Laparoscopic surgery system combined with assistance of eye tracker

Abstract

The utility model provides a laparoscopic surgery system combined with assistance of an eye tracker, which belongs to the technical field of medical instruments and comprises a control unit, a laparoscope body, the eye tracker, a medical influence system and a safety monitoring module. The laparoscope body is used for being matched with a surgical instrument to conduct an abdominal cavity operation and can transmit the collected movement track of the surgical instrument to the control unit. The eye tracker is used for recording eyeball movement tracks, blinking frequency and pupil diameter of an operator and an endoscope supporting hand, and can transmit the recorded data to the control unit; the medical influence system is used for receiving picture information in an abdominal cavity and a view focus of an operator in an operation process, and the safety monitoring module is used for collecting and recording the picture information in the operation process and is adjustable in position; the display interface is suitable for displaying an abdominal cavity picture of a patient, eyeball movement information of an operator and an endoscope supporting hand and an operation process picture. The utility model has the technical effects that the whole process of an operation can be clearly monitored, a good visual field is provided for an operator, and the operation efficiency of the operation is improved.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the technical field of medical apparatus and instruments more particularly, it relates to a kind of laparoscopic surgery systems assisted by combining eye tracker. BACKGROUND

[0002] With the continuous development of modern medical technology, laparoscopic surgery is widely used due to its small trauma, rapid recovery and other advantages. However, in traditional laparoscopic surgery, the operator and the mirror holder cannot cooperate well due to different focuses during the operation, increasing the complexity and risk of the operation. At the same time, the application of eye tracker in surgical assistance is still blank.

[0003] The core function of eye tracker is to record eye movement trajectory. As a basic application of eye tracker, it can capture and record the movement path of the subject's eyeball in real time, including the position of the fixation point, the measurement of the fixation time and the occurrence of saccade. Further, through in-depth recording and analysis of these eye movement data, we can understand the specific performance and characteristics of the subjects in the visual information processing process, such as their fixation preference pattern, attention allocation strategy, etc., thereby providing important basis for understanding the visual information processing mechanism.

[0004] Currently, in laparoscopic surgery, the normal use of laparoscope is affected by the temperature change in the abdominal cavity, the vaporization of adipose tissue and the splashing of blood, which affects the surgical field and increases the risk of surgery, and cannot achieve full-range monitoring of the surgical process and improve the operator's field of view. UTILITY MODEL CONTENT

[0005] The utility model aims to provide a kind of laparoscopic surgery system assisted by combining eye tracker, to solve the technical problems that the operator's gaze focus cannot be displayed in real time in the laparoscopic surgery in the prior art, the mirror holder cannot cooperate with the positioning and transfer of the operator's surgical field of view, the communication time is long, it is not easy to achieve full-range monitoring of the surgical process and improve the operator's field of view, and the surgical efficiency is low.

[0006] To achieve the above-mentioned purpose, the utility model adopts the technical scheme of providing a kind of laparoscopic surgery system assisted by combining eye tracker, comprising:

[0007] A control unit comprising a display interface and a controller electrically connected to each other;

[0008] A laparoscope body with an adjustable focal length lens, the laparoscope body is electrically connected to the control unit, and the laparoscope body is used for laparoscopic surgery with surgical instruments and can transmit the movement track of the surgical instruments to the control unit;

[0009] An eye tracker, electrically connected to the control unit, is configured to record the eye movement trajectory, blink frequency and pupil diameter of the surgeon and the mirror holder, and transmit the recorded data to the control unit;

[0010] A medical image system, having an image processing module, is electrically connected to the control unit and the eye tracker, configured to receive the intra-abdominal image information and the visual focus of the surgeon during the surgery, and mark the visual focus of the surgeon on the intra-abdominal image, and display the marked image on the display interface;

[0011] A safety monitoring module, electrically connected to the control unit and configured to collect and record the intra-abdominal image information during the surgery, and the position of the safety monitoring module is adjustable;

[0012] The display interface is configured to display the intra-abdominal image of the patient, the eye movement information of the surgeon and the mirror holder, and the collected intra-abdominal image during the surgery, and the control unit has a position control module configured to control the position adjustment of the safety monitoring module.

