1059 results about "Invasive surgery" patented technology

The invention relates to the technical field of image processing, and discloses an AR technology-based precise positioning method and system for minimally invasive surgery of hepatobiliary surgery. The method comprises the steps that blood vessel network data are extracted through a medical image sequence, a three-dimensional structure diagram is generated, operation target points are marked, and a coordinate system is established; collecting dynamic data for mapping matching, and establishing a real-time tracking model; constructing an augmented reality scene and implanting a navigation path; acquiring an instrument position calculation track, and comparing with a navigation map to generate an instruction; constructing a projection interface to display the key area; recording the whole process and evaluating the operation quality. By establishing the real-time tissue deformation tracking model, a multi-source data fusion accurate positioning mechanism and an intelligent operation quality evaluation system, the accuracy and reliability of operation navigation are effectively improved.

An end effector state estimation system for use in minimally invasive surgery (MIS) applications performs sensing and prediction algorithms to determine and visualize the state of an implantable therapeutic device during deployment. The end effector state estimation system includes a flexible elongate member, a therapeutic device coupled to a distal portion of the flexible elongate member, a sensor that measures at least one parameter related to the deployment state of the therapeutic device, and a processor. The processor receives image data from an imaging system representative of the therapeutic device positioned within the body cavity of the patient and the at least one parameter from the sensor, determines the deployment state of the therapeutic device based on the image data and the at least one parameter, outputs a graphical representation of the deployment state of the therapeutic device.

The invention relates to the technical field of brain surgery, in particular to a construction method based on a craniocerebral tumor minimally invasive surgery risk assessment model. The method comprises the following steps: acquiring craniocerebral tumor minimally invasive surgery clinical data, including patient iconography data, surgery record data, postoperative complication data and patient basic data; performing data cleaning on the surgical clinical data, and performing standardization processing to unify a data format so as to obtain a standardized clinical data set; and extracting the size, position and shape of the tumor and the relationship between the tumor and surrounding tissues from the standardized clinical data set, and generating a tumor space structure model by using a three-dimensional reconstruction technology. According to the method, main factors influencing the surgical risk are identified through a statistical analysis method, including the contribution degree of each feature to the surgical risk and the interaction between the features, and it is ensured that the evaluation process is more objective and accurate.

The invention relates to the technical field of computer vision, and discloses a text interactive minimally invasive surgery instrument segmentation method and system, and the method comprises the steps: generating the text prompt information of an instrument, and carrying out the feature extraction of a surgery image and the text prompt information based on a vision-language large model; the visual features are strengthened and refined according to the text features, and mask probability graphs corresponding to various instruments are generated; performing weighted fusion on a plurality of mask probability graphs corresponding to different text prompt information of the same instrument category; a difficult segmentation area is obtained by analyzing the corresponding relation between the fusion mask probability graph and a preset label, the difficult segmentation area in the operation image is masked and then input into a preset image encoder, and a corresponding decoder is added to execute image reconstruction. According to the method, flexible and accurate mask segmentation prediction can be carried out on different surgical instruments on the input surgical image, and the limitation that an existing method is low in segmentation precision, poor in generalization ability and fixed in prediction category is broken through.

The invention discloses a simulation training method and system for a minimally invasive surgery in the obstetrics and gynecology department, and relates to the technical field of virtual reality, and the method comprises the following steps: obtaining related medical data on a patient in the obstetrics and gynecology department, and carrying out the preprocessing of a medical image; the processed two-dimensional image is converted into a three-dimensional model, an operation scene is constructed, and the anatomical model of the patient in the obstetrics and gynecology department and the scene are fused; generating a plurality of operation planning schemes, calculating an operation difficulty coefficient Nd of each operation scheme, and determining an optimal operation scheme according to the size of the operation difficulty coefficient Nd; establishing an interactive interface between the doctor and the virtual operation scene, and recording various indexes of the doctor in the simulated operation process; after the simulated operation is finished, the operation is analyzed, an operation analysis report is generated, and the simulated operation is evaluated and optimized; through virtual reality minimally invasive surgery simulation, the misoperation risk in a real surgery can be reduced, so that the operation error rate in the surgery is reduced.

