343 results about "Surgical risk" patented technology

The invention relates to the technical field of intelligent medical information, in particular to a urinary surgery risk AI intelligent assessment method and system. The method comprises the steps that intraoperative data in the urinary surgery operation process are collected in real time; inputting the intraoperative data into a risk feature fusion AI model, performing context association analysis of different stages of the operation, and fusing each intraoperative multi-source modal feature to generate a risk assessment comprehensive feature set; analyzing the risk assessment comprehensive feature set by using a risk assessment prediction AI model, dynamically adjusting the priority and prediction weight of each risk index in combination with a doctor judgment priority weight adjustment mechanism, and predicting to obtain an intra-operative real-time comprehensive risk score; and visually displaying the intraoperative real-time comprehensive risk score and the risk prompt information in a terminal in real time. According to the AI intelligent assessment method, the causal relationship between the risks is constructed by associating the data of each stage of the operation with doctor judgment, and the AI intelligent assessment method capable of dynamically predicting the key risks in the operation process is realized.

The invention relates to the technical field of medical equipment, and provides a multi-modal lymphedema assessment and surgical navigation system based on image processing, which comprises a 3D scanning modeling module used for acquiring three-dimensional point cloud data of the body surface of a patient through structured light 3D scanning equipment, an iconography examination analysis module used for performing U-Net image segmentation on CT / MRI image data, and an image processing module used for processing the CT / MRI image data. The ultrasonic result calculation module is used for carrying out Canny edge detection on an ultrasonic image to determine the boundary of a surgical site, and the data integration and navigation generation module is used for realizing multi-modal data fusion through mutual information maximization, generating a surgical path based on FMM and carrying out real-time navigation in combination with an AR technology. According to the method, objective evaluation of lymphedema and accurate navigation of the operation are realized through accurate integration of multi-modal data and an image processing technology, the diagnosis and treatment accuracy is effectively improved, the operation risk is reduced, complications are reduced, and a scientific basis is provided for personalized treatment.

The invention discloses a polyp and surgical instrument segmentation and real-time early warning method and system based on a digestive endoscope video, and belongs to the technical field of computer-aided endoscope image analysis. The problems that an existing method is poor in segmentation performance and the safety of interactive operation of the surgical instrument and the polyp is difficult to accurately evaluate are solved. According to the method, space and time context information is integrated through the built collaborative learning network model, and collaborative precise segmentation of the polyp and the surgical instrument in the endoscopic surgery video is achieved. The polyp area, the polyp area change rate, the surgical instrument speed, the distance between the polyp and the surgical instrument and the overlapping area and the overlapping percentage of the polyp and the surgical instrument are quantitatively analyzed on the basis of the segmentation results, the surgical risk level is evaluated in real time in combination with a preset risk threshold value, the safety of interaction between the surgical instrument and the polyp is guaranteed, and the surgical efficiency is improved. Therefore, the safety and the intelligent level of the digestive endoscopy minimally invasive surgery are improved.

The invention belongs to the field of biological medicine research and development, discloses a method and a system for collecting and analyzing auditory electrophysiological data of experimental animals, and is particularly suitable for non-human primates. The method comprises the following steps: delivering a drug to a middle ear cavity through an external auditory canal, and synchronously recording auditory electrophysiological data before and after drug administration; aBR and DPOAE multi-mode detection is adopted, and the frequency range of 4 kHz to 32 kHz is covered; setting anesthesia depth and three-electrode positioning to reduce interference; optimizing the signal-to-noise ratio through noise suppression and dynamic signal superposition; an auditory threshold database is constructed, and a machine learning model is combined to judge an injured part. The system integrates a multi-modal stimulation module, a minimally invasive drug delivery device and a data analysis platform, and supports cross-species data compatibility. The accuracy of otology medicine research is remarkably improved, the surgical operation risk is avoided, and the method is suitable for gene therapy, ototoxicity screening and other scenes.

