooling and reducing the ice puck expansion rate.

[0126] Increasing the cooling rate means that when the ice ball's boundary expansion rate is less than the preset target rate, the computer main control module increases the output power of the freezing probe to increase the speed, thereby accelerating the cooling and thus speeding up the ice ball's expansion, ensuring that the ice ball can completely envelop the lesion within a predetermined time.

[0127] This application's solution overcomes the limitations of traditional cryobiopsy's single ablation mode, which cannot meet diverse clinical needs, by introducing three differentiated freezing modes. For freezing necrotic ice balls, the output power of the cryoprobe is controlled to increase exponentially, rapidly lowering the intracellular temperature to below -40°C and maintaining it for 4 minutes. The exponential increase ensures a gentle initial power increase to avoid tissue impact, followed by a rapid increase in the later stages to quickly penetrate the cell membrane. Combined with the 4-minute low-temperature maintenance, this ensures sufficient intracellular ice crystal formation without irreversible damage to cell structure, making it suitable for treatment scenarios requiring complete lesion inactivation. For cryoablation ice balls, a step-cooling curve is used, directly lowering the surface temperature of the cryoprobe to below -140°C within 15 seconds. This rapid cooling causes a large number of tiny ice crystals to instantly form inside the cell, piercing the cell membrane for rapid ablation. Simultaneously, the expansion rate of the ice ball boundary is monitored in real time. If the expansion rate exceeds a preset expansion threshold, cooling is automatically paused, and cooling resumes only after the expansion rate falls back below the threshold, preventing excessive expansion of the ice ball from damaging surrounding normal tissue. For cryopreservation of hibernating ice balls, an adaptive stepwise cooling curve is employed. The initial cooling rate is 8℃ / min. Once the intracellular temperature drops to -20℃, the rate of ice ball boundary expansion is monitored in real time and compared with a preset target rate. If the expansion rate exceeds the target rate, the cooling rate is reduced; if the expansion rate is less than the target rate, the cooling rate is increased. This closed-loop feedback regulation gradually lowers the intracellular temperature to -38℃ to -42℃ and maintains it for 3 minutes. This mode, through slow cooling and adaptive rate adjustment, ensures that only tiny ice crystals form within the cells without damaging the cell membrane structure, maintaining cell viability and achieving a reversible hibernation state. It is suitable for scenarios requiring the acquisition of live tissue for pathological examination while preserving the function of surrounding normal organs. The three modes correspond to three different clinical needs: lesion inactivation, rapid ablation, and reversible hibernation, respectively, achieving precise graded control of the freezing process.

[0128] Step S4 further includes the following sub-steps: S4-1, after the ice ball is formed, local laser scanning imaging of the lesion area is performed using confocal imaging technology to determine the cutting direction of the lesion; S4-2, based on whether the negative pressure value of the tunnel in step S2 reaches 90% of the target negative pressure value of the tunnel, the cutting is divided into a waiting stage and an execution stage. When the negative pressure value is below 90%, it is the waiting stage, the cutting equipment remains stationary, and only negative pressure suction is turned on to remove seepage in the needle channel. When the negative pressure value reaches above 90%, it is the execution stage, and directional cutting is started. S4-3, During the execution phase, according to the lesion location determined by confocal imaging technology, a tissue strip is cut at that location and its adjacent locations respectively; S4-4 During the cutting process, the distance between the cutting instrument tip and the ice hockey puck boundary is monitored in real time through imaging and confocal imaging. When the distance is less than 0.5 mm, the cutting head is controlled to rotate in the opposite direction by a fixed angle according to the direction of the ice hockey puck boundary expansion velocity vector most recently recorded in step S3, so that the cutting trajectory is shifted away from the boundary. S4-5, while cutting, start negative pressure suction to collect the lesion tissue fluid that overflows during cutting.

[0129] It should be noted that the target negative pressure value of the tunnel refers to the final negative pressure value set in advance when establishing the negative pressure sealed artificial tunnel in step S2, which is usually -30kPa to -50kPa. This value is used as a reference benchmark for cutting initiation.

[0130] The waiting stage refers to the surgical stage when the tunnel negative pressure value has not yet reached 90% of the target negative pressure value. During this stage, the directional cutting instrument or electrosurgical knife remains stationary, and only negative pressure aspiration is activated to remove exudate and small blood clots in the puncture needle tract.

[0131] The execution phase refers to the surgical phase when the tunnel negative pressure value has reached more than 90% of the target negative pressure value. At this stage, the negative pressure tunnel is in a stable state, and directional cutting operations can be safely initiated.

