120 results about "Microsurgery" patented technology

A method for enhancing digital images during an eye surgery includes producing warm white light via a lighting source by blocking blue and green wavelengths of light using an excitation filter. The method includes illuminating a pupil and iris of the eye with the warm white light during the eye surgery and collecting digital images of target anatomy using a digital camera. Within the images, a processor digitally isolates a pupil pixel region from an iris pixel region and adjusts a characteristic of constituent pixels of one of the regions. The method may be performed by executing instructions from a computer-readable storage medium to enhance a red reflex at predetermined stages of an eye surgery.

The invention relates to the technical field of medical apparatuses and instruments, and provides a hand-simulated microsurgery robot which comprises a mechanical arm and a far-end instrument, the far-end instrument comprises a first mounting seat, a driving device and two oppositely-arranged clamping jaws, the first mounting seat is mounted at the execution tail end of the mechanical arm, and the clamping jaws and the driving device are mounted on the first mounting seat. The driving device is in driving connection with at least one clamping jaw and is used for driving the clamping jaw to move relative to the first mounting seat, so that the two clamping jaws can relatively move in the first direction, the second direction and the third direction; the two clamping jaws move relatively in the third direction so that the two clamping jaws can be opened and closed mutually, and included angles are formed between the first direction, the second direction and the third direction. The far-end instrument of the humanoid hand microsurgery robot is easy to machine, the posture of a clamped object can be adjusted only through the two clamping jaws, the surgery time consumed for posture adjustment is shortened, and the surgery efficiency is improved.

A flexible rod-driven miniature six-degree-of-freedom minimally invasive manipulator and a use method therefor. The manipulator comprises five feeding units. Four of the five feeding units form a driving part of a four-degree-of-freedom plane guiding and positioning module, and the remaining feeding unit serves as a fifth feeding unit for pushing and pulling an operation tool to operate in a Z-axis direction. A sixth rotating unit capable of achieving rotation of the operation tool in the Z-axis direction is mounted at an output end of the fifth feeding unit. An output end of the sixth rotating unit is connected, by means of a flexible transmission rod, to the operation tool penetrating through the four-degree-of-freedom plane guiding and positioning module. The operation tool can achieve translation in an X-axis direction and a Y-axis direction and bidirectional deflection around an X axis and a Y axis separately under the action of the four-degree-of-freedom plane guiding and positioning module. Provided is a simplified six-degree-of-freedom manipulator that is lightweight, has enough output force and precision, and can achieve tasks such as drilling, puncture, and medicine injection of a microsurgery.

The utility model discloses a laser laryngeal microsurgical instrument which comprises a laryngeal handle, a laser laryngeal microsurgical instrument body and a control device. The hollow guide tube is installed on the laryngeal handle, and the length of the hollow guide tube ranges from 25 cm to 30 cm. The length of the hollow guide tube is set to be 25-30 cm, in the actual operation process, a doctor can conduct the self-retaining laryngoscope operation in a relatively comfortable posture, in the long-time working process, the hands of the doctor are not prone to fatigue, the self-retaining laryngoscope guide tube can be more suitable for the self-retaining laryngoscope operation, and the operation completion quality can be improved to a great extent.

The invention relates to the technical field of medical equipment, in particular to a short and small penis therapeutic apparatus with a heating function. Comprising a mounting cylinder, a fixing frame, a treatment cylinder, a fixing assembly, a negative pressure pump, a connecting pipe, a first fixing ring, an elastic piece, a moving plate, a second fixing ring and the like. A fixing frame is arranged on the mounting cylinder, a treatment cylinder is slidably arranged on the fixing frame, a fixing assembly is arranged between the fixing frame and the treatment cylinder, a connecting pipe is arranged on the mounting cylinder, the connecting pipe is connected with a negative pressure pump, a first fixing ring and a second fixing ring are fixed in the mounting cylinder, an elastic piece is connected to the first fixing ring, and the elastic piece is connected with a moving plate. The moving plate is attached to the inner wall of the mounting cylinder. Negative pressure is generated through the negative pressure pump, so that a stable negative pressure environment is formed in the treatment cylinder, a mild suction effect is applied to the penis, local blood circulation can be promoted, tissue oxygen supply can be improved, and penis development can be assisted; and the heating wire can heat the treatment cylinder, so that the treatment cylinder is kept at a proper temperature.