The invention relates to the technical field of image processing, and discloses a surgical minimally invasive surgery data processing method and system based on an AR technology. The method comprises the following steps: performing three-dimensional reconstruction and lesion segmentation on medical image data, and extracting feature points; performing position acquisition and space mapping on the surgical instrument by using the feature point data; reconstructing a light field according to the feature points and the position data and generating an augmented reality scene; performing trajectory analysis and path planning based on augmented reality; performing real-time monitoring and risk early warning on the operation path; and finally, extracting an operation rule and establishing a knowledge mapping relation. According to the method, association analysis and fusion processing of multi-source heterogeneous data in the operation process are achieved, a complete technical link from data collection to knowledge extraction is established, and the operation safety and the intelligent level are improved.

The invention relates to the technical field of medical instruments, in particular to a bendable minimally invasive surgery electric hook with a smoke suction function. Comprising a smoke suction pipe, a handle assembly, an electrode pipe, a multi-stage bending assembly and an electric hook. The smoke suction pipe is fixedly connected to an outer smoke suction pipe of the handle assembly, an adjusting part is movably connected to the end of the handle assembly, the electrode pipe is arranged on the adjusting part in a penetrating mode and fixedly arranged in the handle assembly, and a control module is arranged in the handle assembly and electrically connected with the electrode pipe; the multi-stage bending assembly is fixedly arranged at the end of the electrode tube, a movable part is further arranged in the electrode tube and fixedly connected with the steel wire set, and the electric hook is fixedly arranged at the end of the extending end of the electrode tube and extends out. The adjusting piece is controlled to drive the movable piece to move in the electrode tube, and then the steel wire set is driven to pull the multi-stage bending assembly to conduct bending movement. The bending electric hook can integrate a real-time smoke suction function in a flexible bending scene, and the cooperation problem of bending operation and smoke removal in minimally invasive surgery is solved.

The invention relates to the technical field of medical instruments, and discloses a minimally invasive surgery system based on artificial intelligence. Comprising a target identification and positioning module, a multi-mode sensing module, a self-adaptive control module, a man-machine interaction module and a scene adaptation module. The target recognition and positioning module positions an operation target in real time through image recognition and a deep learning algorithm; the multi-mode sensing module collects the stress and movement track of an instrument and physiological signals of a patient. The self-adaptive control module adjusts movement parameters of the instrument according to the data; the man-machine interaction module displays data and provides an operation interface; the scene adaptation module adjusts the instrument form and function according to the operation type. In addition, the system also comprises an operational stability evaluation module, an instrument life prediction module and a biological signal fusion module. The system can achieve precise positioning, real-time monitoring and intelligent control, and the precision, safety and operation convenience of minimally invasive surgery are improved.

The invention relates to the technical field of optical localization, in particular to an optical localization feedback control system in a minimally invasive surgery of bile adipoma. The system comprises the following steps: an image optimization module is used for scanning a full-band optical image in an operation cavity, performing adaptive contrast optimization and constructing a spectrum optimization image; the focus positioning module is used for performing accurate focus positioning on the spectrum optimization image and extracting a focus optical contour; the three-dimensional reconstruction module is used for performing structural feature point identification and three-dimensional reconstruction on the spectrum optimization image to construct a three-dimensional structure model; and the visual error compensation module is used for performing multi-angle optical ranging and stereoscopic visual error compensation on the optical contour of the focus to obtain a three-dimensional compensation positioning coordinate. According to the invention, through real-time accurate position positioning, the instrument response speed and the tissue identification precision are improved.