[0132] Directional cutting instruments are specialized instruments used within the ice hockey puck, in a closed, high-negative-pressure environment, to sequentially cut independent tissue strips at and adjacent locations of the lesion, determined by confocal imaging technology. One complete tissue strip is cut in each direction, perpendicular to the long axis of the lesion. The cutting depth is determined by the thickness of the ice hockey puck and the confocal boundary. This instrument does not employ a 360-degree rotational resection method but instead cuts directionally strip by strip to obtain complete tissue strips with directional markings.

[0133] An electrosurgical cutter is a biopsy instrument that uses high-frequency electrothermal effects to make sheet-like cuts. It is suitable for assisting in the collection of lesion tissue fluid that overflows during the cutting process, and can also be used for supplementary cutting in specific areas. The cutting mode of the electrosurgical cutter (directional supplementary cutting or circumferential sheet cutting) can be freely switched according to the residual lesion status displayed in real time on CT images and confocal images.

[0134] Clockwise rotation of the blade refers to the cutting head of the directional cutting instrument rotating in a clockwise direction. This direction corresponds to the cutting mode of frozen necrotic ice balls (it is only used when rotation assistance is required and is not the main cutting method).

[0135] Counterclockwise rotation of the blade refers to the cutting head of a directional cutting instrument rotating in a counterclockwise direction. This direction corresponds to the cutting mode of freezing and thawing ice balls (it is only used when rotation assistance is required and is not the main cutting method).

[0136] Alternating clockwise and counterclockwise rotation of the blade head refers to the electric cutter head rotating alternately in clockwise and counterclockwise directions. For example, it rotates clockwise for 2 seconds and then switches to counterclockwise for 2 seconds, repeating this process. This mode corresponds to the auxiliary cutting mode for freezing hibernating ice pucks.

[0137] The hockey boundary expansion velocity vector is a composite representation of the expansion direction and velocity of the hockey boundary in three-dimensional space, including the magnitude and direction of the expansion rate, and is obtained from the hockey boundary expansion data most recently recorded in step S3.

[0138] Reverse rotation refers to controlling the cutter head to rotate by a fixed angle in the opposite direction of the current velocity vector of the ice puck boundary when the distance between the cutting tool tip and the ice puck boundary is less than 0.5 mm, so that the cutting trajectory is shifted towards the inside of the ice puck and avoids penetrating the ice puck boundary.

[0139] A fixed angle refers to a pre-set angle value for the reverse rotation of the cutter head, usually between 5 and 15 degrees, used to offset the cutting trajectory towards the inside of the ice puck by a certain amount.

[0140] The proposed solution significantly improves the safety and integrity of tissue acquisition during puck cutting by establishing a triple guarantee mechanism of negative pressure stability, confocal precise positioning, and directional cutting.

[0141] First, the negative pressure of the tunnel is used as a safety criterion for initiating cutting. Since the stability of the negative pressure sealed artificial tunnel directly affects the isolation effect of the surgical area, this invention strictly limits the cutting operation to when the tunnel negative pressure reaches above 90% of the target value. When the negative pressure is insufficient, the cutting instrument remains stationary, while negative pressure suction continues to remove exudate, thereby avoiding tissue contamination or instrument displacement due to tunnel instability. This conditional access mechanism ensures that cutting is always performed under the safest pressure environment, reducing the risk of complications.

[0142] Secondly, confocal imaging technology is introduced for precise localization. After the ice puck is formed, local laser scanning imaging of the lesion area is performed using confocal imaging technology to determine the precise orientation of the lesion within the ice puck (e.g., the 12 o'clock position). Based on the orientation determined by confocal imaging, a directional cutting instrument sequentially cuts independent tissue strips at that orientation and its adjacent orientations (e.g., the 3 o'clock, 6 o'clock, and 9 o'clock positions), cutting one complete tissue strip in each direction. The cutting direction is perpendicular to the long axis of the lesion, and the cutting depth is determined by the thickness of the ice puck and the confocal boundary. This directional point cutting method overcomes the deficiency of traditional 360-degree rotational resection in obtaining directional tissue strips, enabling pathological examination to clearly define the distribution of the lesion in different orientations and significantly improving diagnostic accuracy. Simultaneously, negative pressure aspiration is initiated during the cutting process to collect the overflowing lesion tissue fluid, providing supplementary specimens for cytological diagnosis.

[0143] Finally, an active avoidance mechanism is introduced. During the cutting process, the distance between the cutting instrument tip and the ice puck boundary is monitored in real time via video. When the cutting head approaches the boundary (less than 0.5 mm), the system controls the cutting head to rotate in the opposite direction by a fixed angle based on the most recently recorded direction of the ice puck boundary expansion velocity vector, automatically retracting the cutting trajectory back into the ice puck. This mechanism utilizes the trend information of the dynamic expansion of the ice puck boundary to achieve predictive boundary avoidance, preventing the cutting head from penetrating the ice puck and damaging surrounding normal tissue.