The micro negative pressure adjustable drainage apparatus comprises a collecting bottle, a liquid inlet pipe is fixedly installed at the top end of the collecting bottle, a connecting hose is fixedly installed at the top end of the liquid inlet pipe, and a pressure adjusting assembly for adjusting pressure is arranged on the periphery of the connecting hose. The pressure adjusting assembly comprises a connecting shell penetrating through the connecting hose, through holes symmetrically formed in the two ends of the connecting shell and an adjusting sleeve fixedly installed at the top end of the connecting shell, a pressing rod for pressing the connecting hose is slidably connected into the adjusting sleeve, and flanges are symmetrically and fixedly arranged on the periphery of the adjusting sleeve. Limiting slots are uniformly formed in one side, close to the flange, of one end of the pressing rod; through the pressure adjusting assembly, the flow ruler diameter of the connecting hose can be conveniently and rapidly adjusted according to the condition of a patient, the situation that the wound of the patient is cracked again due to the fact that the connecting hose cannot be adjusted during drainage and the pressure is too large is reduced, and the use safety is improved.

The utility model discloses a radiofrequency ablation electrode for infant laryngeal airway microsurgery, and belongs to the technical field of radiofrequency ablation electrodes, the radiofrequency ablation electrode for infant laryngeal airway microsurgery comprises a handle shell, a telescopic mechanism is arranged in the handle shell, the interior of the telescopic mechanism is fixedly connected with a sleeve, and the sleeve is fixedly connected with the handle shell. An electrode stem and a smoke tube are arranged in the sleeve, the other end of the smoke tube is connected with a hose, and the other end of the electrode stem is fixedly connected with an electrode needle. The telescopic mechanism is designed to control the electrode rod to stretch out and draw back, the electrode needle head is designed to be bent, a doctor can conveniently observe and position a target spot during an operation, the smoke tube is designed to solve the problem of mist generated during tissue electric resection during the operation, the mist generated during the operation is sucked away through the smoke tube by being connected with a negative pressure tube of a hospital, and the operation is convenient. The interference of smoke on the sight of a doctor is avoided, the use is very convenient, and medical personnel can be helped to perform an operation better.

The present invention provides an access device for accessing an intervertebral disc having an outer shroud including an access shroud having a larger diameter (approximately 16 mm to 30 mm) from the skin down to the facet joint line and an inner shroud having a second smaller diameter (approximately 5 mm to 12 mm) extending through the access shroud and down to the level of the intervertebral disc. This combines the advantages of a direct visual microsurgery / small incision approach and a percutaneous "super-MIS" technique.

The utility model discloses a blood wiping device for ophthalmologic operation, which comprises a suction head, a first cavity is arranged in the suction head, and a plurality of liquid suction holes communicated to the first cavity are arranged on the surface of the suction head; a second cavity is formed in the connecting pipe; a third cavity is formed in the deformation pressing bag, is made of an elastic material, and can shrink and deform under the extrusion effect and recover after the extrusion effect disappears, so that the third cavity can synchronously shrink or recover; and the first cavity, the second cavity and the third cavity are communicated in sequence. Compared with a cotton fiber mode, fibers and chippings cannot fall off, and postoperative foreign matter inflammatory response is avoided; the device does not need to be frequently replaced in the operation, and time can be saved; the surface of the suction head is smooth, the shape is regular, and interference to eye microsurgery operation is avoided.