A bleeding point positioning and tracking method, system, device and medium for minimally invasive surgery relates to the technical field of image processing, and comprises the following steps: obtaining a surgery video frame sequence, performing preprocessing and preliminary coding, and generating an initial spatial-temporal feature map; extracting spatio-temporal features with different resolutions in the initial spatio-temporal feature map by adopting a neural network to form a multi-scale feature map; a BLAZEN model is constructed, and based on the multi-scale feature map, an enhanced feature map is generated by using a multi-scale feature fusion method, a cross attention mechanism, a feature alignment method and a feature fusion method and is used for accurately positioning potential hemorrhagic spots; an HSN model is constructed, different weights are given to multiple scale features in the enhanced feature map, fusion calculation is carried out, and a high-quality feature map is obtained; a high-quality feature map is utilized to position and track bleeding points; and a bleeding point in the operation process can be positioned and tracked.

The invention provides a robot motion parameter determination method and device based on a puncture needle bending model, and relates to the technical field of minimally invasive surgery robots. The method comprises the steps that a puncture needle is used for puncturing a soft tissue simulation body, a medical image of the puncture needle is detected in real time, bending feature points of the puncture needle are obtained, and a bending model is established based on the obtained bending feature points; determining a conversion relation among a robot coordinate system, an image coordinate system and a bending coordinate system through calibration; and based on the puncture needle bending model, solving a forward kinematics model or an inverse kinematics model of the robot, and determining motion parameters of the robot. The problem that the puncture needle deviates from the preset track due to bending of the puncture needle in the puncture process can be solved, and the puncture accuracy is improved.

The invention discloses a foreign body mesh basket and a medical device for taking out foreign bodies in minimally invasive surgery, and relates to the technical field of medical instruments. The foreign matter mesh basket comprises a fixing ring, a plurality of traction wires and a woven mesh body. One end of each traction wire is connected to the opening end of the woven mesh body, and the other end is connected with the fixing ring; the woven mesh body comprises a first circular-truncated-cone-shaped mesh part and a second circular-truncated-cone-shaped mesh part which are in a double-circular-truncated-cone shape, the first bottom face forms an opening end, the second bottom face and the third bottom face are communicated and located on the same plane, the area of the second bottom face is larger than that of the third bottom face, and the second bottom face and the third bottom face are connected through the circular-ring-shaped mesh part. The plane where the circular ring net-shaped part is located is perpendicular to the axis of the woven net body, and the fourth bottom face is a closed net-shaped face. The foreign matter picking efficiency of the foreign matter net basket is improved, meanwhile, it is guaranteed that flowing of liquid in the lumen of the human body is not affected, and the operation safety is improved.

The invention discloses a thoracoscope minimally invasive cardiac surgery navigation system based on multi-modal image fusion, and the system comprises the steps: constructing a 5D heart digital twin containing an anatomical structure, a soft tissue boundary, metabolic activity and electrophysiological information through fusing preoperative CT, MRI, PET and intraoperative ultrasonic images; real-time dynamic registration is realized by using an electrocardio gating driven biomechanical model; superposing the multi-color coding navigation information to the visual field of the thoracoscope through a wavelength selection type spectroscope; a dynamic risk scoring model is constructed based on the distance, the speed and the tissue vulnerability, and three-level grading intervention is triggered; a miniature force feedback actuator is integrated to realize closed-loop control; and pre-operation virtual drilling and post-operation federal learning optimization are supported. The system remarkably improves the surgical precision and safety, and is suitable for high-difficulty heart minimally invasive surgeries such as mitral valve repair and atrial fibrillation ablation.