[0144] Through the synergistic control of the above three aspects, the present invention achieves directional and precise biopsy while ensuring cutting safety, thereby improving the integrity of tissue specimens and the reliability of pathological diagnosis.

[0145] Step S5 further includes the following sub-steps: S5-1, set the suction negative pressure to -200cm water column, this negative pressure value is more than twice the highest negative pressure in the chest cavity to prevent outside air from being inhaled; S5-2, After starting the suction, the distance between the ice puck boundary and the probe in step S3 is collected in real time. When the distance is greater than 5mm, the initial negative pressure is maintained. When the distance is less than 2mm, the suction negative pressure is reduced by 10kPa to avoid adsorbing the ice puck boundary. S5-3, Based on the negative pressure fluctuation amplitude of the tunnel in step S2, adjust the suction negative pressure value proportionally. For every 1 kPa increase in the tunnel negative pressure fluctuation, the suction negative pressure value decreases by 5 kPa. S5-4 During the aspiration process, the specimen flow rate is monitored by an optical sensor in the aspiration tubing. If the specimen flow rate is lower than the preset lower limit for 2 consecutive seconds, the directional cutting instrument or electric cutter in step S4 is automatically triggered to perform a reciprocating motion to break up the blocked specimen fragments, and then aspiration is resumed.

[0146] It should be noted that the aspiration negative pressure refers to the constant negative pressure value maintained by the in-situ negative pressure specimen sampling module during the aspiration process, which is -200 cmH2O (approximately -19.6 kPa). This value is based on the fact that the highest negative pressure range within the thoracic cavity is -60 to -200 cmH2O. To prevent outside air from being inhaled into the pulmonary vessels, the continuous high negative pressure in the sealed environment must be greater than twice the highest negative pressure in the thoracic cavity; therefore, -200 cmH2O is used. This provides stable and safe suction force in step S5, ensuring successful extraction of tissue specimens and avoiding the risk of air embolism.

[0147] The distance between the ice puck boundary and the probe refers to the minimum spatial distance between the ice puck boundary and the outer wall of the freezing probe or suction probe, as measured by real-time imaging. It is used to determine whether the suction negative pressure will cause the ice puck to be adsorbed.

[0148] Reducing the suction negative pressure by 10 kPa means that when the distance between the ice puck boundary and the probe is less than 2 mm, the computer main control module will reduce the current suction negative pressure value by 10 kPa to reduce the adhesion force on the ice puck boundary.

[0149] The tunnel negative pressure fluctuation amplitude refers to the range of change of the negative pressure value of the negative pressure sealed artificial tunnel established in step S2 within a unit of time, which is monitored and calculated in real time by pressure sensors.

[0150] Proportional adjustment of suction negative pressure value means adjusting the suction negative pressure value according to a fixed proportional coefficient based on the magnitude of the tunnel negative pressure fluctuation. For every 1 kPa increase in tunnel negative pressure fluctuation, the suction negative pressure value decreases by 5 kPa.

[0151] An optical sensor is a photoelectric detection device installed in a suction line that uses the degree to which light is blocked by the specimen as it passes through the line to detect the specimen flow rate.

[0152] Specimen flow rate refers to the volume or mass of tissue specimen passing through the aspiration tubing per unit time, calculated by an optical sensor based on the frequency and amplitude of light obstruction.

[0153] The preset lower limit refers to the minimum allowable value of the specimen flow rate during aspiration, corresponding to an optical sensor pulse frequency of 15 pulses / second (approximately 0.1 g / s). This value is obtained through calibration using the aspiration tubing diameter (3 mm) and normal aspiration flow rate. When the flow rate is lower than this value, it indicates that the aspiration tubing may be blocked. It is used in step S5-4 to determine whether the reciprocating motion of the directional cutting instrument is triggered. If the specimen flow rate is lower than the preset lower limit for 2 consecutive seconds, the blockage will be automatically cleared.

[0154] Reciprocating motion refers to the back-and-forth movement of a directional cutting instrument or electric cutter in the axial direction, first advancing a certain distance and then retreating back to its original position. It is used to break up specimen fragments that are blocking the inlet of the suction line.

[0155] The solution proposed in this application overcomes the shortcomings of traditional suction processes, such as negative pressure mismatch, easy air embolism, tissue damage, and inability to automatically handle blockages, by establishing a constant high negative pressure suction and multiple adaptive adjustment mechanisms.