[0013] In a possible implementation, the control unit is connected to the side of the laparoscope body, the bottom of the laparoscope body is provided with a plurality of universal wheels, the laparoscope body can move in position by means of the universal wheels, and the universal wheels can rotate and brake.

[0014] In a possible implementation, the laparoscopic surgery system assisted by the eye tracker further comprises:

[0015] An adjustable support is movably arranged on the ground of the operating room, and the eye tracker and the safety monitoring module are connected to the adjustable support, and the adjustable support is configured to adjust the positions of the eye tracker and the safety monitoring module, respectively.

[0016] In a possible implementation, the adjustable support comprises:

[0017] A moving part having a moving degree of freedom in any direction;

[0018] A lifting part connected to the upper end of the moving part, the lifting part having a lifting degree of freedom in the vertical direction;

[0019] A rotating disc arranged in a horizontal manner and connected to the upper end of the lifting part at one end, the eye tracker being slidably connected to the upper end of the rotating disc, and the safety monitoring module being slidably connected to the lower end of the rotating disc, the positions of the eye tracker and the safety monitoring module being adjusted by means of the moving part, the lifting part and the rotating disc, respectively.

[0020] In a possible implementation, the moving part comprises:

[0021] A platform, the bottom end of the lifting part is detachably connected to the upper end of the platform;

[0022] A plurality of rollers are evenly connected to the bottom end of the platform, and the plurality of rollers are used to support the platform, and the rollers can rotate and be locked.

[0023] In a possible implementation, the lifting part comprises:

[0024] A telescopic column is vertically arranged, and the bottom end is connected to the upper end of the moving part. The telescopic column has a vertical telescopic degree of freedom;

[0025] A connecting rod is hingedly connected to the upper end of the telescopic column. The connecting rod has a rotational degree of freedom around the hinge with the telescopic column. After the connecting rod rotates, the plane formed is in the vertical plane.

[0026] A slide rail is hingedly connected to the other end of the connecting rod. The slide rail is vertically arranged. The height of the slide rail is adjusted by the telescopic function of the telescopic column and the rotation of the connecting rod. The turntable is slidingly connected to the slide rail. The height of the turntable can be adjusted by sliding on the slide rail.

[0027] In a possible implementation, the slide rail is slidingly connected with an upper clamping plate and a lower clamping plate. The positions of the upper clamping plate and the lower clamping plate after sliding on the slide rail can be locked. The distance between the upper clamping plate and the lower clamping plate can be adjusted. One end of the turntable is located between the upper clamping plate and the lower clamping plate and is clamped and fixed by the upper clamping plate and the lower clamping plate.

[0028] In a possible implementation, the turntable is in a circular ring shape, and the upper end and the lower end are both provided with curved rails. The eye tracker and the security monitoring module are both slidingly connected to two groups of curved rails, and the positions after sliding can be locked.

[0029] In a possible implementation, a rotating table is slidingly connected to each of the two groups of curved rails. One end of the rotating table is slidingly connected to the curved rail, and the other end has a circumferential rotational degree of freedom and is defined as a rotating end. The eye tracker and the security monitoring module are respectively connected to the rotating ends of the two groups of rotating tables. The rotation angles of the eye tracker and the security monitoring module are adjusted by the rotating tables.

[0030] In a possible implementation, the rotating table is an electric rotating table and is electrically connected to the control unit. The rotation direction and the rotation angle of the rotating end of the rotating table are adjusted by the position control module of the control unit.