The bipolar dripping electric coagulation forceps comprise an electrode holder and two electric coagulation forceps rods capable of forming a forceps structure, and the tail ends of the two electric coagulation forceps rods are symmetrical to each other and fixedly connected to the electrode holder. Each electric coagulation forceps rod comprises a metal core rod and an insulating handle sleeve wrapping the outer surface of the core rod, the front end of the core rod extends out of the insulating handle sleeve and is exposed outside to form an electric coagulation forceps tip, a temperature sensing element is arranged on the electric coagulation forceps tip, an MCU processor and a displayer are arranged on the electrode holder, and the MCU processor is connected with the temperature sensing element and the displayer. The temperature sensing element transmits the temperature of the electric coagulation forceps tips to the MCU processor in an analog signal mode, the current temperature of the electric coagulation forceps tips is calculated through data processing and digital-to-analog conversion, and the temperature is displayed on the displayer through I2C communication. The temperature of the tweezers tip end can be controlled in real time through impedance detection, and the tweezers are applied to fine operations such as neurosurgery, ophthalmology, microsurgery and minimally invasive surgery.

The invention belongs to the technical field of oral medicine education, and particularly relates to a dental microscope operation simulation training system based on a virtual reality technology. The system comprises a machine shell, a simulation head assembly, a microscopic lifting mechanism and a binocular microscopic observation device, a supporting plate capable of extending outwards is arranged on the front portion of the machine shell, a 3D operation mouse is arranged on the outer side of the outer supporting plate, and the simulation head is installed on the outer side of the outer supporting plate. An operation display screen capable of extending outwards is fixedly installed on the side portion of the machine shell, and a treatment virtual simulation system under a digital dental microscope is integrated in the operation display screen. Through combination of the dental microscope virtual reality equipment and the force feedback mechanism, real treatment feedback is provided for the hands and eyes of an operator in the training process, and the immersion and simulation degree of treatment operation training under the dental microscope are remarkably improved; and the requirement of oral medicine microsurgery teaching on high-fidelity simulation training is met.

The invention discloses multi-degree-of-freedom needle forceps for a microsurgical robot, and belongs to the technical field of needle forceps, the multi-degree-of-freedom needle forceps comprise a control end and a needle forceps body, the needle forceps body comprises half forceps bodies rotationally connected through a hinge joint piece, and a needle adjusting piece controlled through an inner control piece is arranged in the half forceps body located on one side; side openings allowing the needle adjusting pieces to move are formed in the side walls of the half forceps bodies, the needle adjusting pieces move in the side openings, and fine adjustment of the orientation of the suture needle is achieved. The pneumatic pistons on the two sides are independently controlled to drive the needle adjusting pieces, the clamping angle of the suture needle can be finely adjusted, the needle adjusting pieces on the two sides are synchronously pushed out to push the clamping position of the suture needle in the jaw, the suture flexibility is improved, the opening and closing push rod controls the jaw to be opened and closed through the offset folded plate mechanism, stable opening and closing actions are achieved in combination with the hinged joint, and the suture needle can be conveniently and rapidly adjusted. After the forceps body is closed, the self-locking push plate is continuously pushed to apply additional locking force to the half forceps bodies, passive mechanical locking is formed, the mechanical self-locking structure makes up the risk of failure of a pressure system, and the surgical safety is doubly guaranteed.

The invention provides a pruning method for an end-side deep learning model. The pruning method comprises the following steps: acquiring equipment parameters corresponding to an equipment end, an initial learning model and model parameters; setting a first test pruning rate, calculating the model precision, and taking the first test pruning rate with the model precision meeting the maximum first precision threshold as a first target test pruning rate; setting a second test pruning rate according to the first target test pruning rate, calculating model precision, and taking the second test pruning rate with the model precision meeting a second precision threshold as a second target test pruning rate; and calculating a comprehensive score corresponding to the second target test pruning rate, taking the pruning rate with the highest comprehensive score as a target pruning rate, and pruning the initial learning model based on the target pruning rate to obtain a target learning model. According to the invention, the problem that high precision and low time delay of intelligent auxiliary model deployment in ophthalmology microsurgery cannot be considered at the same time is solved.