[0156] First, the suction negative pressure is set to a constant -200 cmH2O (approximately -19.6 kPa). This value is determined based on the physiological characteristics of the human thoracic cavity: the highest negative pressure within the thoracic cavity can reach -200 cmH2O. To prevent outside air from being inhaled into the pulmonary vessels through the puncture needle tract and causing fatal air embolism, this invention sets the suction negative pressure to a value equivalent to or even slightly higher than the highest negative pressure in the thoracic cavity. This ensures that the pressure inside the tunnel remains lower than the thoracic cavity pressure throughout the entire suction process, thereby preventing air backflow. Unlike traditional methods that change the negative pressure according to different hockey puck types, this invention uses a constant high negative pressure combined with adaptive adjustment of distance and fluctuations. This ensures suction efficiency while avoiding the control complexity and potential risks caused by frequent switching of negative pressure.

[0157] Secondly, the distance between the puck's edge and the probe is monitored in real time during the suction process. When the probe gets too close to the puck's edge (less than 2mm), excessive negative pressure may pull the puck towards it, causing it to break or damaging normal tissue. In this case, the system automatically reduces the suction negative pressure by 10kPa to reduce the suction force, and then restores the original value once the distance returns to a safe range. This distance-based safety protection mechanism effectively avoids the risk of the puck being sucked up and broken while maintaining the overall advantage of high negative pressure.

[0158] Secondly, the suction negative pressure is dynamically adjusted proportionally based on the amplitude of tunnel negative pressure fluctuations. Tunnel negative pressure fluctuations reflect the stability of the overall sealed space. When fluctuations increase (e.g., due to a patient's cough or changes in breathing), the system linearly reduces the suction negative pressure by 5 kPa for every 1 kPa increase in fluctuation, thus mitigating the disturbance to tunnel stability caused by suction. The pressure is then gradually restored after the fluctuations subside. This proportional control ensures that the suction negative pressure matches the tunnel condition in real time, preventing tunnel seal failure due to suction interference.

[0159] Finally, the specimen flow rate is continuously monitored using an optical sensor. When the flow rate remains below a preset lower limit for two consecutive seconds, it is determined that the aspiration tubing inlet is blocked by a large specimen fragment. The system automatically triggers a directional cutting instrument or electric cutter to perform a short-stroke reciprocating motion (e.g., advancing 2 mm and then retracting), using the axial movement of the blade to break up the blockage, and then aspiration resumes. This adaptive unblocking mechanism significantly improves the robustness of aspiration and avoids interruptions or manual intervention due to blockage.

[0160] In summary, this step ensures the safety of preventing air embolism through constant high negative pressure, balances suction efficiency and tissue protection through dual adaptive adjustment of distance and fluctuation, and ensures the continuity of suction through an automatic unblocking mechanism, thus forming a safe, efficient, and intelligent suction control closed loop.

[0161] Step S6 further includes the following sub-steps: S6-1, When CT images show that the ice puck is in the form of a half-eggshell and the ice puck has wrapped the lesion, the location of the lesion in the ice puck is determined by local assessment through confocal imaging technology, and the cryoprobe is controlled to be rewarmed to the temperature at which it can enter and exit the coaxial closed negative pressure sheath, so that the resistance when the cryoprobe is withdrawn is lower than the first preset resistance threshold. S6-2, During the biopsy, when fresh whole blood is aspirated under negative pressure, the biopsy is considered to be over, aspiration is stopped, and the corresponding freezing mode is selected according to the type of ice ball formed in step S3. The ice ball is then re-frozen until the CT image shows that the ice ball has an eggshell-like appearance. S6-3, Repeat steps S6-1 to S6-2 until the pathological diagnosis is completed; S6-4 After the last biopsy is completed, the frozen probe is controlled to be rewarmed until the resistance of its entry and exit from the coaxial closed negative pressure sheath reaches the second preset resistance threshold. The second preset resistance threshold is greater than the first preset resistance threshold, and the probe is withdrawn from the body along with the sheath. The needle path is closed by the thermal cooling and cold return effect, and hemostasis is achieved by physical compression with an ice ball. S6-5, after verifying the closure of the needle tract and the absence of active bleeding through the imaging module, controls the robot's motion execution module to withdraw all instruments along a preset path and automatically releases medical adhesive to seal the puncture point on the body surface.

[0162] It should be noted that staged rewarming refers to using different rewarming strategies according to different stages of the biopsy process: before the biopsy, rapid rewarming is performed until the cryoprobe can easily enter and exit the coaxial closed negative pressure sheath to keep the tunnel inside the ice puck open; during the biopsy, repeated biopsy-freezing cycles are performed based on CT imaging and aspiration results; after the biopsy, rewarming is performed until there is preset resistance when the cryoprobe is withdrawn, and it is withdrawn together with the sheath, using the thermal cooling and cold return effect to close the needle path.

[0163] Pre-biopsy rewarming refers to the process of rapidly rewarming the cryopreservation probe to a temperature at which it can easily enter and exit the coaxial closed negative pressure sheath when the CT image shows that the cryopreservation probe has a semi-eggshell appearance and has firmly wrapped the lesion. This ensures that the resistance when the cryopreservation probe is withdrawn is lower than the first preset resistance threshold, so as to keep the tunnel inside the cryopreservation probe open and facilitate the entry of biopsy instruments.