[0031] The beneficial effect of the laparoscopic surgery system assisted by the eye movement instrument lies in that, compared with the prior art, the laparoscopic surgery system assisted by the eye movement instrument comprises a control unit, a laparoscope body, an eye movement instrument, a medical image system and a safety monitoring module, the control unit comprises a display interface and a controller which are electrically connected with each other, the laparoscope body is provided with a lens with adjustable focal length, the laparoscope body is electrically connected with the control unit, and the laparoscope body is used for performing laparoscopic surgery in cooperation with surgical instruments and can transmit the moving track of the surgical instruments to the control unit; the eye movement instrument is electrically connected with the control unit, and the eye movement instrument is used for recording the eye movement track, the blinking frequency and the pupil diameter of the operator and the mirror holding hand, and can transmit the recorded data to the control unit; the medical image system is provided with an image processing module and is electrically connected with the control unit and the eye movement instrument respectively, is used for receiving the picture information in the abdominal cavity and the visual focus of the operator during the surgery, and marks the visual focus of the operator on the picture in the abdominal cavity, and displays the picture in the abdominal cavity through the display interface, so that the mirror holding hand can smoothly cooperate with the operator to position and transfer the visual field, the communication time of the operator and the mirror holding hand is greatly saved, and the surgery efficiency is improved; the safety monitoring module is electrically connected with the control unit and is used for collecting and recording the picture information during the surgery, and the monitoring position of the safety monitoring module can be adjusted; the display interface is suitable for displaying the picture in the abdominal cavity of the patient, the eye movement information of the operator and the mirror holding hand and the collected picture during the surgery, the control unit is provided with a position control module suitable for controlling the position adjustment of the safety monitoring module, the technical problem that it is difficult to realize the all-around monitoring of the surgery process and improve the visual range of the operator in the prior art is solved, the whole surgery process can be clearly monitored, a good visual range is provided for the operator, and the technical effect that the surgery operation efficiency is improved is achieved. BRIEF DESCRIPTION OF DRAWINGS

[0032] In order to more clearly illustrate the technical scheme in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort on the basis of these drawings.

[0033] Figure 1 The structure schematic diagram of the laparoscopic surgery system assisted by the eye movement instrument provided by the embodiments of the present application (the structure represented by the dotted line between the adjustable support and the laparoscope body in the figure is the patient);

[0034] Figure 2 The adjustable support, the eye movement instrument and the safety monitoring module structure schematic diagram of the laparoscopic surgery system assisted by the eye movement instrument provided by the embodiments of the present application;

[0035] Figure 3 For Figure 2schematic diagram of the upper structure in the middle.

[0036] BRIEF DESCRIPTION OF DRAWINGS

[0037] 1, control unit; 2, laparoscope body; 21, lens; 22, universal wheel; 3, eye tracker; 4, safety monitoring module; 5, adjustable support; 51, moving part; 511, platform; 512, roller; 52, lifting part; 521, telescopic column; 522, connecting rod; 523, sliding rail; 53, turntable; 54, upper clamping plate; 55, lower clamping plate; 56, curved rail; 57, rotating table. DETAILED DESCRIPTION

[0038] In order to make the technical problems, technical solutions and beneficial effects of the utility model to be solved more clear and obvious, the utility model will be further described in detail below in combination with the drawings and examples. It should be understood that the specific examples described here are only used to explain the utility model and not to limit the utility model.

[0039] Please see Figures 1 to 3 , now a kind of laparoscopic surgery system assisted by eye tracker provided by the utility model will be described. The laparoscopic surgery system assisted by eye tracker, including control unit 1, laparoscope body 2, eye tracker 3, medical image system and safety monitoring module 4, control unit 1 includes mutually electrically connected display interface and controller;Laparoscope body 2 has adjustable focal length lens 21, laparoscope body 2 is electrically connected with control unit 1, laparoscope body 2 is used to cooperate with surgical instruments to carry out abdominal surgery and can transmit the moving track of collected surgical instruments to control unit 1;Eye tracker 3 is electrically connected with control unit 1, eye tracker 3 is used to record the eye movement track, blink frequency and pupil diameter of operator and mirror holder, and can transmit the recorded data to control unit 1;Medical image system has image processing module, is electrically connected with control unit 1 and eye tracker 3 respectively, is used to receive intra-abdominal picture information and operator's visual focus during operation, and marks operator's visual focus on abdominal picture, and displays through display interface;Safety monitoring module 4 is electrically connected with control unit 1 and is used to collect and record picture information during operation, and the monitoring position of safety monitoring module 4 can be adjusted;Wherein, display interface is suitable for displaying abdominal picture of patient during operation, eye movement information of operator and mirror holder and collected picture during operation, control unit 1 has position control module suitable for controlling position adjustment of safety monitoring module 4.