The invention discloses a tail end instrument for minimally invasive surgery, and relates to the technical field of surgical robots. A bearing groove is formed in the top of the bottom base, two wrapping posts are arranged at a port of the bottom base, threading holes are machined in the bottom face of the groove and the bottom ends of the outer sides of the wrapping posts respectively, two connecting arms at the bottom of the middle connecting piece are fixedly connected with the bottom base, and forward and reverse spiral wire grooves are machined in the side wall of a rotating shaft part of the top rotating piece and rotationally connected with the bottom base and the middle connecting piece. A threading hole is machined in the bottom face of an inner cavity, a sliding block is assembled in the inner cavity of the barrel-shaped part, two rope threading channels are machined, a clamp is installed at the top ends of the two supporting arms through a pin shaft, a wire guide wheel is arranged between the two supporting arms, the bottom ends of clamp arms are hinged to the sliding block through a transmission connecting rod, and two driving ropes control opening and closing of the clamp and rotation of a top rotating piece. Only two driving ropes are adopted, one driving rope achieves opening and closing actions of the clamp at the same time, the other driving rope controls the shaft rotation action, and the structural complexity and the operation difficulty of a tail end instrument are reduced.

The invention discloses a surgical tool system based on a flexible arm and a minimally invasive surgical robot, the surgical tool system comprises a flexible arm sleeve assembly and a manual driving mechanism, a distal end of the sleeve assembly is provided with a tip, the tip is at least integrated with a surgical tool and an endoscope camera, and the proximal end of the sleeve assembly is connected with the manual driving mechanism; a regulating cable for controlling the tail end of the surgical tool to move is arranged in the sleeve assembly in a penetrating manner, and the near end of the regulating cable is connected with the manual driving mechanism; a rotating module, a push-pull module and a regulation and control cable control module are arranged in the manual driving mechanism, the rotating module is used for achieving overall rotation of the cannula assembly, the push-pull module is used for achieving bending of the far end of the cannula assembly, and the regulation and control cable control module is used for tensioning / loosening a regulation and control cable to achieve opening and closing of the tail end of the surgical tool. According to the minimally invasive surgery robot, the surgical tool can rotate, bend and open and close the tail end under the control of the manual driving mechanism, the minimally invasive surgery operation requirement is met, the minimally invasive surgery robot has multiple degrees of freedom, and the surgical tool can conveniently reach a deeper surgery area.

The invention discloses a surgical operation assessment method and system based on multi-modal characterization and causal reasoning, relates to the technical field of artificial intelligence, and deeply studies surgical skill analysis and assessment based on deep learning on a common surgical scene. From two perspectives of data and an algorithm framework, two core contents are provided to improve the evaluation performance of surgical skills. Firstly, several new technologies are developed, and observation data, including videos, tracks and languages, of three different modes can be provided in a common minimally invasive surgery. On the basis, a cross-modal contrast learning strategy is designed, and discriminative features can be learned from data of three different modalities. And secondly, a unified framework for performing operation action recognition and skill evaluation in a combined manner is provided, and a prediction structure based on causal reasoning is designed to perform modeling on the causal relationship between the two tasks, so that action recognition and skill evaluation with higher performance are realized.

Systems and methods for eye tracking and content tagging in minimally invasive surgical videos are described herein. Minimally invasive surgical videos may be captured while performing robotic surgeries. Robotic surgical systems described herein include robotic arms with interchangeable surgical tools. An endoscope at the end of one of the robotic arms captures video of the surgical procedure. The video is displayed on a display of the surgical system and an eye tracking device captures data corresponding to a gaze direction of the user on the display. Content tags are automatically generated in the image data based on areas of focus of the user. Information within the content tag may be generated based on surgical procedure steps derived from the image data, a log of current surgical procedures, and image data of previous surgical procedures.

The invention discloses a similar surgery picture retrieval method, system and equipment for minimally invasive surgery based on deep learning and a medium, and relates to the technical field of image processing. Respectively extracting original image features in the preprocessed video stream and original text features in the preprocessed text content; performing interactive fusion on the original image features and the original text features by adopting a feature fusion module; using a feature codebook module to map the fusion feature into a codebook vector; a mapping feature decoding module is adopted to decompose the codebook vector into compressed image features and compressed text features, finally, the compressed image features are decoded into similar images, and the compressed text features are decoded into text descriptions corresponding to the similar images; and the operation picture can be quickly and accurately retrieved.