[0164] The "half-eggshell appearance" refers to the appearance of a puck in CT images that appears as a crescent or shell-like shape enveloping the lesion, indicating that the puck has firmly encased the lesion and is suitable for biopsy.

[0165] Fresh whole blood refers to blood that flows naturally from capillaries or small blood vessels without clotting, appearing as a high-density shadow on CT images. When fresh whole blood is aspirated using negative pressure, it indicates that the biopsy has penetrated the blood vessels within the lesion. At this point, the extracted specimen contains sufficient tissue and can be used as a basis for determining the end of this biopsy.

[0166] Eggshell-like appearance refers to the appearance of an eggshell-like or spherical low-density area on CT images when the ice ball is re-frozen after a biopsy. This indicates that the ice ball has re-stabilized and encapsulated the biopsy site, and rewarming and biopsy can be performed again.

[0167] The thermal shrinkage and cold return effect refers to the thermal expansion and contraction of the tissue surrounding the needle tract due to the temperature difference when the cryoprobe is rapidly rewarmed and withdrawn. This causes the tissue to shrink back and close, while the residual freezing effect of the ice ball provides physical compression for hemostasis. After the biopsy, the cryoprobe is rewarmed until there is some resistance when entering and exiting the sheath, and then withdrawn along with the sheath. This effect is used to achieve needle tract closure and hemostasis.

[0168] The first preset resistance threshold refers to the upper limit of resistance at which the cryopreservation probe can be easily withdrawn before biopsy. This threshold is obtained by performing an ex vivo test using the same type of cryopreservation probe and a coaxial closed negative pressure sheath before the procedure. The cryopreservation probe is withdrawn at a constant speed of 0.5 mm / s, and the peak resistance during withdrawal is recorded. This test is repeated 10 times, and the average value is multiplied by a safety factor of 0.6 to obtain the first preset resistance threshold, for example, 5 Newtons. This threshold is used as follows: during the pre-biopsy rewarming process, the resistance to withdrawal of the cryopreservation probe is monitored in real time. When the resistance is lower than this threshold, it is determined that the tunnel inside the ice puck is well-opened and suitable for biopsy instrument entry; at this point, the cryopreservation probe is withdrawn.

[0169] The second preset resistance threshold refers to the lower limit of resistance when the cryoprobe and sheath are withdrawn together after the biopsy. This threshold is greater than the first preset resistance threshold. The threshold is obtained by performing a simulated biopsy experiment on isolated porcine lung tissue. The cryoprobe is withdrawn at a uniform speed of 0.5 mm / s, and the withdrawal resistance when the needle tract is completely closed is recorded. This test is repeated 10 times, and the average value is multiplied by a safety factor of 1.2 to obtain the second preset resistance threshold, for example, 15 Newtons. The threshold is used as follows: After the final biopsy, the cryoprobe is rewarmed, and the withdrawal resistance is monitored in real time. When the resistance reaches this threshold, it is determined that the needle tract has met the conditions for thermal thawing and cold return closure. At this point, the cryoprobe and sheath are withdrawn together, and the needle tract is closed using the thermal thawing and cold return effect. Hemostasis is achieved through physical compression using the residual freezing effect of the ice ball.

[0170] The biopsy-cryocycle refers to the process of stopping aspiration and refreezing the blood after a biopsy until it reaches an eggshell-like appearance, followed by another thaw and biopsy. This cycle can be repeated multiple times until a pathological diagnosis is made.

[0171] Repeated biopsies refer to obtaining sufficient tissue specimens through multiple biopsy-freezing cycles until the on-site pathological diagnosis is confirmed before stopping the procedure.

[0172] Biopsy instruments are specialized instruments used for biopsies inside ice hockey pucks, including directional cutting instruments and edge-shaped multi-angle cutting instruments. Directional cutting instruments are used to cut tissue strips according to the lesion location determined by confocal imaging technology; edge-shaped multi-angle cutting instruments are used to assist in cutting or supplementary sampling.

[0173] The proposed solution overcomes the limitations of traditional rewarming methods, which involve a single rewarming to 37°C and cannot support repeated biopsies, by introducing a phased rewarming strategy, a repeated biopsy-freezing cycle mechanism, fresh whole blood as the indicator for the end of the biopsy, and the hemostasis principle of heat reduction and cold return effect.

