Medical stents and methods of using the same

Abstract

The application provides a medical support and a use method thereof. The medical support comprises a base, a first connector, a flexible mechanical arm and a program control unit; the base is used for supporting and fixing a to-be-detected object; the first connector is arranged on the base; the flexible mechanical arm comprises a second connector; the second connector is detachably connected with the first connector, so that the flexible mechanical arm is mechanically connected with the base, and the flexible mechanical arm is electrically connected with the program control unit; the program control unit is arranged on the base and is electrically connected with the first connector and the second connector through the first connector and the second connector; and the program control unit is used for controlling the movement of the flexible mechanical arm, so as to adjust the position and / or posture of an optical fiber execution part on the flexible mechanical arm. The embodiment of the application can adapt to a multi-angle laser ablation operation approach of a to-be-detected object such as a head.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and more specifically, to a medical stent and its method of use. Background Technology

[0002] Currently, in surgical procedures such as laser ablation (e.g., neurosurgery), it is usually necessary to use support components to support fiber optic actuators (e.g., fiber optic catheters). The fiber optic catheters are used to transmit laser energy to ablate lesions in deep intracranial lesions and other lesion tissues.

[0003] The supporting components in related technologies are usually rigid structures that cannot be flexibly bent, making it difficult to adapt to the multi-angle laser ablation surgical approach for patients' heads waiting to be examined. Summary of the Invention

[0004] This application addresses the shortcomings of existing methods by proposing a medical stent and its usage method to solve the technical problem of difficulty in adapting to multi-angle laser ablation surgical approaches for objects to be examined in the head.

[0005] In a first aspect, embodiments of this application provide a medical stent, comprising: The base is used to support and secure the object to be tested. A first connector is disposed on the base; A flexible robotic arm includes a second connector, which is detachably connected to the first connector to enable the flexible robotic arm to form a mechanical connection with the base and an electrical connection with the programmable control unit. A programmable control unit, located on the base, is electrically connected to the second connector via the first connector; it is used to control the movement of the flexible robotic arm to adjust the position and / or attitude of the fiber optic actuators on the flexible robotic arm.

[0006] Alternatively, the medical stent may also include: A zero-point calibration pin is provided on the base; The flexible robotic arm includes a pin hole for fitting the zero-point calibration pin, so that the coordinates of the current position of the flexible robotic arm are used as reference coordinates. The programmable control unit is used to control the movement of the flexible robotic arm based on the reference coordinates.

[0007] Optionally, the flexible robotic arm includes: Clamping mechanism, used to clamp fiber optic actuators; A resistance sensing unit is disposed on the clamping surface of the clamping mechanism, used to detect the axial tension force on the clamping mechanism, obtain axial tension force data and feed it back to the programmable control unit; The programmable control unit is also used to adjust the clamping force of the clamping mechanism in real time based on the axial tensile force data.

[0008] Optionally, the flexible robotic arm includes: a plurality of joint segments connected in sequence, each joint segment being provided with a drive unit and an angle sensor; The drive unit is used to drive the corresponding joint segment to rotate according to the control instructions of the programmable control unit; The angle sensor is used to detect the rotation angle of the corresponding joint segment in real time and feed it back to the programmable control unit.

[0009] Optionally, the programmable control unit is used for: Receive target coordinates from the image workstation; Kinematic calculations are performed on the target point coordinates to generate the target angles of each joint segment of the flexible robotic arm; Based on the target angle, the drive units of each joint segment are controlled to move, so that the fiber optic actuator moves to the spatial position corresponding to the target point coordinates.

[0010] Optionally, the programmable control unit is further configured to: When a fault condition is detected in the flexible robotic arm, the joints of the flexible robotic arm are locked, and a fault prompt message is output.

[0011] Optionally, each of the joint segments is provided with a corresponding locking mechanism; The programmable control unit is also used to control the locking mechanism corresponding to each joint segment to lock after power failure.

[0012] Optionally, the program control unit includes a temporary buffer for storing temporary data issued by the image workstation, the temporary data including at least one of image registration parameters and target coordinates; The programmable unit is also used to clear the temporary data stored in this operation after the operation is completed.

[0013] Alternatively, the medical stent may also include: A display screen, mounted on the base and electrically connected to the programmable control unit, is used to display at least one of the ablation time, position coordinates, and operating status information of the fiber optic actuator.

[0014] Optionally, the second connector includes a resilient snap, and the first connector includes a slot that engages with the resilient snap; The elastic buckle automatically engages with the slot after the flexible robotic arm is installed in place, thereby locking the flexible robotic arm to the base.

[0015] Optionally, the second connector further includes a button connected to the resilient latch so that when the button is pressed, the resilient latch disengages from the slot.

[0016] Optionally, the first connector includes an aviation plug female, disposed on the side facade of the base; The second connector includes an aviation plug male.

[0017] Secondly, embodiments of this application provide a method for using a medical stent, including: The second connector is detachably connected to the first connector to form a mechanical connection between the flexible robotic arm and the base, and an electrical connection between the flexible robotic arm and the programmable control unit; the medical stent includes the base, the first connector, the flexible robotic arm, and the programmable control unit, the base being used to support and fix the object to be tested; the first connector is disposed on the base; the flexible robotic arm includes the second connector; the programmable control unit is disposed on the base and electrically connected to the second connector via the first connector; The programmable control unit controls the movement of the flexible robotic arm to adjust the position and / or attitude of the fiber optic actuator fixed on the flexible robotic arm.

[0018] Alternatively, the use of medical stents may also include: The programmable control unit records the coordinates of the current position of the flexible robotic arm as the reference coordinates when the pin hole of the flexible robotic arm is fitted into the zero-point calibration pin. The medical stent also includes the zero-point calibration pin, which is disposed on the base; the flexible robotic arm includes the pin hole.

[0019] Alternatively, the use of medical stents may also include: The resistance sensing unit detects the axial tension force on the gripping mechanism of the flexible robotic arm, obtains the axial tension force data, and feeds it back to the programmable control unit. The programmable control unit adjusts the clamping force of the clamping mechanism in real time based on the axial tensile force data; The flexible robotic arm includes the clamping mechanism and the resistance sensing unit. The clamping mechanism is used to clamp the optical fiber actuator; the resistance sensing unit is disposed on the clamping surface of the clamping mechanism.

[0020] Alternatively, the use of medical stents may also include: The drive unit drives the corresponding joint segment to rotate according to the control instructions of the programmable control unit; An angle sensor detects the rotation angle of the corresponding joint segment in real time and feeds it back to the programmable control unit; The flexible robotic arm includes multiple joint segments connected in sequence, and each joint segment is equipped with the drive unit and the angle sensor.

[0021] Optionally, the programmable control unit controls the movement of the flexible robotic arm, including: The programmable control unit receives the target coordinates from the image workstation; performs kinematic calculations on the target coordinates to generate target angles for each joint segment of the flexible robotic arm; and controls the drive unit of each joint segment to move according to the target angles, so that the fiber optic actuator moves to the spatial position corresponding to the target coordinates.

[0022] Alternatively, the use of medical stents may also include: When the programmable control unit detects a fault in the flexible robotic arm, it controls each joint segment of the flexible robotic arm to lock and outputs a fault prompt message.

[0023] Alternatively, the use of medical stents may also include: After power failure, the programmable control unit controls the locking mechanism corresponding to each joint segment to lock. Each of the joint segments is provided with a corresponding locking mechanism.