The invention relates to the technical field of pelvic minimally invasive surgeries, and particularly discloses a device for establishing a pelvic crista iliaca external fixation frame screw channel, which comprises a sleeve I and a sleeve II sleeved on the inner side of the sleeve I. A conical tip and a probe with a blunt bottom are further arranged in the sleeve I. The probe is slidably sleeved on the conical tip. The side wall of the probe is in sliding contact with the inner side wall of the sleeve II; the top of the conical tip is fixedly provided with a hand cone, the hand cone is sleeved with a first annular shell in a sliding and sealing mode, the outer side wall of the first annular shell is fixedly sleeved with a second annular shell, and the outer side wall of the second annular shell is in sliding contact with the inner side wall of the first sleeve; a plurality of through holes are formed in the side wall, close to the bottom, of the first annular shell. According to the device, the conical tip, the probe and the sleeve are integrally designed, meanwhile, on the operation level, medical staff only need to continuously push the handle downwards and finally hold the handle to pull out the handle, a pelvic crista iliaca external fixation screw channel can be established, and the efficiency of establishing the screw channel is greatly improved.

The utility model relates to the technical field of medical instruments, in particular to a power switching mechanism and a rotary cutter which are used for doing reciprocating rotation motion, the power switching mechanism is used for installing a cutter assembly and providing power for the cutter assembly, and an inner cutter tube can do reciprocating rotation motion in an outer cutter tube. The power switching mechanism comprises a reciprocating moving sleeve, a reciprocating driving assembly, a connecting main shaft and a power transmission assembly. The reciprocating moving sleeve is used for being fixedly connected with the inner knife tube. The reciprocating driving assembly is used for driving the reciprocating moving sleeve to reciprocate. And the connecting main shaft is used for driving the reciprocating sleeve to rotate. The power transmission assembly comprises a power input assembly, a rotation driving assembly and a reciprocating transmission assembly, the rotation driving assembly is used for driving the connecting main shaft to rotate, and the reciprocating transmission assembly is used for driving the reciprocating driving assembly to rotate. The power switching mechanism is simple in structure, all the structures are tightly matched, and the effect and efficiency of minimally invasive surgery can be effectively improved to a certain degree.

A system, includes a first screw mechanism including: a first block; a first screw threaded through the first block and including a first skin-interfacing portion; and an intramedullary (IM) member extending from and attached to the first block and including an end portion configured to be inserted into an intramedullary canal of a first bone fragment, wherein a first lateral force is generated between the first skin-interfacing portion against a second bone fragment, adjacent to the first bone fragment, and a holding force provided by the end portion when the first screw is rotated and the end portion is located in the intramedullary canal.

The invention relates to an AI image navigation method, device and equipment for prostatic hyperplasia minimally invasive surgery and a medium thereof. The method comprises the following steps: acquiring a prostate three-dimensional image and an intraoperative real-time image sequence, and fusing the three-dimensional image after preliminary filtering to obtain an optimized and enhanced image; based on the enhanced image and the preoperative three-dimensional image, a three-dimensional offset vector is obtained through a multi-modal registration algorithm combined with an anatomical structure reference, and optimized prostate three-dimensional attitude data is generated in combination with anatomical constraints; combining the attitude data and the three-dimensional image, determining boundary area distribution characteristics, calculating a risk assessment value, mapping a risk level, and generating a path correction instruction to obtain an instrument navigation path if the risk level exceeds a threshold value; and based on the navigation path, constructing a clinical recovery model in combination with the anatomical structure, generating postoperative recovery index simulation data, and performing adjustment and verification until preset requirements are met to obtain a final operation execution scheme. According to the method, precision and individuation of surgical navigation are achieved, and comprehensive technical support is provided for precise implementation of minimally invasive surgery.