[0174] Specifically, firstly, rewarming is performed in stages according to the biopsy process. The first stage is pre-biopsy rewarming: when the CT image shows the ice ball resembling a half-eggshell and has firmly encased the lesion, the cryoprobe is rapidly rewarmed, and the resistance to its entry and exit from the coaxial closed negative pressure sheath is measured. When the resistance is lower than the first preset resistance threshold, the tunnel opening condition is deemed met, and the cryoprobe is withdrawn, keeping the tunnel inside the ice ball open to facilitate the entry of biopsy instruments. The second stage is intra-biopsy rewarming: during the biopsy process, repeated biopsy-freezing cycles are performed based on the CT image and aspiration results. The third stage is post-biopsy rewarming: after the last biopsy, the cryoprobe is rewarmed. When the resistance to entering and exiting the sheath reaches the second preset resistance threshold (greater than the first preset resistance threshold), it is withdrawn from the body along with the sheath. The needle tract is closed by the thermal cooling and cold return effect, and hemostasis is achieved by physical compression using the residual freezing effect of the ice ball.

[0175] Secondly, a repeated biopsy-freeze cycle mechanism was established. During the biopsy, the in-situ negative pressure specimen sampling module aspirated under high negative pressure. When the optical sensor in the aspiration tubing detected fresh whole blood, the biopsy was considered complete, and aspiration was immediately stopped. Subsequently, the corresponding freezing mode was selected based on the type of ice ball formed, and the freezing probe was controlled to re-enter the tunnel for refreezing. CT images were monitored in real time. When the images showed that the ice ball had an eggshell-like appearance or a spherical low-density appearance, pre-biopsy rewarming was performed again, and the biopsy operation was repeated. At the same time, confocal imaging technology could be used to confirm whether the lesion was completely removed. If there were still remnants, the biopsy-freeze cycle was continued. The above biopsy-freeze cycle was repeated multiple times until the aspirated specimen was confirmed by on-site pathology for a definitive diagnosis.

[0176] Secondly, the needle tract closure and hemostasis are achieved by utilizing the thermal shrinkage and cooling retraction effect. During rewarming after the biopsy, when the resistance of the cryoprobe entering and exiting the sheath reaches the second preset resistance threshold, the cryoprobe and sheath are withdrawn from the body together. When the needle is withdrawn after rapid rewarming, the tissue around the needle tract expands and contracts due to the temperature difference, causing the tissue to retract and close. At the same time, the residual freezing effect of the ice ball physically compresses the blood vessels, achieving needle tract hemostasis.

[0177] Finally, after verifying needle tract closure and absence of active bleeding via the imaging module, the robot's motion execution module withdraws all instruments along a preset path and automatically releases medical adhesive to seal the puncture site on the body surface. Imaging verification ensures no residual lesions or bleeding, while the medical adhesive sealing enables rapid healing of the puncture site and prevents infection. Simultaneously, it regulates local microenvironment parameters to suppress recurrence and preserve organ function in the lesion area.

[0178] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A surgical robot for LCEC technology, characterized in that, include: The image navigation and registration module is used to acquire preoperative or intraoperative image data, complete the three-dimensional reconstruction and spatial coordinate registration of the lesion area, and plan the preset path of the robot puncture actuator. The robot motion execution module is used to receive motion commands from the computer main control system and drive the puncture execution mechanism to enter the preset target area of ​​the human body through percutaneous, flexible endoscopy, tissue endoscopy, thoracoscopy, laparoscopy, or vascular interventional routes along a preset path. The closed negative pressure tunnel construction module is used to create a negative pressure closed artificial tunnel in the target area to isolate external air, blood seepage and infection sources; The three-mode cryo-intelligent temperature control module is used to adjust the output power and duration of the cryoprobe according to the preset timing sequence, forming cryogenic necrosis ice balls, cryogenic ablation ice balls, or reversible hibernation ice balls in the target cells. The ice hockey puck lesion resection module is used to cut complete tissue strips sequentially in a preset direction within the confined space of the ice hockey puck, and simultaneously collect the lesion tissue fluid that overflows during the cutting process; The in-situ negative pressure specimen sampling module is used to adjust the aspiration pressure parameters and extract tissue specimens in situ after excision. The rewarming steady-state repair module is used to perform staged rewarming according to the biopsy process after the specimen is extracted, and to regulate local microenvironment parameters to suppress recurrence in the lesion area and preserve organ function. The computer main control module is connected to the signals of each of the above modules and is configured to execute the control method for the surgical robot oriented to LCEC technology as described in claim 4.

2. The surgical robot for LCEC technology according to claim 1, characterized in that: The image navigation registration module includes an image acquisition submodule, a positioning submodule, and a 3D reconstruction and path planning submodule. The robot motion execution module includes a bionic dexterous hand, which has bionic fingers and a wrist, and integrates force sensors, tactile sensors and puncture actuators to sense puncture resistance, tissue hardness, hockey puck boundaries and resistance changes during the biopsy process in real time. The sealed negative pressure tunnel construction module includes a negative pressure pump, a sealed sheath, and a pressure sensor.