Surgical instrument for robotic microsurgery comprising at least one joint of motion between the proximal portion and the distal portion; a flexible sleeve fitted onto the at least one joint of motion said sleeve comprising flexible body, adapted to deform to conform to various operating configurations of the at least one joint of motion; wherein said flexible sleeve comprises at least one electrically insulating portion and at least one electrically conductive path and wherein said at least one electrically conductive path comprises a proximal contact and a distal contact, located proximal and distal to said joint of motion of the surgical instrument; a flexible electric conductor extended from the proximal contact to the distal contact; and wherein the flexible electric conductor is between the electrically insulating portion of the flexible sleeve and the at least one joint of motion of the surgical instrument.

The invention relates to the field of surgical robots, and provides a pair of quick-release microsurgical robot force sensing forceps. The quick-release microsurgery robot force sensing tweezers comprise an active module and a passive module which are detachably connected. The passive module comprises a tweezer end, a connecting assembly, an interface assembly and a first sensing assembly, and the tweezer end is connected with the interface assembly through the connecting assembly; the first sensing assembly comprises a detection end and an optical interaction processing end, and the detection end is installed on the surface of the tweezers end so as to sense deformation of the tweezers end during clamping; the optical interaction processing end is connected to the active module; the active module comprises a butt joint assembly and a driving assembly, the driving assembly is installed on the butt joint assembly, and the driving assembly provides power for clamping and loosening the forceps ends; the butt joint assembly is detachably connected with the interface assembly. According to the quick-release microsurgical robot force sensing tweezers, the problem that in the prior art, a surgical robot cannot sense the operation force during operation can be solved, and the safety and accuracy of an operation are improved.

The utility model belongs to the technical field of medical beauty, and particularly relates to an injection device for lifting the whole face of a medical beauty minice.The injection device for lifting the whole face of the medical beauty minice.The injection device comprises a handle, a waterproof touch switch is fixedly connected to the left side of the handle, and a waterproof battery box is fixedly connected to the inner wall of the handle; a rectangular box body is fixedly connected to the upper surface of the handle, a U-shaped plate is attached to the inner wall of the rectangular box body, and moving mechanisms are fixedly connected to the left side of the inner wall of the U-shaped plate and the inner wall of the rectangular box body. According to the injection device for lifting the whole face of the medical beauty and microsurgery, through cooperation of a C-shaped elastic piece, a positioning block and a connecting plate, an injector can be fixed in a round hole of a left baffle, meanwhile, when a doctor presses a waterproof touch switch on a handle, a needle cylinder on the injector can automatically move rightwards at a constant speed through a moving mechanism, and therefore the whole face of the doctor can be lifted. Therefore, the injection device can uniformly inject fat cells into subcutaneous tissues.

The utility model provides a saliva suction tube and a saliva suction instrument. The saliva suction tube comprises a tube head, a tube body and a tube tail, along the length direction of the saliva suction tube, the inner diameter of the tube head is gradually increased from the open end of the tube head to the end close to the tube body, and the inner diameter of the tube tail is firstly reduced and then increased from the open end of the tube tail to the end close to the tube body. According to the design, the saliva suction tube is lengthened, the tube tail utilizes the Laval principle, suction is enhanced, the tube head adopts the improved front-end small-caliber design, the device can penetrate into an operation area to suck saliva in time, the sterile principle is guaranteed, suction is enhanced, the saliva suction effect is guaranteed, damage to periodontium of teeth is minimum, the noninvasive effect is achieved, the design is simple, reliability is high, and the device is suitable for popularization and application. The cost is low, and a simple and convenient solution is provided for the condition that the clinical microsurgery cannot meet timely saliva suction.