The invention relates to the technical field of bone implants for minimally invasive surgery, and particularly discloses an implant for percutaneous minimally invasive thoracolumbar vertebral fracture, which comprises a vertebral body forming body, the vertebral body forming body comprises a vertebral body forming body head and a plurality of blade parts arranged at the rear end of the vertebral body forming body head in a surrounding manner, the vertebral body forming body head is provided with a needle guide hole penetrating along the axial direction, and the needle guide hole is communicated with the blade parts; a containing cavity is defined by the blade parts; the front end of the threaded guide rod and the head of the cone forming body are integrally formed, the needle guide hole penetrates through the threaded guide rod in the axial direction, and the rear end of the threaded guide rod extends out of the containing cavity; the pedicle screw is provided with a threaded hole penetrating in the axial direction, the threaded hole is in threaded connection with the threaded guide rod, the pedicle screw comprises a screw head and a threaded part arranged at the rear end of the screw head, and the screw head is arranged in the containing cavity and expands the blade part. According to the implant for the percutaneous minimally invasive thoracolumbar vertebral fracture, surgical wounds are reduced, the vertebral restoration effect is good, the stability of a vertebral formed body is guaranteed, and the surgical time can be saved.

The invention provides an instrument force feedback and man-machine cooperative control method and system for minimally invasive surgery, and relates to the technical field of man-machine collaboration.The instrument force feedback and man-machine cooperative control method comprises the steps that a force sensor arranged at the tail end of a minimally invasive surgery instrument is used for collecting three-dimensional torque data, and the surgical operation safety state is recognized through a mixed deep learning model; and when risks exist, early warning is triggered, an active constraint mechanism is started, and real-time correction is carried out through reverse force feedback generated by a robot auxiliary system. A safety force domain range is calculated according to the torque data change, and trajectory optimization and acting force adjustment of the surgical instrument are achieved. The safety and accuracy of the minimally invasive surgery can be effectively guaranteed, and the medical risk is reduced.

The invention relates to the technical field of biomedical engineering, and discloses a tumor minimally invasive surgery risk assessment model construction method and system, and the method comprises the steps: recognizing a potential failure mode of a tumor minimally invasive surgery through employing an intra-operative video image and operation process data; calculating a risk priority index of the potential failure mode in the tumor minimally invasive surgery so as to determine a high-risk failure mode of the tumor minimally invasive surgery; setting a grading risk management layer of the tumor minimally invasive surgery by using the risk score and the high-risk failure mode of the patient in the tumor minimally invasive surgery; a failure correlation analysis network of the patient in the tumor minimally invasive surgery is constructed, and a risk prompt unit of the tumor minimally invasive surgery is generated; and constructing a risk assessment model of the tumor minimally invasive surgery in combination with a risk prompt unit, a hierarchical risk management layer and a failure association analysis network. According to the method, the high-risk failure mode can be accurately positioned, and the accuracy and comprehensiveness of model risk assessment are improved.

The invention belongs to the field of interbody fusion cages in medical instruments, and particularly discloses an expansion type interbody fusion cage applied to minimally invasive spine surgery, which comprises a front-end extrusion block, an internal thread column is connected to the rear part of the front-end extrusion block, and the upper and lower surfaces of the front-end extrusion block are in contact with the inner sides of the front ends of an upper support plate and a lower support plate respectively; upper side edge plates are hinged to the two sides of the upper supporting plate, lower side edge plates are hinged to the two sides of the lower supporting plate, a limiting block is installed on the lower supporting plate, a connecting sliding block is installed below the upper supporting plate, and rear end extrusion blocks which are the same as the front end extrusion blocks in shape and symmetrical in position are installed on the inner sides of the rear ends of the upper supporting plate and the lower supporting plate. An adjusting hole is formed in the center of the rear end extrusion block, a hexagon socket screw is installed in the adjusting hole, a sliding hole is formed in the upper supporting plate, and an oblique nail is installed in the sliding hole. The contact area between the fusion cage and the intervertebral space can be increased, the stability of the fusion cage is improved, and the purposes of recovering the intervertebral space height and expanding the intervertebral foramen are achieved.