3. The surgical robot for LCEC technology according to claim 1, characterized in that: The three-mode freezing intelligent temperature control module includes a freezing probe and a timing controller. The tip of the freezing probe is integrated with a temperature sensor for monitoring the internal temperature of the ice puck. The ice hockey puck lesion resection module includes a directional cutting instrument and an electrosurgical cutter; The in-situ negative pressure specimen sampling module includes a vacuum pump and a specimen collection container; The rewarming steady-state repair module includes a heating controller and a drug injection channel.

4. A control method for a surgical robot based on LCEC technology, characterized in that, Includes the following steps: Step S1: The computer main control module controls the image navigation and registration module to acquire preoperative image data, plan a preset path, and control the robot motion execution module to enter the preset target area of ​​the human body through percutaneous, flexible endoscopy, tissue endoscopy, thoracoscopy, laparoscopy, or vascular intervention. Step S2: The computer main control module controls the sealed negative pressure tunnel construction module to build a negative pressure sealed artificial tunnel in the target area, and evaluates its sealing performance and stability during the tunnel formation process. Step S3: The computer main control module controls the three-mode cryo-intelligent temperature control module to adjust the output power and duration of the cryoprobe according to the preset timing sequence, so as to form cryogenic necrosis ice balls, cryogenic ablation ice balls, or reversible hibernation ice balls in the target cells. Step S4: The computer main control module controls the lesion resection module inside the ice puck. Within the confined space of the closed ice puck, complete tissue strips are cut according to the lesion location determined by confocal imaging technology, and the lesion tissue fluid that overflows during the cutting process is collected. Step S5: The computer main control module controls the in-situ negative pressure specimen sampling module, adjusts the aspiration pressure parameters, and extracts the excised tissue specimen in situ. In step S6, the computer main control module controls the rewarming steady-state repair module to perform staged rewarming according to the biopsy process and adjust the local microenvironment parameters to achieve recurrence suppression and organ function preservation in the lesion area.

5. The control method for a surgical robot based on LCEC technology according to claim 4, characterized in that: Step S1 further includes the following sub-steps: S1-1: Based on the acquired preoperative image data, the lesion is automatically segmented and its three-dimensional coordinates and spatial distance from surrounding blood vessels and organs are calculated. An interference-free path from the puncture point on the body surface to the center of the lesion is initially planned. The distance between each interpolation point of this path and the blood vessels and organs is greater than the preset safe distance. S1-2, using confocal imaging technology to perform local laser scanning imaging of the lesion area, obtain the true boundary, infiltration depth and puncture direction of the lesion, and correct the preliminary planned path; S1-3, calculate the angle between the direction of the modified preliminary planning path at the center point of the lesion and the direction of the long axis of the lesion. If the angle is greater than or equal to 15 degrees, adjust the entry point or direction of the preliminary planning path so that the angle of the final path is less than 15 degrees. S1-4 aligns the final path to the patient space. During the puncture, the distance between the distal end and the center of the lesion is calculated in real time. When the distance is less than 5 mm, the needle insertion speed is automatically reduced by 50%, and the distal end position is fed back in real time. When the distal end positioning deviation exceeds 0.3 mm, it is automatically corrected.

6. The control method for a surgical robot based on LCEC technology according to claim 4, characterized in that: Step S2 further includes the following sub-steps: S2-1 controls the negative pressure pump to generate negative pressure in a step-by-step manner. The initial negative pressure is -5kPa to -10kPa, and it decreases by 5kPa every 0.5 seconds until the preset target negative pressure value is reached. It also forms an isolated artificial tunnel around the needle channel through a sealed sheath tube. S2-2, during the negative pressure establishment process, the pressure change rate and oxygen concentration in the tunnel are monitored in real time by pressure sensor and gas composition sensor. If the pressure change rate exceeds the preset change threshold or the oxygen concentration is higher than the preset concentration threshold, the tunnel is judged to be poorly sealed, the pressurization rate is reduced and the sealing detection program is started. S2-3: When the negative pressure reaches the target value, the tunnel stability assessment is initiated. A pressure disturbance is applied, and the pressure recovery time is measured. If the recovery time exceeds 1 second, a leak is determined, and sealant is automatically injected through the drug injection channel for local sealing.