[0040] The utility model provides a kind of laparoscopic surgery system combined with eye movement instrument 3 auxiliary, compared with prior art, by setting control unit 1 can provide visual picture for operator, by eye movement instrument 3 can help operator to operate, by safety monitoring module 4 can real-time monitoring surgical procedure, to assist operator to operate, medical image system is used to receive intra-abdominal picture information and operator's field of vision focal point during operation, and operator's field of vision focal point is marked in abdominal cavity picture, by the display interface display, it is convenient to support mirror hand smoothly cooperate operator visual positioning and shift, greatly save operator and support mirror hand communication time, improve surgical efficiency;The technical problem that it is not easy to realize all-around monitoring surgical procedure and improve operator's field of vision range in laparoscopic surgery is solved, with the technical effect that operation whole process can be clearly monitored, operator is provided with good field of vision range, improve surgical operation efficiency.

[0041] In the embodiment, the medical image system includes a medical image acquisition module, an image processing module and an image storage module, the medical image acquisition module is electrically connected with the safety monitoring module 4, the eye movement instrument 3 and the image processing module respectively, and the image processing module is electrically connected with the image storage module and the display interface of the control unit 1 respectively. The medical image acquisition module is used to acquire the video information collected by the safety monitoring module 4 and the field of vision focal point information collected by the eye movement instrument 3; the image processing module is used to digitally process the acquired data, and mark the eye movement instrument 3 monitored operator's eye field of vision focal point information on the abdominal cavity picture acquired by the laparoscope body 2.

[0042] The laparoscope body 2 in the embodiment is the laparoscope in the prior art, which can cooperate with surgical instruments to perform laparoscopic surgery, and the eye movement instrument 3 is also a product in the prior art, which can record the eye movement trajectory, blink frequency and pupil diameter of the operator and the mirror supporting hand, and can transmit the recorded data to the control unit 1. The safety monitoring module 4 can be a monitor or a camera, which can adjust the position and can monitor the whole process of laparoscopic surgery in real time, so that the operator can refer to it and help the operator to operate. The control unit 1 can use the prior art, wherein the controller is a PLC controller, which can realize electrical connection with the laparoscope body 2, the eye movement instrument 3 and the safety monitoring module 4, and can display the whole process through the display interface. The display interface in the embodiment is a display screen or a display, which can display pictures, images or video information.

[0043] In order to make the laparoscope body 2 move flexibly and conveniently move to other positions for operation, in some embodiments, please refer to Figure 1The control unit 1 is connected to the side of the laparoscope body 2, and the bottom of the laparoscope body 2 is provided with a plurality of universal wheels 22. The laparoscope body 2 can be moved by means of the plurality of universal wheels 22, and the universal wheels 22 can rotate and brake. The number of universal wheels 22 is four and is uniformly distributed at the bottom of the laparoscope body 2. The universal wheels 22 can rotate and have a brake (which is prior art and is not shown in the figure), so that the laparoscope body 2 can be braked at a certain position for use.

[0044] In some embodiments, referring to Figures 1 to 3 The laparoscopic surgery system assisted by the eye tracker 3 and the safety monitoring module 4 further comprises an adjustable support 5 movably arranged on the ground of the operating room. The eye tracker 3 and the safety monitoring module 4 are both connected to the adjustable support 5, and the adjustable support 5 is adapted to adjust the positions of the eye tracker 3 and the safety monitoring module 4, respectively. The position of the adjustable support 5 can be flexibly moved, so as to facilitate the movement of the positions of the eye tracker 3 and the safety monitoring module 4, and to facilitate the role of assisting the surgery.