The invention relates to the technical field of medical instruments, and discloses an interventional ultrasound method and system for minimally invasive surgery, and the method comprises the steps: obtaining ultrasound image data and operation state parameters; a three-dimensional ultrasonic image model is constructed through multi-layer scanning, and an initial tissue feature evaluation model is analyzed and generated; dynamic blood vessel data and operation constraint conditions are loaded, a comprehensive evaluation model is generated, and puncture point dynamic simulation is carried out; constructing a dynamic blood vessel prediction model, training to obtain a puncture point adjustment model, and generating initial adjustment parameters; obtaining dynamic adjustment simulation information based on the parameters and the model; constructing a multi-path optimization model, and carrying out iterative optimization to obtain an optimal path planning parameter; the safety puncture probability is inferred in combination with real-time images, and a real-time puncture strategy is adjusted to achieve dynamic matching. The system comprises a data acquisition module, an image modeling and analysis module and the like. The safety and accuracy of minimally invasive surgery puncture are improved, and the method is suitable for interventional ultrasound guided minimally invasive surgery scenes.

The improved structure of the tip head of the endoscope comprises a tip head body, a camera module and an instrument channel tube, the tip head body is provided with a camera shooting channel hole and an instrument channel hole which extend in the front-back direction of the tip head body, and the tip head body is further provided with a front end extension part corresponding to the camera shooting channel hole. The camera module is arranged on the front end extension part and is located at the front end opening of the camera channel hole; the front end of the instrument channel pipe is arranged in the instrument channel hole in a penetrating mode, an opening in the front end of the instrument channel pipe and the camera shooting module are completely staggered in the front-back direction of the tip head body, and the opening in the front end of the instrument channel hole is obliquely formed in the mode of deviating from the camera shooting channel hole. The insertion tube assembly provided by the embodiment of the utility model comprises an endoscope tip head improvement structure. The endoscope device provided by the embodiment of the utility model comprises an insertion tube assembly. According to the endoscope tip improved structure, the insertion tube assembly and the endoscope device, the endoscope tip improved structure, the insertion tube assembly and the endoscope device can enter smaller natural cavities or wound channels easily, and minimally invasive surgery is achieved.

Described here are systems, devices, and methods useful for minimally invasive surgical procedures performed by a single operator. A robotic surgery system may include a robotic arm having a coupling mechanism for releasably coupling to an end effector connector. Methods for removably coupling the robotic surgery system may include coupling the end effector connector to the coupling mechanism, actuating the coupling mechanism to release the end effector connector, and receiving the end effector connector. The coupling, actuating, and receiving may be performed with a single hand of an operator. Additionally, devices for performing minimally invasive surgery may include a robotic arm input device having independently controllable foot-actuated switches. Methods for using the input device may include receiving a robotic arm control signal based on single-footed operation of the input device and controlling a movement of the robotic arm accordingly.

The invention belongs to the technical field of medical robots and minimally invasive surgery, and provides a robot control system and method for blue laser vaporization surgery of prostatic hyperplasia. Mapping the nuclear magnetic image volume data to a deformation field under an ultrasonic acquisition coordinate system, and deforming the preoperative nuclear magnetic image to an intra-operative ultrasonic space by using the deformation field to complete image registration; fusing the registered image with a stereoscopic vision system; the spatial depth of the surface of the target tissue is obtained from the endoscopic image so as to supplement navigation information; according to the utility model, the prostate deformation and probe posture change adaptive capacity in an operation is improved, the real-time visual closed-loop regulation and control capacity is improved, and the characteristics of small light spots, shallow heat diffusion, excellent hemostasis and the like of blue laser are combined, so that the vaporization and hemostasis precision in a tiny blood vessel dense area is ensured, and the problems of large tissue trauma and the like are avoided.