The invention belongs to the technical field of medical treatment, and particularly relates to an analgesic anti-inflammatory drainage tube which comprises an outer tube, an inner tube and a medicine guide tube, the inner tube is arranged in the outer tube, connected with a first one-way valve and connected with the medicine guide tube through the first one-way valve, and the medicine guide tube is connected with a medicine slow release device; the medicine slow-release device comprises a slow-release cavity, a suction pump, a partition plate and a pressing mechanism, a medicine guiding cavity is fixed in the slow-release cavity and connected with a medicine guiding pipe, the partition plate is fixedly installed on the inner wall of the slow-release cavity, a through hole is formed in the middle of the partition plate, an injection pipe is connected to the right side of the bottom of the slow-release cavity, and a second one-way valve is arranged in the injection pipe. The device solves the problems that when a current drainage tube releases a medicament, the medicament release speed and the single release amount cannot be accurately adjusted, so that the medicament supply is too much or insufficient, and manual control and automatic control cannot be freely selected, so that the surgical risk is increased.

The invention relates to the technical field of medical auxiliary diagnosis, and discloses a hypospadias penis curvature measuring method based on physical simulation inversion. The invention aims to solve the technical pain point that the penile erection curvature and the internal fibrosis focus distribution are difficult to quantify noninvasively and accurately before the operation in the existing hypospadias diagnosis and treatment. According to the method, a standard white mold containing fine anatomical partitions is constructed, personalized geometric mapping is realized by using a static look-around image, and constraint physical parameter inversion is performed in combination with a multi-attitude dynamic stress image, so that the digital twin with real biomechanical properties is reconstructed in a virtual environment. According to the method, the erection bending form can be accurately predicted in the non-erection state, the mechanical property abnormal area range is positioned, operation planning is assisted, experience medical treatment is spanned to accurate digital medical treatment, and the wound diagnosis and treatment and operation risks are remarkably reduced.

The invention relates to a brain wave signal acquisition device, belongs to the technical field of medical instruments, and solves the problems that in the prior art, a brain wave signal acquisition device is implanted into the cerebral cortex of a human body through craniotomy, the trauma of a patient is large, the surgical risk is high, and various complications can be caused. The brain wave signal acquisition device comprises a bracket main body, an electrode plate and a conductive wire; the stent body is of an open curled cylindrical structure composed of a plurality of grid units, openings are formed in the two axial ends of the stent body, and gaps are formed in the curled butt joint positions on the side wall face of the stent body. The electrode plates are arranged on the grid units; the conductive wire is wound on the stent main body, one end of the conductive wire is connected with the electrode plate, and the other end of the conductive wire is wound to the near end of the stent main body. The brain wave signal acquisition can be realized without a craniotomy operation, so that the trauma to a patient is small, and the operation risk is obviously reduced.

The invention belongs to the technical field of liver paracentesis simulation, and particularly relates to a liver paracentesis preoperative simulation system and method based on a virtual reality technology. According to the method, complicated operation risks and skill key points are quantified into feasibility scores and risk levels, so that the randomness of subjective judgment is reduced, the advantages and disadvantages of different paths are conveniently compared and selection reasons are explained before an operation, and the accuracy of the operation is improved through voxel-level collision judgment and real-time judgment of a distance field. The critical state that a needle point approaches a blood vessel or a dangerous organ can be found in advance and an operator is prompted, so that a high-risk puncture track is avoided in a simulation stage, the probability of concurrent events in a real operation is reduced, historical action habits and scoring trends of the operator are fused, and candidate paths conforming to the operation style of the operator are generated; the skilled doctors can conveniently and quickly confirm the optimal route, the reachable route conforming to the current ability level of the trained doctors can be provided for the trained doctors, and the learning curve is shortened.

The invention discloses an orthopedic surgery navigation positioning method and system based on three-dimensional registration, and belongs to the technical field of orthopedic surgery navigation. According to the method, through preoperative multi-modal image fusion reconstruction, intraoperative dynamic point cloud collection and an improved mixed registration algorithm, precise alignment of a preoperative model and an intraoperative actual skeleton is achieved, and by combining real-time error monitoring and dynamic compensation, precise positioning parameters of a surgical instrument are output to guide surgical operation; the system corresponds to the method and comprises an image acquisition module, a three-dimensional reconstruction module, a registration calculation module, a navigation guiding module, an error monitoring module and a control module, all the modules work cooperatively, and it is ensured that the navigation positioning precision is smaller than or equal to 0.3 mm, the registration time is smaller than or equal to 3.5 s, and the dynamic error compensation response time in the operation is smaller than or equal to 50 ms. The method does not need to depend on a physical marker, does not need a doctor to manually intervene the registration process, is high in anti-interference capability, is suitable for various orthopedic surgery scenes, effectively reduces the surgical risk, and improves the surgical efficiency and the standardization level.