[0045] In some embodiments, referring to Figures 1 to 3 The adjustable support 5 comprises a moving part 51, a lifting part 52 and a turntable 53. The moving part 51 has a moving degree of freedom in any direction. The lifting part 52 is connected to the upper end of the moving part 51 and has a lifting degree of freedom in the vertical direction. The turntable 53 is horizontally arranged and connected to the upper end of the lifting part 52. The eye tracker 3 is slidably connected to the upper end of the turntable 53, and the safety monitoring module 4 is slidably connected to the lower end of the turntable 53. The positions of the eye tracker 3 and the safety monitoring module 4 are adjusted by means of the moving part 51, the lifting part 52 and the turntable 53, respectively. The moving part 51 can be flexibly moved, which facilitates the movement in the operating room or other places. The lifting part 52 can be adjusted in height, so as to adjust the height of the turntable 53, and the heights of the eye tracker 3 and the safety monitoring module 4 are adjusted at the same time. The eye tracker 3 and the safety monitoring module 4 are slid on the turntable 53, so as to change the positions of the eye tracker 3 and the safety monitoring module 4.

[0046] In this embodiment, the moving part 51 is moved, the lifting part 52 is adjusted in height, and the eye tracker 3 and the safety monitoring module 4 are slid on the turntable 53, so as to realize the adjusting degree of freedom in multiple directions, which is beneficial to the surgery.

[0047] In some embodiments, referring to Figures 1 to 3 The moving part 51 comprises a platform 511 and a plurality of rollers 512. The bottom end of the lifting part 52 is detachably connected to the upper end of the platform 511. The plurality of rollers 512 are uniformly connected to the bottom end of the platform 511 and are used to support the platform 511. The rollers 512 can rotate and be locked. The platform 511 is in the shape of a rectangular parallelepiped, the upper end is in the shape of a plane, and the bottom is provided with four rollers 512. The rollers 512 can support the movement of the platform 511, so as to reasonably adjust the heights of the eye tracker 3 and the safety monitoring module 4.

[0048] In some embodiments, referring to Figures 1 to 3 , the lifting part 52 comprises a telescopic column 521, a connecting rod 522 and a slide rail 523. The telescopic column 521 is vertically arranged and connected to the upper end of the moving part 51. The telescopic column 521 has a vertical telescopic freedom. One end of the connecting rod 522 is hingedly connected to the upper end of the telescopic column 521. The connecting rod 522 has a rotational freedom around the hinge with the telescopic column 521. The connecting rod 522 forms a plane in the vertical plane after rotation. The lower end of the slide rail 523 is hingedly connected to the other end of the connecting rod 522. The slide rail 523 is vertically arranged. The height of the slide rail 523 is adjusted by the telescopic column 521 and the rotation of the connecting rod 522. The turntable 53 is slidingly connected to the slide rail 523. The height of the turntable 53 can be adjusted by sliding on the slide rail 523. The telescopic column 521 is an electric telescopic column. It is electrically connected to the control unit 1 and the telescopic operation is controlled by the control unit 1. The control unit 1 is provided with control buttons that can control the telescopic column 521. The height of the eye tracker 3 and the safety monitoring module 4 can be adjusted by the telescopic column 521. The two ends of the connecting rod 522 are respectively hingedly connected to the upper end of the telescopic column 521 and the lower end of the slide rail 523. The height of the slide rail 523 can be adjusted by rotating the connecting rod 522. The two ends of the connecting rod 522 are respectively provided with a top screw that can lock the position or angle after rotation, i.e., the position after rotation of the connecting rod 522 can be locked. Under normal circumstances, the slide rail 523 is vertically arranged and the turntable 53 is horizontally arranged.

[0049] In order to realize the connection between the turntable 53 and the slide rail 523, in some embodiments, referring to Figures 1 to 3 , the slide rail 523 is slidingly connected with an upper clamping plate 54 and a lower clamping plate 55. The positions of the upper clamping plate 54 and the lower clamping plate 55 after sliding on the slide rail 523 can be locked. The distance between the upper clamping plate 54 and the lower clamping plate 55 can be adjusted. One end of the turntable 53 is located between the upper clamping plate 54 and the lower clamping plate 55 and is clamped and fixed by the upper clamping plate 54 and the lower clamping plate 55. The same end of the upper clamping plate 54 and the lower clamping plate 55 is slidingly connected with the slide rail 523. The upper clamping plate 54 and the lower clamping plate 55 are respectively provided with a locking device (which is a prior art and not shown in the figure) that can be connected with the slide rail 523 and can lock the upper clamping plate 54 and the lower clamping plate 55 on the slide rail 523. The locking device plays a role in fixing the upper clamping plate 54 and the lower clamping plate 55, and further clamps and fixes the turntable 53 and fixes the height of the turntable 53. The upper clamping plate 54 and the lower clamping plate 55 can be regarded as a sliding block. The sliding block can slide on the slide rail 523 and can be locked on the slide rail 523.