[0024] Alternatively, the use of medical stents may also include: The temporary buffer stores temporary data issued by the image workstation, which includes at least one of image registration parameters and target coordinates; the program control unit also includes the temporary buffer. The programmable unit clears the temporary data stored in the current operation after the operation is completed.

[0025] Alternatively, the use of medical stents may also include: The display screen shows at least one of the following: ablation time, position coordinates, and operating status information of the fiber optic actuator; The programmable control unit also includes the display screen, which is mounted on the base and electrically connected to the programmable control unit.

[0026] The beneficial technical effects of the technical solutions provided in this application include: In this embodiment, a flexible robotic arm and a programmable control unit are set on the base. The flexible robotic arm can be bent at multiple angles, and the programmable control unit can control the movement of the flexible robotic arm. This allows for precise adjustment of the position and orientation of the fiber optic actuators on the flexible robotic arm, enabling accurate positioning of the ablation target. It can also adapt to multi-angle laser ablation surgical approaches for objects to be detected on the head, thereby improving the surgical coverage.

[0027] Furthermore, by setting a first connector on the base and a second connector that matches the first connector on the flexible robotic arm, the flexible robotic arm can be quickly and reliably installed on the base, achieving integrated mechanical and electrical connection. This simplifies the surgical preparation process and improves the integration and ease of operation of the medical stent. Simultaneously, the flexible robotic arm and base form a detachable connection, facilitating rapid disassembly, assembly, disinfection, and maintenance before and after surgery, further enhancing the flexibility and hygiene safety of the medical stent.

[0028] Additional aspects and advantages of this application will be set forth in part in the description which follows, and will become apparent from the description or may be learned by practice of this application. Attached Figure Description

[0029] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein: Figure 1 This is a three-dimensional structural diagram of a medical stent from one perspective, provided as an embodiment of the present application. Figure 2 This is a three-dimensional structural diagram of a medical stent from another perspective, provided as an embodiment of this application. Figure 3 A three-dimensional structural diagram of a flexible robotic arm in a medical stent provided for an embodiment of this application; Figure 4 A three-dimensional structural schematic diagram of a clamping mechanism for a flexible robotic arm in a medical stent, provided for an embodiment of this application; Figure 5 A three-dimensional structural schematic diagram of the second connector of a flexible robotic arm in a medical stent, provided for an embodiment of this application; Figure 6 A schematic flowchart illustrating a method of using a medical stent provided in an embodiment of this application; Figure 7 This is a flowchart illustrating another method of using the medical stent provided in this application embodiment.

[0030] Figure label: 1-Base; 11-Headrest area; 12-Supporting area; 2-First positioning component; 21-Fixed component; 211-First through slot; 22-Modible component; 23-Non-metallic screw; 3-Second positioning component; 31-Adjusting component; 311-Positioning bolt; 312-Adjusting sleeve; 32-Support plate; 33-Flexible padding layer; 4- Flexible robotic arm; 41-Second connector; 411-Resilient snap-fit; 412-Button; 42-Pin hole; 43-Clamping mechanism; 6-Programmable control unit; 7-Zero point calibration pin; 8-Display screen; a - First direction; b - Second direction. Detailed Implementation

[0031] The embodiments of this application are described below with reference to the accompanying drawings. It should be understood that the embodiments described below with reference to the accompanying drawings are exemplary descriptions for explaining the technical solutions of the embodiments of this application, and do not constitute a limitation on the technical solutions of the embodiments of this application.

[0032] Those skilled in the art will understand that, unless specifically stated otherwise, the terms "described" and "the" as used herein may also include plural forms. It should be further understood that the term "comprising" as used in the specification of this application means the presence of the described features, elements, and / or components, but does not exclude other features, information, data, steps, operations, elements, components, and / or combinations thereof supported by the art. The term "and / or" as used herein refers to at least one of the items defined by the term; for example, "A and / or B" can be implemented as "A," or as "B," or as "A and B."

[0033] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0034] In magnetic resonance-guided laser ablation surgery, leveraging the real-time temperature measurement capabilities of MRI, deep brain lesions can be ablated through tiny openings in the skull. This technique is widely used for minimally invasive treatment of deep brain tumors, drug-resistant epilepsy, and other brain diseases. This technology involves no ionizing radiation and is less invasive and allows for faster recovery compared to traditional methods such as craniotomy and radiotherapy. It has now become an important minimally invasive intervention for deep intracranial lesions.

[0035] This surgery uses a head frame to fix the patient's head, but existing devices generally have the following shortcomings: 1. When using a head frame to fix the head, it obstructs the head significantly, resulting in a small surgical exposure area and making it inconvenient for doctors to operate.

[0036] 2. Lack of automation and safety in surgery: Most devices only have passive support and positioning functions. The insertion, ablation and withdrawal of fiber optic catheters rely entirely on manual operation. Manual hand tremors and loss of control of force can easily cause damage to intracranial tissues. A few automated devices use fixed stroke control and do not have a resistance monitoring module. When the catheter is blocked, forced withdrawal will pull on intracranial blood vessels and nerves, which poses a serious safety hazard.

[0037] 3. Surgical robotic arms are mostly rigid structures that can only perform translational and simple rotational movements. They lack the ability to bend into long, flexible shapes and cannot flexibly align with different surgical approaches such as the temporal region or deep lesions of the patient's head. They are also less capable of adapting to multi-angle minimally invasive ablation surgery of the brain.

[0038] 4. Existing integrated robotic arms have numerous joints and complex drive components, resulting in a large overall weight. When assembled on the head frame, they are prone to center of gravity shift, causing the head frame to slip during surgery, disrupting the calibrated positioning coordinates, and leading to poor surgical stability.

[0039] 5. The headframe and robotic arm use different reference coordinate systems, making disassembly, assembly, and positioning operations cumbersome.

[0040] The technical solution of this application and how it solves the above-mentioned technical problems are described in detail below with specific embodiments. It should be noted that the following embodiments can be referenced, borrowed, or combined with each other, and the same terms, similar features, and similar implementation steps in different embodiments will not be described again.

[0041] This application provides a medical stent, see [link to relevant documentation]. Figure 1 and Figure 2 The medical stent includes a base 1, a first connector, a flexible robotic arm 4, and a programmable control unit 6.

[0042] The base 1 is used to support and fix the object to be tested.

[0043] The first connector is located on the base 1.

[0044] The flexible robotic arm 4 includes a second connector 41, which is detachably connected to the first connector to form a mechanical connection between the flexible robotic arm 4 and the base 1, and to form an electrical connection between the flexible robotic arm 4 and the programmable control unit 6.

[0045] The programmable control unit 6 is located on the base 1 and is electrically connected to the second connector 41 via the first connector. The programmable control unit 6 is used to control the movement of the flexible robotic arm 4 to adjust the position and / or attitude of the fiber optic actuator on the flexible robotic arm 4.

[0046] In this embodiment, a flexible robotic arm 4 and a programmable control unit 6 are set on the base 1. The flexible robotic arm 4 can be bent at multiple angles, and the programmable control unit 6 can control the movement of the flexible robotic arm 4. This allows for precise adjustment of the position and orientation of the fiber optic actuators on the flexible robotic arm 4, enabling accurate positioning of the ablation target. It can also adapt to multi-angle laser ablation surgical approaches for objects to be detected on the head, thereby improving the surgical coverage.