The invention relates to the technical field of surgery, and provides an adjustable hand and foot microsurgery blood vessel anastomosis clamp which comprises an anastomat body, a supporting frame is arranged on the upper surface of the anastomat body, an adjusting assembly is arranged at the top of the supporting frame, a hollow plate is fixedly connected to the outer portion of the adjusting assembly, and the hollow plate is fixedly connected to the outer portion of the supporting frame. An anastomosis clamp is arranged at one end of the anastomat body, an illuminating lamp is arranged on one side of the hollow plate, a connecting plate is fixedly connected to one side of the illuminating lamp, fixing pieces are arranged on the two sides of the interior of the hollow plate, and a pushing piece is arranged between the fixing pieces; according to the adjustable hand and foot microsurgery blood vessel anastomosis clamp, by adopting the adjusting assembly, the angle of the illuminating lamp can be adjusted, so that the illuminating lamp can be efficiently matched with the anastomat body to treat a patient, and meanwhile, the illuminating lamp can be taken out to be maintained or replaced.

The utility model provides a small animal belly microsurgery retractor capable of being adjusted in four directions, and relates to the technical field of medical instruments, the small animal belly microsurgery retractor comprises two transverse exposure modules and two longitudinal exposure modules, and the two transverse exposure modules and the two longitudinal exposure modules are used in cooperation to form a rectangular frame; a sliding rail penetrating through the transverse exposure module is arranged in the middle of the transverse exposure module in the length direction, and a transverse auxiliary exposure drag hook is arranged in the middle of the bottom; the longitudinal exposure module comprises a cylindrical sliding block, a longitudinal auxiliary exposure drag hook is arranged in the middle of the bottom of the cylindrical sliding block, fixing nuts are arranged at the two ends of the cylindrical sliding block, and movable adjusting nuts are arranged between the longitudinal auxiliary exposure drag hook and the fixing nuts at the two ends. The utility model effectively solves the problem of poor exposure of the surgical field caused by bidirectional distraction of the existing abdomen exposure instrument.

Apparatus and methods are described that include a control component tool (30) that includes a handle (52) and an input receiving component (50) disposed on the handle (52). The input receiving member (50) includes one or more light sources (56) disposed on a first radial wall (60), one or more light detectors (58) disposed on a second radial wall (62) facing the first radial wall (60), and a deformable sleeve (54), the deformable sleeve (54) extends axially between the first radial wall and the second radial wall and is configured to reduce light directed from the one or more light sources (56) toward the one or more light detectors (58) in response to being pressed. The computer processor (28) receives a signal from the one or more light detectors (58) indicating a reduction in light and controls the surgical tool (21) in response to the signal. Other applications are also described.

A method of manufacturing one or more sharp bodies by wire electro-erosion comprises the steps of: providing a wire electro-erosion machine and a fixture mounted to the wire electro- erosion machine so that at least one portion thereof can rotate about a rotation axis which is transverse to the longitudinal extension of the cutting wire; mounting at least one workpiece to the fixture; sharpening at least one edge to be sharpened of the at least one workpiece by performing a sharpening through cut with the cutting wire on the at least one workpiece; shaping the at least one workpiece by performing a shaping through cut with the cutting wire on the at least one workpiece, in which between the sharpening step and the shaping step the further step of rotating the at least one portion of the fixture about the rotation axis thereof by a sharpening rotation angle other than 90° is performed. For example, the sharp bodies are blades for a surgical cutting instrument for robotic microsurgery.

The utility model relates to the technical field of medical instruments, and discloses an orthopedic trauma microsurgery nursing device which comprises a supporting device. According to the supporting device, a first fixing bolt is arranged at the bottom of a mounting base, and the first fixing bolt is in threaded connection with the mounting base; the supporting seat is arranged on the mounting seat, and the supporting seat penetrates through the mounting seat; the fixed column is arranged at the top of the supporting seat; the fixing rod is arranged at the top of the fixing column; the supporting ring is arranged at the top of the fixing rod; the pulleys are arranged at the bottom of the supporting seat; according to the nursing device, the mounting base is fixed to the edge of a sickbed through the first fixing bolts, then the first fixing bolts are tightened, the supporting base is pushed according to the positions of the legs of a patient, the supporting base slides in the mounting base, the supporting base slides on the sickbed through the pulleys, and the positions of the top fixing column, the fixing rod and the supporting ring are adjusted; the lower limbs of the patient can be better supported and fixed, adjustment is convenient, and the structure is simple.