The utility model provides a sheet-shaped electrode and an implantation device, the sheet-shaped electrode comprises an electrode slice, the surface of the electrode slice is provided with an electrode contact, the electrode slice has flexibility, and the electrode slice can be curled and contracted into a cylindrical shape matched with a pushing catheter, or the electrode slice can be unfolded into a sheet shape outside the pushing catheter; and the electrode wire is connected to one end of the electrode plate, the electrode wire is electrically connected with the electrode contact, the electrode wire can be arranged in the pushing catheter or the withdrawing catheter in a penetrating manner, and the electrode wire is used for dragging the electrode plate, so that the electrode plate and the withdrawing catheter are matched with each other and are curled and contracted in the withdrawing catheter. Surgical operations such as laminectomy or laminotomy are not needed in the implanting operation process, the invasive property is small, trauma and operation risks are reduced, and the sheet-shaped electrode plates are not prone to displacement. In addition, the electrode plate can be withdrawn from the body along with the withdrawing catheter, and withdrawing and recycling of the electrode plate are achieved.

This invention discloses a large-aperture interventional magnetic resonance imaging (MRI) system, belonging to the field of imaging system technology. It includes a self-test module, an operation module, an imaging module, a guidance module, an early warning module, and an evaluation module. Before operation, the self-test module acquires multiple parameters of the MRI system, establishes operating coefficients using formulas, and determines whether the MRI system can support surgery based on the comparison between the operating coefficients and a first threshold. The operating coefficients are then sent to the early warning module. This invention's pre-use self-test effectively ensures the stability of the system during operation. Furthermore, during surgery, it acquires the operating coefficients of the MRI system in real time and determines whether an early warning signal needs to be issued based on the comparison between the operating coefficients and a second threshold. When an early warning signal is issued, timely management is implemented, effectively reducing surgical risks.

The telemedicine auxiliary operating table comprises an operating table body and an operating assembly, a soft cushion is installed at the top end of the operating table body, an extension assembly is arranged on one side of the operating table body, and supporting plates are connected to the two sides of the operating table body; the operation assembly is arranged on the top of the operating table body and used for a doctor to conduct an operation. Due to the design of the extension component, the operating table can be flexibly adjusted according to the height of a patient, so that the requirements of patients with different body types are met. And the patient can completely lie flat, so that the smoothness of the body and the laying angle of tendons and vessels are kept. Therefore, the comfort level of the patient is improved, a doctor can operate more accurately in the operation process, and the operation risk is reduced.

This utility model relates to the field of medical device technology and discloses a hand surgery positioning device, including a positioning mechanism, a cleaning mechanism at the bottom of the positioning mechanism, and a main body structure at the bottom of the cleaning mechanism. This utility model, by setting up a positioning mechanism and using a soft rubber strap, and utilizing the cooperation of hooks and stainless steel hooks, ensures that the hand is gently and firmly fixed during surgery, reducing surgical risks caused by unnecessary movement. The design of the stainless steel hooks allows for moderate expansion and contraction, avoiding discomfort caused by excessive restraint and improving the patient experience. The cleaning mechanism located below the positioning mechanism, with a body structure featuring planar drainage holes and channels, facilitates thorough rinsing of the hand before and after surgery. The drain pipe configuration further simplifies the liquid discharge process, maintaining a clean and tidy surgical environment and reducing the risk of infection.

This invention relates to a cardiovascular stent loading sheath and a retraction system for an advancing stent sheath. The cardiovascular stent loading sheath, through the deformation-sealing opening of a deformable element disposed on the sheath tube, achieves the purpose of sealing the sheath opening after stent deployment. This ensures that when the loading sheath retracts across the stent, the sheath end opening does not snag on the stent, effectively preventing stent displacement and reducing surgical risks.