[0047] Furthermore, by setting a first connector on the base 1 and a second connector 41 matching the first connector on the flexible robotic arm 4, the flexible robotic arm 4 can be quickly and reliably installed on the base 1, achieving integrated mechanical and electrical connection. This simplifies the surgical preparation process and improves the integration and ease of operation of the medical stent. In addition, the flexible robotic arm 4 and the base 1 form a detachable connection, facilitating rapid disassembly, assembly, disinfection, and maintenance before and after surgery. This overcomes the shortcomings of traditional integrated arms that cannot be disassembled for disinfection and replacement, further enhancing the flexibility and hygiene safety of the medical stent.

[0048] In some embodiments, the flexible robotic arm 4 adopts a flexible and bendable structure, which can achieve lightweight and multi-directional flexible bending, and the structure is slender and compact, which can fit the side of the base 1 and adapt to the narrow surgical space of the brain.

[0049] In some embodiments, the fiber optic actuator may include a fiber optic conduit for transmitting laser energy to ablate lesions.

[0050] In some embodiments, the object to be tested can be the patient's head. Of course, the object to be tested can also be other areas requiring laser ablation treatment, such as the neck, limbs, etc.

[0051] In some embodiments, the medical stent may further include a first positioning component and a second positioning component; the first positioning component is movably disposed on the base 1 in a second direction; the second positioning component is movably disposed on the first positioning component in a first direction, and the second positioning component is used to clamp or release the patient's head from both sides.

[0052] The second positioning component enables the fixation and release of the patient's head. Through the coordinated operation of the first and second positioning components, the positioning position can be flexibly adjusted according to the actual size of the patient's head, thereby achieving adaptive fixation for patients with different head circumferences and further improving the stability and comfort of the medical stent in fixing the patient's head.

[0053] See Figures 1 to 4 Optionally, in some embodiments, the medical stent further includes a zero-point calibration pin 7, which is disposed on the base 1.

[0054] The flexible robotic arm 4 includes a pin hole 42 for inserting a zero-point calibration pin 7 so that the coordinates of the current position of the flexible robotic arm 4 can be used as reference coordinates.

[0055] The programmable control unit 6 is used to control the movement of the flexible robotic arm 4 based on the reference coordinates.

[0056] By setting a zero-point calibration pin 7 on the base 1, when the flexible robotic arm 4 needs to be zero-point calibrated or recalibrated (e.g., instrument sterilization and reassembly, arm replacement, or slight loosening of the robotic arm due to intraoperative vibration), the pin hole 42 of the flexible robotic arm 4 is aligned with the zero-point calibration pin 7 on the base 1, forcing the flexible robotic arm 4 to move to a unique fixed reference position. The coordinates of this fixed reference position are the reference coordinates, which enable the flexible robotic arm 4 to move and measure precisely using these reference coordinates, thereby ensuring the positional accuracy of the fiber optic actuator during the operation.

[0057] Furthermore, it enables the coordinate system to be quickly reset after the flexible robotic arm 4 is disassembled and assembled, making the coordinates of the base 1 and the flexible robotic arm 4 coherent. This avoids the cumbersome problem of coordinate calibration between the base 1 and the flexible robotic arm 4, reduces the need for repeated preoperative calibration procedures, improves positioning accuracy, and simplifies the overall structure. This effectively reduces the production and maintenance costs of medical stents, making it more suitable for widespread clinical application.

[0058] See Figures 1 to 4 Optionally, in some embodiments, the flexible robotic arm 4 includes a gripping mechanism 43 and a resistance sensing unit (not shown).

[0059] The clamping mechanism 43 is used to clamp the optical fiber actuator.

[0060] The resistance sensing unit is located on the clamping surface of the clamping mechanism 43. The resistance sensing unit is used to detect the axial tension force on the clamping mechanism 43, obtain the axial tension force data, and feed it back to the program control unit 6.

[0061] The programmable control unit 6 is also used to adjust the clamping force of the clamping mechanism 43 in real time based on the axial tensile force data.

[0062] By setting a resistance sensing unit on the clamping mechanism 43, the resistance sensing unit detects the axial tension on the clamping mechanism 43, obtains the axial tension data, and feeds it back to the programmable control unit 6. The programmable control unit 6 adjusts the clamping force of the clamping mechanism 43 in real time according to the axial tension data, thereby realizing dynamic adaptive clamping of the optical fiber catheter, real-time compensation of axial torque, and counteracting target point displacement caused by brain tissue compression or respiratory movements. This improves the precision of the surgery and solves the problem of positional displacement or tissue damage of the optical fiber actuator due to hand tremors or loss of force control when manually operating the optical fiber actuator.

[0063] In some embodiments, the clamping mechanism 43 and the resistance sensing unit are integrated at the end of the flexible robotic arm 4. The clamping mechanism 43 relies on elastic preload to encircle the optical fiber actuator (e.g., optical fiber conduit) and utilizes the resistance sensing unit and the programmable unit 6 to make the clamping force of the clamping mechanism 43 adapt to the minute displacements during the optical fiber conduit surgery.

[0064] In some embodiments, the pin hole 42 is located at the clamping mechanism 43, which facilitates the rapid positioning of the end coordinates of the flexible robotic arm directly through the zero-point calibration pin 7 after the fiber optic actuator is assembled or replaced in the clamping mechanism 43.

[0065] Optionally, in some embodiments, the flexible robotic arm 4 includes: a plurality of joint segments connected in sequence, each joint segment being provided with a drive unit and an angle sensor.

[0066] The drive unit is used to drive the corresponding joint segment to rotate according to the control instructions of the programmable control unit 6.

[0067] Angle sensors are used to detect the rotation angle of the corresponding joint segment in real time and feed it back to the programmable control unit 6.

[0068] By setting drive units and angle sensors in multiple joint segments, independent drive and real-time angle monitoring of each joint segment can be achieved, thereby improving the motion accuracy and response speed of the flexible robotic arm 4. This allows the flexible robotic arm 4 to make fine adjustments based on real-time feedback during surgery, further reducing the risk of target deviation caused by motion errors of the flexible robotic arm 4.

[0069] Furthermore, by synchronously uploading the rotation angles of each joint segment to the programmable control unit 6, a complete kinematic feedback closed loop is formed, which can provide data support for subsequent precise path planning and real-time correction.

[0070] Optionally, in some embodiments, the programmable control unit 6 is used for: Receive target coordinates from the image workstation; Kinematic calculations are performed on the target coordinates to generate the target angles of each joint segment of the flexible robotic arm 4. Based on the target angle, the movement of the drive units of each joint segment is controlled so that the fiber optic actuator moves to the spatial position corresponding to the target coordinates.

[0071] By running a preset coordinate program through the programmable control unit 6, the flexible robotic arm 4 can be controlled to drive the fiber optic catheter to achieve fully automated operation of fiber optic catheter insertion, laser ablation, and closed-loop automatic retraction, which can improve the precision of surgery.

[0072] Specifically, the programmable control unit 6 directly receives the target coordinates sent by the image workstation and performs kinematic calculations, converting the spatial points into target angles for each joint segment (e.g., four joint axes). The calculated target angles are then sent to the drive units of each joint segment in real time. The drive units control the joint segments to rotate according to the target angles, thereby driving the flexible robotic arm 4 to move to the predetermined target position. This enables the automatic generation of the entire dynamic motion trajectory of the flexible robotic arm 4 supporting and positioning the fiber optic actuator, feeding and inserting the fiber optic actuator, laser ablation at a fixed point on the fiber optic actuator, retracting the fiber optic actuator at a specified distance, and pulling out the fiber optic actuator.