The invention discloses a microsurgery mechanical arm high-precision hand tremor elimination man-machine cooperative control method integrated with electroencephalogram intention prediction, and relates to the technical field of medical robots and surgery auxiliary systems. Electroencephalogram signals and hand action data of doctors are synchronously collected and input into a pre-trained micro-world model, so that the human-machine cooperative control method for eliminating the high-precision hand tremor of the doctors is achieved; a real operation intention vector is generated in a submerged space, and a hand trembling trajectory and an ideal operation trajectory are predicted. The high tremor risk state is judged by calculating emotion and cognitive indexes, in combination with intention deviation and tremor data, efficient elimination of hand tremor is achieved through driving force feedback and a reverse anti-phase compensation mechanism of a mechanical arm controller, and an ideal operation track is executed. The system further comprises an abnormal state security protocol, model federal learning evolution and a data security destruction mechanism. According to the invention, advanced and accurate man-machine cooperative control is realized, and the stability and precision of microsurgery are remarkably improved.

This application provides an intelligent control method and system for a microsurgical robot, belonging to the field of medical robot control technology. The method includes: acquiring visual information and multi-dimensional force information for the surgical instruments when executing each surgical step based on a step-time library; calculating the visual deviation of the instrument tip based on the visual information and calculating force anomaly indicators based on the multi-dimensional force information; using the currently executed surgical step as the decision context, determining whether preset anomaly triggering conditions are met based on the visual deviation and force anomaly indicators; if so, pausing the currently executed surgical step, determining a correction strategy based on the depth confidence level, and determining the correction amount corresponding to the correction strategy under predefined safety space geometric constraints; generating a transition trajectory based on the correction amount, and controlling the surgical instruments to execute the transition trajectory. This application can realize an intelligent decision-making closed loop based on the semantics of the surgical steps and multi-modal perception fusion.

A system for performing ophthalmic treatments includes a handpiece configured to be held by a hand of a surgeon. An end effector is mounted to the handpiece and configured to manipulate tissue of a patient, such tissues of the eye when performing an ophthalmic treatment. The system includes a motion sensor configured to sense movement of the handpiece and one or more stabilizing actuators configured to stabilize movement of the handpiece in response to movement of the hand of the surgeon. A controller is coupled to the motion sensor and the one or more stabilizing actuators and is configured to instruct the one or more stabilizing actuators to compensate for motion detected by the motion sensor. The controller may include a high-pass filer with the output of the high-pass filter used to control the stabilizing actuators. The parameters of the high pass filter may be adjusted throughout an ophthalmic treatment.

The application discloses a kind of based on real-time blood flow imaging's microsurgery in-situ tissue perfusion automatic reconstruction method, through the two light guide beam channels of intraoperative microscope and RGB-IR camera, using near-infrared light and white light alternately illuminates, acquires original laser speckle image (camera near-infrared channel) and RGB color image under white light irradiation.In the original laser speckle image is constructed multi-angle scattering random matrix, and the second order central moment of single and multiple scattering light intensity is calculated respectively, and the blood flow information of surface and deep tissue in-situ is obtained by Monte Carlo simulation, to produce optimization coefficient c;Utilize RGB color image to calculate tissue surface blood oxygen saturation information, combine blood flow velocity and blood oxygen saturation to calculate tissue area perfusion quantity in real time.