[0050] As a preferred, the lower end of the upper clamping plate 54 and the upper end of the lower clamping plate 55 are respectively provided with a non-slip pad (which is a prior art and not shown in the figure). The upper end and the lower end of the turntable 53 contact the non-slip pad. The friction between the turntable 53 and the non-slip pad is increased. In this way, the turntable 53 can be clamped and fixed. The phenomenon of the turntable 53 being skewed can be avoided. The turntable 53 is as horizontally arranged as possible.

[0051] In order to realize that the eye tracker 3 and the safety monitoring module 4 can slide on the rotating disc 53, in some embodiments, referring to Figures 1 to 3 , the rotating disc 53 is annular, and the upper end and the lower end are provided with the curved rails 56, and the eye tracker 3 and the safety monitoring module 4 are slidingly connected to the two groups of curved rails 56 and the positions after sliding can be locked. The curved rails 56 are arc-shaped or circular-arc-shaped or annular, which can be matchedly connected with the rotating disc 53, and the radius or diameter of the curved rails 56 can be matched with the radius or diameter of the rotating disc 53, so that the curved rails 56 can be stably fixed on the upper end and the lower end of the rotating disc 53.

[0052] In order to realize that the eye tracker 3 and the safety monitoring module 4 can rotate around the circumference by themselves, so as to adjust the collection direction of the surgical picture, in some embodiments, referring to Figures 2 to 3 , the rotating tables 57 are slidingly connected to the two groups of curved rails 56, one end of the rotating table 57 is slidingly connected to the curved rail 56, and the other end has a circumferential rotation degree and is defined as a rotating end, the eye tracker 3 and the safety monitoring module 4 are respectively connected to the rotating ends of the two groups of rotating tables 57, and the rotation angle of the eye tracker 3 and the safety monitoring module 4 is adjusted by means of the rotating table 57. The rotating end can rotate 360° in the plane, so as to adjust the rotation position or direction of the eye tracker 3 and the safety monitoring module 4, so as to facilitate the collection of images or the recording of videos at different positions, so as to make the operator expand the surgical field of view and reasonably control the operation, and improve the operation efficiency.

[0053] In some embodiments, referring to Figures 2 to 3 , the rotating table 57 is an electric rotating table and is electrically connected with the control unit 1, and the rotation direction and the rotation angle of the rotating end of the rotating table 57 are adjusted by means of the position control module of the control unit 1. By controlling the control unit 1, the rotation angle of the rotating table 57 can be reasonably controlled, so as to reasonably adjust the rotation direction or the rotation angle of the eye tracker 3 and the safety monitoring module 4, and assist in the operation.

[0054] The above only describes the preferred embodiments of the present application, and is not used to limit the present application, and any modification, equivalent replacement and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A laparoscopic surgical system combined with eye-tracking assistance, characterized in that, include: The control unit includes a display interface and a controller that are electrically connected to each other; The laparoscope body has an adjustable focal length lens. The laparoscope body is electrically connected to the control unit. The laparoscope body is used to perform abdominal surgery in conjunction with surgical instruments and can transmit the collected movement trajectory of the surgical instruments to the control unit. An eye tracker is electrically connected to the control unit. The eye tracker is used to record the eye movement trajectory, blink frequency, and pupil diameter of the surgeon and the mirror-holding hand, and can transmit the recorded data to the control unit. The medical imaging system has an image processing module, which is electrically connected to the control unit and the eye tracker, respectively. It is used to receive intra-abdominal image information and the surgeon's visual focus during the operation, and to mark the surgeon's visual focus on the intra-abdominal image and display it through the display interface. A safety monitoring module is electrically connected to the control unit and is used to collect and record information on the surgical procedure. The monitoring position of the safety monitoring module is adjustable. The display interface is adapted to display the patient's abdominal cavity image during the operation, the eye movement information of the surgeon and the person holding the scope, and the collected images of the surgical process. The control unit has a position control module adapted to control the position adjustment of the safety monitoring module.