[0073] Each time the target point is different, the trajectory is recalculated in real time without fixed program constraints. The programmable control unit 6 is also used to: control the joints of the flexible robotic arm 4 to move the fiber optic actuator precisely to the preset external reference point for brain puncture after receiving the single target point start command.

[0074] During this process, the angle sensor continuously monitors the actual rotation angle of each joint segment and feeds the actual angle back to the programmable control unit 6. The programmable control unit 6 compares the actual angle with the target angle. If there is a deviation, the drive command is corrected in real time to form a closed-loop control. This ensures that the fiber optic actuator always approaches the target point with high precision, effectively suppressing positioning deviations caused by mechanical backlash, transmission errors or external disturbances, and further improving the safety and reliability of surgical execution.

[0075] Optionally, in some embodiments, the programmable control unit 6 is also used to control the locking of each joint segment of the flexible robotic arm 4 when a fault condition of the flexible robotic arm 4 is detected, and to output fault prompt information.

[0076] When the programmable control unit 6 detects a fault in the flexible robotic arm 4, it controls each joint of the flexible robotic arm 4 to lock, preventing the equipment from entering the surgical working mode, which can improve surgical safety. Furthermore, when the programmable control unit 6 detects a fault in the flexible robotic arm 4, it outputs fault prompt information so that the operator or surgeon can be informed of the abnormality of the equipment in a timely manner and take appropriate measures.

[0077] In some embodiments, fault prompts can be displayed on the screen 8. After seeing the fault prompts, the operator can immediately press the emergency stop switch to cut off the power output of the whole machine, thereby improving the safety of the operation.

[0078] In other feasible embodiments, an alarm signal (i.e., fault indication information) is issued through an audible and visual alarm module, and / or corresponding handling suggestions are displayed on the display screen 8 to assist operators in quickly locating the problem and taking appropriate measures.

[0079] As an example, after the machine is powered on, the programmable control unit 6 can synchronously detect the lifting, pitching, rotating, and feed plugging / unplugging four-axis servo, encoder, soft and hard limit switches, emergency stop, electromagnetic brake, clamping mechanism 43, resistance sensing unit (such as torque sensor), laser linkage communication line, etc. If a hardware fault such as a fault in the line, motor, or limit switch is detected, the machine will lock all motion axes and output a fault code.

[0080] Optionally, in some embodiments, each joint segment is provided with a corresponding locking mechanism.

[0081] The programmable control unit 6 is also used to control the locking mechanism corresponding to each joint segment to lock after power failure.

[0082] By controlling the locking mechanism corresponding to each joint segment to lock when the power supply is cut off, such as the electromagnetic brakes of all shafts immediately locking themselves, the flexible robotic arm's four postures will not shift due to its own weight. This ensures that the equipment can maintain a stable surgical posture even when the power is off, and can avoid secondary injury to the patient due to accidental displacement of the robotic arm.

[0083] Optionally, in some embodiments, the program control unit 6 includes a temporary buffer for storing temporary data issued by the image workstation, the temporary data including at least one of image registration parameters and target coordinates.

[0084] The programmable control unit 6 is also used to clear the temporary data stored in the current operation after the operation is completed.

[0085] By setting an independent temporary cache space through the programmable control unit 6, temporary data such as image registration parameters and surgical target coordinates are only temporarily stored in the temporary cache space and are not permanently stored in the device's permanent memory. After a single surgery, all temporary data such as image registration parameters and target coordinates are automatically cleared, thereby avoiding data cross-interference between different surgeries, simplifying program logic, and ensuring long-term stable and reliable operation of the device.

[0086] See Figure 2 Optionally, in some embodiments, the medical stent further includes a display screen 8, which is disposed on the base 1 and electrically connected to the programmable control unit 6. The display screen 8 is used to display at least one of the ablation time, position coordinates and operating status information of the fiber optic actuator.

[0087] The display screen 8 shows the ablation time, location coordinates, and operating status information of the fiber optic actuator in real time, which makes it easier to observe the surgery and reduces the risk of surgical errors.

[0088] In some embodiments, the display screen 8 can be located on the side of the base 1, which allows the operator or medical staff to conveniently view data during the operation without having to change their position or move the equipment.

[0089] Optionally, the display screen 8 is a touch screen, through which the operator can directly input parameters or select preset modes, further simplifying the operation process.

[0090] See also Figure 2 In some embodiments, the programmable control unit 6 can be a programmable control box, which is located at the lower end of the base 1.

[0091] See Figure 3 and Figure 5 Optionally, in some embodiments, the second connector 41 includes a resilient snap 411, and the first connector includes a slot that engages with the resilient snap 411.

[0092] The elastic buckle 411 automatically engages with the slot after the flexible robotic arm 4 is installed in place, so as to lock the flexible robotic arm 4 with the base 1.

[0093] The flexible snap-fit ​​411 and the slot's matching structure allow the flexible robotic arm 4 to be installed and removed without the need for additional tools, enabling quick insertion and removal of the flexible robotic arm 4. At the same time, it ensures the reliability of the connection between the flexible robotic arm 4 and the base 1, as well as the repeatability and positioning accuracy of the flexible robotic arm 4.

[0094] When installing the flexible robotic arm 4, simply insert the second connector 41 of the flexible robotic arm 4 into the first connector on the base 1, and the elastic buckle 411 will automatically engage in the slot to complete the locking, making the installation of the flexible robotic arm 4 simple and quick.

[0095] When disassembling the flexible robotic arm 4, simply press the elastic buckle 411 to disengage it from the slot, and the flexible robotic arm 4 can be pulled out from the base 1. The entire process requires no tools and enables the rapid disassembly and disinfection of the flexible robotic arm 4.

[0096] See also Figure 3 and Figure 5 Optionally, in some embodiments, the second connector 41 further includes a button 412 connected to a resilient latch 411 so that the resilient latch 411 disengages from the slot when the button 412 is pressed.

[0097] The locking state can be released by pressing button 412, or the unlocking action can be completed with one hand, which makes the disassembly and assembly of the flexible robotic arm 4 easier and can further improve the disassembly and assembly efficiency of the flexible robotic arm 4.

[0098] See Figure 3 and Figure 5 Optionally, in some embodiments, the first connector may include an aviation plug female head disposed on the side of the base 1; the second connector 41 may include an aviation plug male head.

[0099] By interlocking the male and female connectors of the aviation plug, the flexible robotic arm 4 can be mounted on the base 1, and signal transmission and power supply connection between the flexible robotic arm 4 and the programmable control unit 6 can be achieved.

[0100] Furthermore, the mating structure of the male and female aviation plugs also has a guiding and positioning function. During the mating process, it can automatically correct the installation angle of the flexible robotic arm 4, improve the alignment accuracy between the flexible robotic arm 4 and the base 1, and further reduce the risk of poor connection or signal interruption of the flexible robotic arm 4 due to installation deviation.

[0101] In some embodiments, the base 1 includes a headrest portion 11 and support portions 12 disposed on both sides of the headrest portion 11 along a first direction a; the headrest portion 11 has an arc-shaped structure.

[0102] In some embodiments, the medical stent may further include a first positioning component 2, which may include a fixing member 21 and a movable member 22; the fixing member 21 is disposed on the support portion 12, and the movable member 22 is connected to the fixing member 21 in a manner movably along a second direction b; the first direction a intersects the second direction b.

[0103] The fixing member 21 of the first positioning component 2 is fixed to the support part 12 on both sides of the headrest part 11. The movable member 22 of the first positioning component 2 is movably connected to the fixing member 21, and the movable member 22 can move along the second direction b (i.e. the length direction of the base 1) to position the patient's head in the second direction b, and can adapt to the head shape and size (e.g. head circumference) of patients of different heights.