7. The control method for a surgical robot based on LCEC technology according to claim 4, characterized in that: In step S3, the specific methods for forming cryogenic necrosis ice balls, cryogenic ablation ice balls, or reversible hibernation ice balls within the target cells include: For frozen necrotic ice balls, the output power of the freezing probe is controlled to increase exponentially, so that the intracellular temperature drops to less than -40°C within 30 seconds and is maintained at that temperature for 4 minutes. For frozen and thawed ice balls, a step cooling curve is used to reduce the surface temperature of the freezing probe to less than -140°C within 15 seconds, and the expansion rate of the ice ball boundary is monitored in real time. If the expansion rate exceeds the preset expansion threshold, the cooling is automatically paused until the expansion rate drops below the preset expansion threshold before cooling continues. For frozen hibernating ice balls, an adaptive step cooling curve is adopted. The initial cooling rate is 8℃ / min. When the intracellular temperature drops to -20℃, the expansion rate of the ice ball boundary is detected in real time. If the expansion rate is greater than the preset target rate, the cooling rate is reduced. If the expansion rate is less than the preset target rate, the cooling rate is increased, so that the intracellular temperature gradually drops to -38℃ to -42℃ and is maintained at this temperature for 3 minutes before automatically stopping the cooling.

8. The control method for a surgical robot based on LCEC technology according to claim 4, characterized in that: Step S4 further includes the following sub-steps: S4-1, after the ice ball is formed, local laser scanning imaging of the lesion area is performed using confocal imaging technology to determine the cutting direction of the lesion; S4-2, based on whether the negative pressure value of the tunnel in step S2 reaches 90% of the target negative pressure value of the tunnel, the cutting is divided into a waiting stage and an execution stage. When the negative pressure value is below 90%, it is the waiting stage, the cutting equipment remains stationary, and only negative pressure suction is turned on to remove seepage in the needle channel. When the negative pressure value reaches above 90%, it is the execution stage, and directional cutting is started. S4-3, During the execution phase, according to the lesion location determined by confocal imaging technology, a tissue strip is cut at that location and its adjacent locations respectively; S4-4 During the cutting process, the distance between the cutting instrument tip and the ice hockey puck boundary is monitored in real time through imaging and confocal imaging. When the distance is less than 0.5 mm, the cutting head is controlled to rotate in the opposite direction by a fixed angle according to the direction of the ice hockey puck boundary expansion velocity vector most recently recorded in step S3, so that the cutting trajectory is shifted away from the boundary. S4-5, while cutting, start negative pressure suction to collect the lesion tissue fluid that overflows during cutting.

9. The control method for a surgical robot based on LCEC technology according to claim 4, characterized in that: Step S5 further includes the following sub-steps: S5-1, set the suction negative pressure to -200cm water column, this negative pressure value is more than twice the highest negative pressure in the chest cavity to prevent outside air from being inhaled; S5-2, After starting the suction, the distance between the ice puck boundary and the probe in step S3 is collected in real time. When the distance is greater than 5mm, the initial negative pressure is maintained. When the distance is less than 2mm, the suction negative pressure is reduced by 10kPa to avoid adsorbing the ice puck boundary. S5-3, Based on the negative pressure fluctuation amplitude of the tunnel in step S2, adjust the suction negative pressure value proportionally. For every 1 kPa increase in the tunnel negative pressure fluctuation, the suction negative pressure value decreases by 5 kPa. S5-4 During the aspiration process, the specimen flow rate is monitored by an optical sensor in the aspiration tubing. If the specimen flow rate is lower than the preset lower limit for 2 consecutive seconds, the directional cutting instrument or electric cutter in step S4 is automatically triggered to perform a reciprocating motion to break up the blocked specimen fragments, and then aspiration is resumed.

10. The control method for a surgical robot based on LCEC technology according to claim 4, characterized in that: Step S6 further includes the following sub-steps: S6-1, When CT images show that the ice puck is in the form of a half-eggshell and the ice puck has wrapped the lesion, the location of the lesion in the ice puck is determined by local assessment through confocal imaging technology, and the cryoprobe is controlled to be rewarmed to the temperature at which it can enter and exit the coaxial closed negative pressure sheath, so that the resistance when the cryoprobe is withdrawn is lower than the first preset resistance threshold. S6-2, During the biopsy, when fresh whole blood is aspirated under negative pressure, the biopsy is considered to be over, aspiration is stopped, and the corresponding freezing mode is selected according to the type of ice ball formed in step S3. The ice ball is then re-frozen until the CT image shows that the ice ball has an eggshell-like appearance. S6-3, Repeat steps S6-1 to S6-2 until the pathological diagnosis is completed; S6-4 After the last biopsy is completed, the frozen probe is controlled to be rewarmed until the resistance of its entry and exit from the coaxial closed negative pressure sheath reaches the second preset resistance threshold. The second preset resistance threshold is greater than the first preset resistance threshold, and the probe is withdrawn from the body along with the sheath. The needle path is closed by the thermal cooling and cold return effect, and hemostasis is achieved by physical compression with an ice ball. S6-5, after verifying the closure of the needle tract and the absence of active bleeding through the imaging module, controls the robot's motion execution module to withdraw all instruments along a preset path and automatically releases medical adhesive to seal the puncture point on the body surface.

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