2. The laparoscopic surgical system combined with eye tracker assistance as described in claim 1, characterized in that, The control unit is connected to the side of the laparoscope body. The bottom of the laparoscope body is provided with multiple casters. The laparoscope body can move its position with the help of the multiple casters. The casters can rotate and brake.

3. The laparoscopic surgical system combined with eye tracker assistance as described in claim 1, characterized in that, Laparoscopic surgical systems combined with eye-tracking also include: An adjustable bracket is movable and set on the operating room floor. The eye tracker and the safety monitoring module are both connected to the adjustable bracket, which is adapted to adjust the positions of the eye tracker and the safety monitoring module respectively.

4. The laparoscopic surgical system combined with eye tracker assistance as described in claim 3, characterized in that, The adjustable bracket includes: The moving part has a degree of freedom to move in any direction; A lifting part is connected to the upper end of the moving part, and the lifting part has a vertical degree of freedom to move up and down; The turntable is horizontally positioned and one end is connected to the upper end of the lifting unit. The eye tracker is slidably connected to the upper end of the turntable, and the safety monitoring module is slidably connected to the lower end of the turntable. The positions of the eye tracker and the safety monitoring module are adjusted by means of the moving unit, the lifting unit, and the turntable, respectively.

5. The laparoscopic surgical system combined with eye tracker assistance as described in claim 4, characterized in that, The moving part includes: The platform, wherein the bottom end of the lifting unit is detachably connected to the upper end of the platform; Multiple rollers are evenly distributed and connected to the bottom of the platform. The multiple rollers are used to support the platform, and the rollers can rotate and lock.

6. The laparoscopic surgical system combined with eye tracker assistance as described in claim 4, characterized in that, The lifting unit includes: The telescopic column is vertically arranged, with its bottom end connected to the upper end of the moving part. The telescopic column has a degree of freedom to extend and retract vertically. A connecting rod, one end of which is hinged to the upper end of the telescopic column, has a degree of freedom of rotation about the hinge point with the telescopic column, and after the connecting rod rotates, it forms a plane in the vertical plane; The slide rail is hinged at its lower end to the other end of the connecting rod. The slide rail is vertically arranged, and its height is adjusted by the extension and retraction of the telescopic column and the rotation of the connecting rod. The turntable is slidably connected to the slide rail, and its height can be adjusted by sliding on the slide rail.

7. A laparoscopic surgical system combined with an eye tracker as described in claim 6, characterized in that, The slide rail is slidably connected to an upper clamping plate and a lower clamping plate. The positions of the upper clamping plate and the lower clamping plate after sliding on the slide rail can be locked. The distance between the upper clamping plate and the lower clamping plate can be adjusted. One end of the turntable is located between the upper clamping plate and the lower clamping plate and is clamped and fixed by the upper clamping plate and the lower clamping plate.

8. A laparoscopic surgical system combined with an eye tracker as described in claim 4, characterized in that, The turntable is circular, with curved rails at both the upper and lower ends. The eye tracker and the safety monitoring module are slidably connected to the two sets of curved rails, and their positions can be locked after sliding.

9. A laparoscopic surgical system combined with an eye tracker as described in claim 8, characterized in that, A rotary table is slidably connected to each of the two sets of curved rails. One end of the rotary table is slidably connected to the curved rail, and the other end has a circumferential rotational degree of freedom and is defined as the rotation end. The eye tracker and the safety monitoring module are respectively connected to the rotation ends of the two sets of rotary tables. The rotation angles of the eye tracker and the safety monitoring module are adjusted by means of the rotary table.

10. A laparoscopic surgical system combined with an eye tracker as described in claim 9, characterized in that, The rotary table is an electric rotary table and is electrically connected to the control unit. The rotation direction and rotation angle of the rotating end of the rotary table are adjusted by the position control module of the control unit.

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