[0104] In some embodiments, the medical stent may further include a second positioning component 3, which includes an adjustment member 31 and a support plate 32; the adjustment member 31 passes through the movable member 22 and is connected to the movable member 22 in a movable manner along a first direction a; the support plate 32 is located above the headrest portion 11 and is disposed at the end of the adjustment member 31 near the geometric center of the headrest portion 11.

[0105] The adjusting member 31 of the second positioning component 3 passes through the movable member 22, and the support plate 32 of the second positioning component 3 is disposed at the end of the adjusting member 31 near the geometric center of the headrest portion 11. The adjusting member 31 can move relative to the movable member 22 along the first direction a, thereby driving the support plate 32 to move closer to or further away from the patient's head along the first direction a, for positioning, clamping or releasing the target positions (e.g., the positions where skull nails are fixed) on both sides of the patient's head in the first direction a, thereby adapting to different head shapes and sizes (e.g., different head widths).

[0106] In some embodiments, the fixing member 21 is provided with a first through groove 211 extending along the second direction b. The lower part of the movable member 22 is located in the first through groove 211, and the movable member 22 can slide along the first through groove 211 to adjust the position of the movable member 22 in the second direction b. At the same time, the first through groove 211 guides and limits the sliding of the movable member 22, ensuring that the movable member 22 moves smoothly along the second direction b and avoiding deviation or shaking during the sliding process.

[0107] In some embodiments, the fixing member 21 is fixed to the support portion 12 by non-metallic screws 23. The non-metallic screws 23 have non-magnetic properties, avoiding interference with MR imaging and ensuring image quality. Simultaneously, the use of non-metallic screws 23 facilitates disassembly and assembly, thereby facilitating maintenance or replacement of the first positioning component 2. The non-metallic screws 23 include plastic screws, etc.

[0108] In some embodiments, the adjusting member 31 may include a positioning bolt 311 and an adjusting sleeve 312; the adjusting sleeve 312 is sleeved on the outer periphery of the positioning bolt 311 and threadedly connected to the positioning bolt 311; both the positioning bolt 311 and the adjusting sleeve 312 pass through the movable member 22, the adjusting sleeve 312 is threadedly connected to the movable member 22, and the support plate 32 is disposed at the end of the positioning bolt 311.

[0109] By rotating the adjusting sleeve 312, the positioning bolt 311 is moved relative to the movable part 22 along the first direction a, thereby moving the support plate 32 closer to or further away from the patient's head along the first direction a. This enables the positioning, clamping, or release of target positions (e.g., positions where skull nails are fixed) on both sides of the patient's head, thus adapting to different head shapes and sizes (e.g., different head widths).

[0110] Moreover, since the adjusting screw sleeve 312 and the movable part 22, as well as the adjusting screw sleeve 312 and the positioning bolt 311 are all connected by threads, the adjustment process has a self-locking characteristic, which can effectively prevent the positioning bolt 311 from loosening when subjected to external force, thereby ensuring the reliability of the fixation of the patient's head.

[0111] In some embodiments, a flexible pad 33 may be provided on the side of the support plate 32 away from the adjustment member 31. The flexible pad 33 may include, but is not limited to, a silicone pad.

[0112] The flexible padding layer 33 conforms to the contours of the patient's head, dispersing the pressure of the support plate 32 on the head and preventing excessive local pressure that could cause discomfort or pressure sores, thus improving patient comfort and reducing the risk of skin pressure injuries due to prolonged fixation. Furthermore, the flexible padding layer 33 increases the friction between the support plate 32 and the head, preventing the support plate 32 from slipping during surgery, thereby improving the reliability and stability of the medical stent in fixing the head.

[0113] In some embodiments, the medical stent provided in this application can be applied to minimally invasive laser ablation treatments for drug-resistant epilepsy, tumors, etc.

[0114] The beneficial technical effects of the technical solutions provided in this application include: In this embodiment, a flexible robotic arm 4 and a programmable control unit 6 are set on the base 1. The flexible robotic arm 4 can be bent at multiple angles, and the programmable control unit 6 can control the movement of the flexible robotic arm 4. This allows for precise adjustment of the position and orientation of the fiber optic actuators on the flexible robotic arm 4, enabling accurate positioning of the ablation target. It can also adapt to multi-angle laser ablation surgical approaches for objects to be detected on the head, thereby improving the surgical coverage.

[0115] Furthermore, by setting a first connector on the base 1 and a second connector 41 matching the first connector on the flexible robotic arm 4, the flexible robotic arm 4 can be quickly and reliably installed on the base 1, achieving integrated mechanical and electrical connection. This simplifies the surgical preparation process and improves the integration and ease of operation of the medical stent. Simultaneously, the flexible robotic arm 4 and the base 1 form a detachable connection, facilitating rapid disassembly, assembly, disinfection, and maintenance before and after surgery, further enhancing the flexibility and hygiene safety of the medical stent.

[0116] Based on the same inventive concept, this application provides a method for using a medical stent, see [link to relevant documentation]. Figures 1 to 5 The medical stent includes a base 1, a first connector, a flexible robotic arm 4, and a programmable control unit 6. The base 1 is used to support and fix the object to be tested. The first connector is located on the base 1. The flexible robotic arm 4 includes a second connector 41. The programmable control unit 6 is located on the base 1 and is electrically connected to the second connector 41 via the first connector.

[0117] See Figure 6 The method of using the medical stent includes steps S11 to S12.

[0118] S11: The second connector 41 is detachably connected to the first connector so that the flexible robotic arm 4 is mechanically connected to the base 1 and electrically connected to the programmable control unit 6.

[0119] S12: The programmable control unit 6 controls the movement of the flexible robotic arm 4 to adjust the position and / or attitude of the fiber optic actuator fixed on the flexible robotic arm 4.

[0120] By detachably connecting the second connector 41 on the flexible robotic arm 4 to the first connector on the base 1, the flexible robotic arm 4 can be quickly and reliably installed on the base 1, achieving integrated mechanical and electrical connection. This simplifies the surgical preparation process and improves the integration and ease of operation of the medical stent. Simultaneously, the detachable connection between the flexible robotic arm 4 and the base 1 facilitates rapid disassembly, assembly, disinfection, and maintenance before and after surgery, further enhancing the flexibility and hygiene safety of the medical stent.

[0121] Furthermore, the flexible robotic arm 4 can be bent at multiple angles. The movement of the flexible robotic arm 4 can be controlled by the programmable control unit 6, thereby precisely adjusting the position and attitude of the fiber optic actuators on the flexible robotic arm 4. This enables precise positioning of the ablation target, adapts to multi-angle laser ablation surgical approaches for objects to be detected on the head, and improves the surgical coverage.

[0122] Optionally, in some embodiments, the method of using the medical stent may further include: the programmable control unit 6 recording the coordinates of the current position of the flexible robotic arm 4 when the pin hole 42 of the flexible robotic arm 4 is fitted into the zero-point calibration pin 7 as the reference coordinates.

[0123] The medical stent also includes a zero-point calibration pin 7, which is located on the base 1; the flexible robotic arm 4 includes a pin hole 42.

[0124] This configuration allows the coordinate system of the flexible robotic arm 4 to be quickly reset after disassembly and assembly, ensuring that the coordinates of the base 1 and the flexible robotic arm 4 are of the same origin. This avoids the cumbersome problem of coordinate calibration between the base 1 and the flexible robotic arm 4, reduces the need for repeated preoperative calibration procedures, improves positioning accuracy, and simplifies the overall structure. It can effectively reduce the production and maintenance costs of medical stents and is more suitable for large-scale clinical application.