Disclosed in the present invention is a navigation and positioning apparatus for maxillary sinus lift surgery, belonging to the technical field of medical devices. The technical problems in the prior art of increased surgical difficulty and elevated surgical risk caused by invisibility during the maxillary sinus lift procedure are solved. The present invention comprises a navigation and positioning device, a connecting shaft detachably connected to the navigation and positioning device, and a stripping head detachably connected to the connecting shaft for a maxillary sinus mucosa stripping operation. The present invention combines the maxillary sinus lift instrument with the navigation and positioning device recognizable by a visual navigation instrument, such that the functions of guidance and positioning, as well as positioning of the stripping depth and range, can be effectively achieved, thereby effectively reducing the difficulty and surgical risk of maxillary sinus lift surgery. Moreover, a detachable connection mode is used both between the stripping head and the connecting shaft, and between the connecting shaft and the navigation and positioning device, such that an operator can select a suitable elevator according to the specific condition of a patient, which can increase the application range and the convenience of use of the maxillary sinus lift instrument.

This invention relates to the field of orthopedic surgical risk assessment, and in particular to a method and system for orthopedic surgical risk assessment. By acquiring preoperative and intraoperative data of a patient's orthopedic surgery, the method preprocesses the preoperative and intraoperative data, extracts the spatial features of bone microstructure from the initial orthopedic surgical data using a cascaded feature extraction network, calculates the correlation weights between imaging data and biological signals through a cross-modal attention mechanism, and constructs a patient-specific bone model based on finite element analysis to simulate the characteristic orthopedic surgical data in real time. The method simulates the distribution of joint contact stress at different osteotomy angles, the impact of micromotion thresholds at the bone implant interface and hemodynamic changes on the bone healing microenvironment after internal fixation device implantation, significantly reducing complications caused by improper operation and improving the surgical success rate.

The invention discloses a neurology interventional operation risk assessment method based on artificial intelligence, and belongs to the technical field of medical information, and the method specifically comprises the steps: obtaining a cerebrovascular multi-phase image and vascular wall biomechanical data of a target patient; reconstructing a three-dimensional blood vessel model based on the image, extracting an area change curve of each segment of lumen, and constructing a blood loss harmonic network according to transmission delay and morphological difference between the curves; distributing fluid-solid coupling simulation parameters containing an individualized vascular wall compliance curve for each vascular segment based on biomechanical data; planning an instrument path, and simulating interaction of an instrument and a blood vessel wall to generate a local pressure pulse sequence; inputting the sequence into a blood flow resonance loss network, and calculating blood flow resonance intensity and phase shift cumulant caused at a specific network node; and recognizing a high-risk blood vessel region with the delayed blood flow redistribution disorder according to the high-risk blood vessel region, and outputting a structured list. According to the invention, quantitative evaluation and early warning of networked dynamic risks caused by interventional operations are realized.

The utility model provides a split type kirschner wire and a kit for an orthopedic surgery robot, and belongs to the technical field of kirschner wires, the split type kirschner wire comprises a front kirschner wire body used for puncturing bones and a rear kirschner wire body used for being connected with an end effector of the orthopedic surgery robot, the front kirschner wire body is detachably connected with the rear kirschner wire body. Compared with Kirschner wire bending operation in the prior art, after the split type Kirschner wire is driven into the human body, the front Kirschner wire body with the proper length can be obtained more conveniently and safely, the problem of positioning displacement or loss caused by excessive pulling of the Kirschner wire is solved, and the Kirschner wire is more convenient to use. After the front kirschner wire body is detached and separated, due to the fact that the connecting end of the front kirschner wire body is smooth and clean, follow-up balloon dilatation kyphoplasty or pedicle screw implanting operation is facilitated, operation risks are reduced, and related operation operations can be carried out more safely, more reliably and more conveniently.

This application relates to the field of medical devices and discloses a thrombectomy device, including a control handle, a catheter, and a thrombectomy assembly. The proximal end of the catheter is connected to the control handle, and the catheter has a suction chamber. The thrombectomy assembly includes a thrombectomy structure, a driven component, and a rotating component. The thrombectomy structure passes through the suction chamber, with its distal end located on the distal side of the suction chamber. The proximal end of the thrombectomy structure is connected to the driven component, which is located within the control handle and detachably connected to the rotating component. This thrombectomy device can effectively remove thrombi and reduces the time required for instrument replacement and re-angiography, improving surgical efficiency and reducing surgical risks.