The invention discloses a method for quickly positioning mechanical arms of a microsurgical robot based on light indication, which realizes quick and accurate positioning of a surgical area by respectively arranging light emitters at the tail ends of two mechanical arms of the microsurgical robot. The emission direction of the light emitter is consistent with the movement direction of the surgical instrument, so that a clear light intersection can be formed in a surgical area to indicate an optimal surgical interval. The problems in the prior art are solved through the following technical characteristics that firstly, visual operation area indication is provided, and the frequency of adjusting a mechanical arm and an operation instrument by an operator is reduced; secondly, collision and mistaken injury risks possibly occurring when the position of a belt instrument is adjusted are avoided; and finally, through a modular design and an ambient light self-adaptive function, the adaptability and the practicability of the equipment are improved. The method can significantly improve the efficiency and safety of microsurgery, is suitable for various microsurgery scenes, and has a wide application prospect.

The present application belongs to the technical field of medical devices, and discloses a blood vessel end-to-end telescopic intraluminal anastomat, which comprises a main handle, a guide rod connected to the front end of the main handle, and an anastomosis head installed at the front end of the guide rod; an anastomosis assembly, which comprises a curved nail forming structure and a plurality of anastomosis nails, the plurality of anastomosis nails are arranged on the anastomosis head in a circumferential direction, the curved nail forming structure is arranged outside the blood vessels to be anastomosed, the anastomosis nails pass through the blood vessel wall from inside to outside of the blood vessels to be anastomosed, and enter the curved nail forming structure to complete bending and fixation; the blood vessels to be anastomosed comprise a first blood vessel and a second blood vessel, the second blood vessel extends into the first blood vessel, the anastomosis nails are arranged across the edge of the broken end of the second blood vessel, so that one side of the nail foot of the anastomosis nail passes through the first blood vessel and the second blood vessel, and the other side of the nail foot passes through the first blood vessel. The present application can realize rapid and uniform circumferential fixation of the broken end of the blood vessel, shorten the anastomosis time, improve the anastomosis quality, and is suitable for the fields of vascular surgery, organ transplantation and microsurgery, and is especially suitable for anastomosis reconstruction of the superior and inferior vena cava of liver transplantation.

The invention provides an intelligent control method and system for a microsurgery robot, and belongs to the technical field of medical robot control. The method comprises the steps that when each operation step is executed based on a step time sequence library, visual information and multi-dimensional force information for an operation instrument are obtained; calculating visual deviation of the tip of the instrument based on the visual information, and calculating a force anomaly index based on the multi-dimensional force information; taking the currently executed operation step as a decision context, and based on the visual deviation and the force anomaly index, judging whether a preset anomaly triggering condition is met or not; if yes, pausing the currently executed surgical step, determining a deviation correction strategy according to the depth confidence level, and determining a deviation correction amount corresponding to the deviation correction strategy under predefined safety space geometric constraints; a transition track is generated based on the deviation correction amount, and the surgical instrument is controlled to execute the transition track. According to the invention, an intelligent decision closed loop with operation step semantics as a core and multi-modal perception fusion can be realized.

The present application relates to the field of microsurgical auxiliary technology, in particular to a kind of finger pulp micro tissue block amputation replantation repair analysis system on anastomosis arch artery.It includes multimodal data acquisition unit, multimodal data acquisition unit is used to collect and blood vessel state and the multi-source data related to tissue survival, finger pulp tissue block survival analysis unit constructs tissue blood supply adequacy evaluation index, generates tissue state parameter set, repair strategy auxiliary decision unit is based on the constraint condition of different blood vessel anastomosis mode to blood flow carrying capacity requirement, outputs repair strategy parameter set, postoperative microcirculation monitoring and early warning unit is used to receive the postoperative monitoring data of finger pulp micro tissue block after replantation repair is completed, and outputs microcirculation state parameter set.Through the construction of tissue blood supply matching degree index, it is used to predict whether the current blood vessel condition is sufficient to support the metabolic demand of specific volume tissue block, effectively avoid the tissue block delayed necrosis caused by insufficient blood supply.