[0125] In some embodiments, step S12 may include: the program control unit 6 receiving the target coordinates sent by the image workstation; performing kinematic calculations on the target coordinates to generate target angles for each joint segment of the flexible robotic arm 4; and controlling the movement of the drive unit of each joint segment according to the target angles so that the fiber optic actuator moves to the spatial position corresponding to the target coordinates.

[0126] By running a preset coordinate program through the programmable control unit 6, the flexible robotic arm 4 can be controlled to drive the fiber optic catheter to achieve fully automated operation of fiber optic catheter insertion, laser ablation, and closed-loop automatic retraction, which can improve the precision of surgery.

[0127] Optionally, in some embodiments, the method of using the medical stent may further include: The resistance sensing unit detects the axial tension force on the clamping mechanism 43 of the flexible robotic arm 4, obtains the axial tension force data, and feeds it back to the programmable control unit 6.

[0128] The programmable control unit 6 adjusts the clamping force of the clamping mechanism 43 in real time based on the axial tensile force data.

[0129] The flexible robotic arm 4 includes a clamping mechanism 43 and a resistance sensing unit. The clamping mechanism 43 is used to clamp the fiber optic actuator; the resistance sensing unit is located on the clamping surface of the clamping mechanism 43.

[0130] This setup enables dynamic adaptive clamping of the fiber optic catheter, real-time compensation of axial torque, and counteraction of target point displacement caused by brain tissue compression or respiratory movements. It improves surgical precision and solves the problem of positional displacement or tissue damage of the fiber optic actuator due to hand tremors or loss of force control during manual operation.

[0131] Optionally, in some embodiments, the method of using the medical stent further includes: The drive unit drives the corresponding joint segment to rotate according to the control instructions of the programmable control unit 6.

[0132] The angle sensor detects the rotation angle of the corresponding joint segment in real time and feeds it back to the programmable control unit 6.

[0133] The flexible robotic arm 4 includes multiple joint segments connected in sequence, and each joint segment is equipped with a drive unit and an angle sensor.

[0134] By synchronously uploading the rotation angles of each joint segment to the programmable control unit 6, a complete kinematic feedback closed loop is formed, which can provide data support for subsequent precise path planning and real-time correction.

[0135] Optionally, in some embodiments, the method of using the medical stent further includes: when the programmable control unit 6 detects a fault state in the flexible robotic arm 4, it controls each joint segment of the flexible robotic arm 4 to lock and outputs fault prompt information.

[0136] When the programmable control unit 6 detects a fault in the flexible robotic arm 4, it controls each joint of the flexible robotic arm 4 to lock, preventing the equipment from entering the surgical working mode, which can improve surgical safety. Furthermore, when the programmable control unit 6 detects a fault in the flexible robotic arm 4, it outputs fault prompt information so that the operator or surgeon can be informed of the abnormality of the equipment in a timely manner and take appropriate measures.

[0137] Optionally, in some embodiments, the method of using the medical stent further includes: after power failure, the programmable control unit 6 controls the locking mechanism corresponding to each joint segment to lock.

[0138] Each joint segment is equipped with a corresponding locking mechanism.

[0139] By controlling the locking mechanism corresponding to each joint segment to lock when the power supply is cut off, such as the electromagnetic brakes of all shafts immediately locking themselves, the flexible robotic arm's four postures will not shift due to its own weight. This ensures that the equipment can maintain a stable surgical posture even when the power is off, and can avoid secondary injury to the patient due to accidental displacement of the robotic arm.

[0140] Optionally, in some embodiments, the method of using the medical stent further includes: The temporary buffer stores the temporary data issued by the image workstation. The temporary data includes at least one of the image registration parameters and target coordinates. The program control unit 6 also includes a temporary buffer. After a single surgery is completed, the program control unit 6 clears the temporary data stored for that surgery.

[0141] By setting an independent temporary cache space through the programmable control unit 6, temporary data such as image registration parameters and surgical target coordinates are only temporarily stored in the temporary cache space and are not permanently stored in the device's permanent memory. After a single surgery, all temporary data such as image registration parameters and target coordinates are automatically cleared, thereby avoiding data cross-interference between different surgeries, simplifying program logic, and ensuring long-term stable and reliable operation of the device.

[0142] Optionally, in some embodiments, the method of using the medical stent further includes: display screen 8 displaying at least one of the ablation time, position coordinates and operating status information of the fiber optic actuator; The programmable control unit 6 also includes a display screen 8, which is mounted on the base 1 and electrically connected to the programmable control unit 6.

[0143] The display screen 8 shows the ablation time, location coordinates, and operating status information of the fiber optic actuator in real time, which makes it easier to observe the surgery and reduces the risk of surgical errors.

[0144] See Figure 7 As an example, the method of using a medical stent includes steps S21 to S26.

[0145] S21: Insert the pin hole 42 of the flexible robotic arm 4 into the zero-point calibration pin 7 on the base 1, and the program control unit 6 records the coordinates of the current position of the flexible robotic arm 4 as the reference coordinates.

[0146] In some embodiments, the medical stent further includes a zero-point calibration pin 7 disposed on the base 1; the flexible robotic arm 4 includes a pin hole 42 for fitting the zero-point calibration pin 7 so that the coordinates of the current position of the flexible robotic arm 4 are used as reference coordinates.

[0147] S22: The programmable control unit 6 controls each drive unit of the flexible robotic arm 4 to drive the corresponding joint segments to rotate based on the reference coordinates.

[0148] In some embodiments, the flexible robotic arm 4 includes multiple joint segments connected in sequence, each joint segment having a drive unit and an angle sensor.

[0149] In some embodiments, this step may include: the programmable control unit 6 receiving the target coordinates sent by the image workstation; performing kinematic calculations on the target coordinates to generate target angles for each joint segment of the flexible robotic arm 4; and controlling the movement of the drive unit of each joint segment according to the target angles so that the fiber optic actuator moves to the spatial position corresponding to the target coordinates.

[0150] S23: The resistance sensing unit detects the axial tension force on the clamping mechanism 43, obtains the axial tension force data, and feeds it back to the program control unit 6; the program control unit 6 adjusts the clamping force of the clamping mechanism 43 in real time according to the axial tension force data.

[0151] In some embodiments, the flexible robotic arm 4 includes a clamping mechanism 43 and a resistance sensing unit. The clamping mechanism 43 is used to clamp the optical fiber actuator; the resistance sensing unit is disposed on the clamping surface of the clamping mechanism 43.

[0152] S24: When the program control unit 6 detects a fault in the flexible robotic arm 4, it controls each joint segment of the flexible robotic arm 4 to lock and outputs a fault prompt message.

[0153] S25: After power failure, the programmable control unit 6 controls the locking mechanism corresponding to each joint segment to lock.

[0154] In some embodiments, each joint segment is provided with a corresponding locking mechanism.

[0155] S26: After a single operation is completed, the program control unit 6 clears the temporary data stored for that operation.

[0156] In some embodiments, the programmable control unit 6 can be a programmable control box, which is located at the lower end of the base 1.

[0157] As an example, the usage of medical stents includes: 1. Preoperative power-on self-test and system calibration process; 2. Preoperative image planning and real-time distribution of ablation points process; 3. Fully automated execution process of single-target laser ablation; 4. Procedure for fiber optic catheter removal and device reset after surgery.

[0158] The following are specific examples: I. The preoperative power-on self-test and system calibration process may include: 1. Connect to the medical isolation power supply, power on the entire medical stent, and load the underlying security firmware into the programmable control box.

[0159] 2. The programmable control box synchronously detects the lifting, pitching, rotating, and feed insertion / removal of four-axis servos, encoders, soft and hard limits, and each joint segment is equipped with a corresponding locking mechanism (such as an emergency stop electromagnetic brake), clamping mechanism 43, resistance sensing unit (such as a torque sensor), and laser linkage communication line. If a hardware fault such as a fault in the line, motor, or limit is detected, the entire machine locks all motion axes and outputs a fault code.

[0160] Among them, the four-axis servo refers to the servo motors corresponding to the four motion axes of the flexible robotic arm 4, namely lifting, pitching, rotating, and feeding / plugging.

[0161] Soft and hard limits include soft limits and hard limits. Soft limits refer to the movement range boundaries set at the software level. For example, when the programmable control unit 6 detects a fault in the flexible robotic arm 4, it controls each joint segment of the flexible robotic arm 4 to lock. Hard limits refer to physical blocking limits on the mechanical structure. For example, as mentioned above, after the programmable control unit 6 is powered off, it controls the locking mechanism corresponding to each joint segment to lock.

[0162] The encoder is installed at each joint segment or drive motor of the flexible robotic arm 4 to provide real-time feedback on the actual position of each joint segment of the flexible robotic arm 4.

[0163] 3. After the hardware self-test is qualified, the operator presses the button 412 on the second connector 41 (e.g., male aviation plug) at the bottom of the flexible robotic arm 4. After the elastic buckle 411 sinks down, the operator aligns the second connector 41 with the first connector (e.g., female aviation plug) of the base 1 and releases the button 412 to complete the assembly of the flexible robotic arm 4.

[0164] Align the pin hole 42 at the clamping mechanism 43 at the top of the flexible robotic arm 4 with the zero-point calibration pin 7 on the base 1, forcing the robotic arm to move to a unique fixed reference position. At this point, the system records this fixed reference position as the coordinate zero point. After calibration, remove the zero-point calibration pin 7 so that the flexible robotic arm 4 can move and measure accurately using this reference.

[0165] When instruments are sterilized and reassembled, the flexible robotic arm 4 is replaced, or the flexible robotic arm 4 becomes slightly loose due to intraoperative vibration, it can be returned to its initial fixed reference position in this manner.

[0166] 4. After the flexible robotic arm 4 is assembled, the optical fiber actuator (e.g., an optical fiber guide tube) is clamped by the clamping mechanism 43 at the top. Optionally, the clamping mechanism 43 integrates a resistance sensing unit, which can realize precise control of the clamping force and rotation angle of the optical fiber actuator.

[0167] 5. The image workstation establishes data communication with the programmable control box to complete the registration of the physical space coordinates of the CT / MRI image space and the flexible robotic arm, which can eliminate the deviation between the image and the physical position; in addition, the registration parameters are stored in the temporary cache of the programmable control box in real time and are not fixed as fixed points.

[0168] II. The preoperative image planning and real-time distribution process for ablation sites includes: 1. The doctor imports the patient's preoperative brain scan images into the image navigation workstation, marks multiple tumor ablation target points, and the system automatically generates the three-dimensional target coordinates, catheter insertion depth, retraction distance after ablation, laser working time, etc. of the fiber optic catheter at the end of the flexible robotic arm 4 corresponding to each target point, and displays them on the display screen 8.

[0169] 2. The coordinates of a single target point are transmitted in real time to the temporary memory of the programmable box via the communication link. This is only valid for this surgery and will not overwrite or occupy the original storage program. It will be automatically cleared after the surgery ends.

[0170] 3. The programmable control unit 6 directly receives the target coordinates from the image workstation and performs kinematic calculations, converting the spatial points into target angles for each joint segment (e.g., four joint axes). The calculated target angles are then sent to the drive units of each joint segment in real time. The drive units control the joint segment rotation based on the target angles, thereby moving the flexible robotic arm 4 to the predetermined target position. This automatically generates the entire dynamic motion trajectory of the flexible robotic arm 4 supporting and positioning the fiber optic actuator, feeding and inserting the fiber optic actuator, performing laser ablation at a specified point on the fiber optic actuator, retracting the fiber optic actuator at a specified distance, and pulling out the fiber optic actuator. The trajectory is recalculated in real time for each different target point, without fixed program constraints.

[0171] III. The fully automated single-target laser ablation process includes: 1. Execute the target initiation command. The programmable control box controls the joints of the flexible robotic arm 4 (e.g., the four joint axes) to move the end of the fiber optic catheter on the flexible robotic arm 4 precisely to the preset external reference point for brain puncture. The entire process is slow and buffered, and the torque is monitored in real time to prevent the flexible robotic arm 4 from hitting the patient's head. After reaching the target position, the brake temporarily locks the main support structure of the flexible robotic arm 4.

[0172] 2. The programmable control box drives the feed axis of the flexible robotic arm 4 to move the fiber optic catheter along the puncture channel at a constant speed toward the intracranial target point. During the movement, the actual position and movement state of each joint segment of the flexible robotic arm 4 detected by the encoder are continuously compared, and the position error of each joint segment of the flexible robotic arm 4 is corrected in real time. After the fiber optic catheter on the flexible robotic arm 4 reaches the target coordinates of the image transmission, the joint segments of the flexible robotic arm 4 stop, and the position of the fiber optic catheter remains stationary.

[0173] 3. The programmable control box sends a linkage trigger signal to the laser host to start the laser ablation timing. The background continuously collects the force and displacement data of the catheter. If the fiber optic catheter is displaced due to tissue compression, it automatically compensates the axial torque slightly to keep the target point stationary.

[0174] 4. Once the laser ablation timing is complete, the programmable controller automatically retrieves the corresponding retraction distance parameters for the target point and drives each joint of the flexible robotic arm 4 to precisely retract the fiber optic conduit to a safe avoidance position, thus avoiding the ablation high-temperature area.

[0175] 5. Once this target point operation is complete, maintain the flexible robotic arm 4 in its support posture and wait for the imaging workstation to issue the next set of new ablation target point coordinates.

[0176] IV. The procedure for removing the fiber optic catheter and resetting the equipment after surgery includes: 1. After all ablation sites are completed, the programmable control box controls each joint of the flexible robotic arm 4 to uniformly and completely withdraw the fiber optic catheter from the outside of the skull. The clamping mechanism 43 remains stable, which can prevent the catheter from shaking and damaging brain tissue.

[0177] 2. After the fiber optic cable is completely pulled out, the locking mechanism of the robotic arm (such as an electromagnetic brake) is unlocked, and the programmable control box drives each joint of the flexible robotic arm 4 to return to the mechanical zero position of the whole machine at a low speed.

[0178] 3. After all joints of the flexible robotic arm 4 are zeroed, the brakes are locked. The imaging workstation clears all temporary target coordinates for this surgery, and the temporary memory data of the programmable control box is automatically erased, leaving no record of the ablation points for this surgery.

[0179] 4. After the power supply to the equipment is cut off, the electromagnetic brakes of each joint of the flexible robotic arm 4 will immediately lock, and the posture of the flexible robotic arm 4 will not shift due to its own weight. If it is necessary to disassemble the flexible robotic arm 4 for sterilization and storage, press the quick release button 412 on the male end of the aviation plug to complete the disassembly. When it is used clinically again, the pin hole 42 can be put into the zero-point positioning pin for quick assembly and calibration.

[0180] This embodiment is a method embodiment corresponding to the aforementioned medical stent embodiment. The technical details and effects of the two can be referred to each other, and will not be repeated here.

[0181] In the description of this application, the terms "center," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate directions or positional relationships based on the exemplary directions or positional relationships shown in the accompanying drawings. They are used to facilitate the description or simplification of the embodiments of this application and are not intended to indicate or imply that the device or component referred to must have a specific orientation or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0182] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0183] The above are only some embodiments of this application. It should be noted that for those skilled in the art, other similar implementation methods based on the technical concept of this application, without departing from the technical concept of this application, also fall within the protection scope of the embodiments of this application.

Claims

1. A medical stent, characterized in that, include: The base is used to support the object to be tested. A first connector is disposed on the base; A flexible robotic arm includes a second connector, which is detachably connected to the first connector to enable the flexible robotic arm to form a mechanical connection with the base and an electrical connection with the programmable control unit. A programmable control unit, located on the base, is electrically connected to the second connector via the first connector; it is used to control the movement of the flexible robotic arm to adjust the position and / or attitude of the fiber optic actuators on the flexible robotic arm.

2. The medical stent according to claim 1, characterized in that, Also includes: A zero-point calibration pin is provided on the base; The flexible robotic arm includes a pin hole for fitting the zero-point calibration pin, so that the coordinates of the current position of the flexible robotic arm are used as reference coordinates. The programmable control unit is used to control the movement of the flexible robotic arm based on the reference coordinates.

3. The medical stent according to claim 1, characterized in that, The flexible robotic arm includes: Clamping mechanism, used to clamp fiber optic actuators; A resistance sensing unit is disposed on the clamping surface of the clamping mechanism, used to detect the axial tension force on the clamping mechanism, obtain axial tension force data and feed it back to the programmable control unit; The programmable control unit is also used to adjust the clamping force of the clamping mechanism in real time based on the axial tensile force data.

4. The medical stent according to claim 1, characterized in that, The flexible robotic arm includes: multiple joint segments connected in sequence, each joint segment being provided with a drive unit and an angle sensor; The drive unit is used to drive the corresponding joint segment to rotate according to the control instructions of the programmable control unit; The angle sensor is used to detect the rotation angle of the corresponding joint segment in real time and feed it back to the programmable control unit.

5. The medical stent according to claim 4, characterized in that, The programmable control unit is used for: Receive target coordinates from the image workstation; Kinematic calculations are performed on the target point coordinates to generate the target angles of each joint segment of the flexible robotic arm; Based on the target angle, the drive units of each joint segment are controlled to move, so that the fiber optic actuator moves to the spatial position corresponding to the target point coordinates.

6. The medical stent according to claim 4, characterized in that, The programmable control unit is also used for: When a fault condition is detected in the flexible robotic arm, the joints of the flexible robotic arm are locked, and a fault prompt message is output.

7. The medical stent according to claim 4, characterized in that, Each of the joint segments is provided with a corresponding locking mechanism; The programmable control unit is also used to control the locking mechanism corresponding to each joint segment to lock after power failure.

8. The medical stent according to claim 1, characterized in that, The program control unit includes a temporary buffer for storing temporary data issued by the image workstation. The temporary data includes at least one of image registration parameters and target coordinates. The programmable unit is also used to clear the temporary data stored in this operation after the operation is completed.

9. The medical stent according to claim 1, characterized in that, Also includes: A display screen, mounted on the base and electrically connected to the programmable control unit, is used to display at least one of the ablation time, position coordinates, and operating status information of the fiber optic actuator.

10. The medical stent according to claim 1, characterized in that, The second connector includes a resilient snap, and the first connector includes a slot that engages with the resilient snap; The elastic buckle automatically engages with the slot after the flexible robotic arm is installed in place, thereby locking the flexible robotic arm to the base.

11. The medical stent according to claim 10, characterized in that, The second connector also includes a button connected to the resilient latch so that when the button is pressed, the resilient latch disengages from the slot.

12. The medical stent according to claim 1, characterized in that, The first connector includes an aviation plug female, which is disposed on the side of the base; The second connector includes an aviation plug male.

13. A method of using a medical stent, characterized in that, include: The second connector is detachably connected to the first connector to form a mechanical connection between the flexible robotic arm and the base, and to form an electrical connection between the flexible robotic arm and the programmable control unit. The medical stent includes the base, the first connector, the flexible robotic arm, and the programmable control unit. The base is used to support and fix the object to be tested. The first connector is disposed on the base. The flexible robotic arm includes the second connector. The programmable control unit is disposed on the base and is electrically connected to the second connector via the first connector. The programmable control unit controls the movement of the flexible robotic arm to adjust the position and / or attitude of the fiber optic actuator fixed on the flexible robotic arm.

14. The method of using the medical stent according to claim 13, characterized in that, Also includes: The programmable control unit records the coordinates of the current position of the flexible robotic arm as the reference coordinates when the pin hole of the flexible robotic arm is fitted into the zero-point calibration pin. The medical stent also includes the zero-point calibration pin, which is disposed on the base; the flexible robotic arm includes the pin hole.

15. The method of using the medical stent according to claim 13, characterized in that, Also includes: The resistance sensing unit detects the axial tension force on the gripping mechanism of the flexible robotic arm, obtains the axial tension force data, and feeds it back to the programmable control unit. The programmable control unit adjusts the clamping force of the clamping mechanism in real time based on the axial tensile force data; The flexible robotic arm includes the clamping mechanism and the resistance sensing unit. The clamping mechanism is used to clamp the optical fiber actuator; the resistance sensing unit is disposed on the clamping surface of the clamping mechanism.

16. The method of using the medical stent according to claim 13, characterized in that, Also includes: The drive unit drives the corresponding joint segment to rotate according to the control instructions of the programmable control unit; An angle sensor detects the rotation angle of the corresponding joint segment in real time and feeds it back to the programmable control unit; The flexible robotic arm includes multiple joint segments connected in sequence, and each joint segment is equipped with the drive unit and the angle sensor.

17. The method of using the medical stent according to claim 16, characterized in that, The programmable control unit controls the movement of the flexible robotic arm, including: The programmable control unit receives the target coordinates from the image workstation; performs kinematic calculations on the target coordinates to generate target angles for each joint segment of the flexible robotic arm; and controls the drive unit of each joint segment to move according to the target angles, so that the fiber optic actuator moves to the spatial position corresponding to the target coordinates.

18. The method of using the medical stent according to claim 16, characterized in that, Also includes: When the programmable control unit detects a fault in the flexible robotic arm, it controls each joint segment of the flexible robotic arm to lock and outputs a fault prompt message.

19. The method of using the medical stent according to claim 16, characterized in that, Also includes: After power failure, the programmable control unit controls the locking mechanism corresponding to each joint segment to lock. Each of the joint segments is provided with a corresponding locking mechanism.

20. The method of using the medical stent according to claim 16, characterized in that, Also includes: The temporary buffer stores temporary data issued by the image workstation, which includes at least one of image registration parameters and target coordinates; the program control unit also includes the temporary buffer. The programmable unit clears the temporary data stored in the current operation after the operation is completed.

21. The method of using the medical stent according to claim 16, characterized in that, Also includes: The display screen shows at least one of the following: ablation time, position coordinates, and operating status information of the fiber optic actuator; The programmable control unit also includes the display screen, which is mounted on the base and electrically connected to the programmable control unit.

Images