The present application relates to the field of health care information technology, in particular to an interventional operation risk assessment method and system, first, the abnormal period curve is divided in the waveform curve to be analyzed; in the abnormal period curve, according to the change situation of the periodic abnormality metric of periodic fluctuation curve with time sequence, the recovery ability index of abnormal period curve is acquired;According to the overall distribution of the periodic abnormality metric of all periodic fluctuation curves included in the abnormal period curve, the electrocardiogram abnormality index of the abnormal period curve is acquired;In the waveform curve to be analyzed, according to the recovery ability index and electrocardiogram abnormality index of all abnormal period curves, the local risk index of the waveform curve to be analyzed is acquired;According to the local risk index of the electrocardiogram waveform curve corresponding to all leads of the patient, the interventional operation risk of the patient is evaluated. The present application excavates the recovery ability situation and overall risk situation of the heart abnormality in depth to improve the risk assessment accuracy.

The utility model relates to an automatic adjustment hepatic duodenal ligament portal vein and hepatic arterial blood flow on-off device which comprises a soft rubber sleeve, a handle, a connecting pipe, a first clamping strip, a second clamping strip, a rotating shaft, a flexible wire and a flexible wire control mechanism. The first clamping strip and the second clamping strip are sleeved with the soft rubber sleeve, one end of the connecting pipe is connected to the soft rubber sleeve, the other end of the connecting pipe is connected to the handle, the flexible wire control mechanism is arranged on the handle, the flexible wire is inserted into the connecting pipe in a penetrating mode, one end of the flexible wire is connected to the first clamping strip, and the other end of the flexible wire is connected to the flexible wire control mechanism. According to the utility model, the defects of the existing porta hepatis occlusion technology can be overcome, more accurate, safer and more convenient blood flow occlusion and conduction control can be realized, and the surgical risk and liver injury can be reduced.

The invention relates to the technical field of medical care information, in particular to an interventional operation risk assessment method and system, and the method comprises the steps: dividing an abnormal time period curve from a to-be-analyzed waveform curve; in the abnormal time period curve, obtaining a recovery capability index of the abnormal time period curve according to the change condition of the periodic abnormal measurement of the periodic fluctuation curve at the time sequence; according to the overall distribution condition of the periodic anomaly metrics of all the periodic fluctuation curves included in the abnormal time period curve, obtaining an electrocardiogram anomaly index of the abnormal time period curve; in the to-be-analyzed waveform curve, obtaining a local risk index of the to-be-analyzed waveform curve according to the recovery capability indexes and the electrocardiogram abnormity indexes of the curve in all the abnormal time periods; and evaluating the interventional operation risk of the patient according to the local risk indexes of the electrocardiogram waveform curve corresponding to all leads of the patient. According to the method, the recovery capability condition of heart abnormality and the overall risk condition are deeply excavated, so that the risk assessment accuracy is improved.

The invention discloses an idiopathic knee joint deformity correction method based on combination of growth curve prediction and absorbable material time gradient regulation and control, and is applied to the technical field of biomedical materials. Comprising the following steps: acquiring lower limb bone length data of a normal child, and drawing a growth curve; constructing and fitting a lower limb bone length model by using the growth curve data, and constructing a mathematical model for correcting idiopathic knee varus and valgus; constructing a prediction model to calculate the time of implanting the child patient with idiopathic genu varum into the steel plate for fixation during the semi-epiphyseal fixation; the absorbable zinc-magnesium alloy internal fixation nail plate with different in-vivo absorption time gradients is developed; the zinc-magnesium alloy internal fixation nail plate with the corresponding absorption time is selected for correction according to the time required by different child patients to be implanted into the steel plate for fixation. After a child patient receives a semi-epiphyseal block operation to achieve the correction effect, the internal fixation steel plate can be automatically absorbed and broken, the operation of taking out internal fixation again is omitted, the operation risk and pain are reduced, and the treatment cost is reduced.

The application relates to the technical field of orthopedic puncture, in particular to an orthopedic puncture navigation system; through the cooperation of a puncture positioning module and a control module, image data and a mechanical adjusting mechanism are organically combined, high-precision planning and positioning of a target puncture point, a puncture angle and a puncture depth are realized, the dependence on the experience of an operator in traditional puncture operation is significantly reduced, the problem of inaccurate positioning caused by artificial judgment deviation is effectively solved, the operation time is greatly shortened, so as to reduce the pain and operation risk of a patient, the puncture positioning module adopts a mechanical structure of a multi-degree-of-freedom adjustable machine, through the cooperation of a horizontal distance adjusting rod, a vertical distance adjusting rod and a positioning cylinder, flexible and accurate adjustment of the position and angle of a target puncture needle in a three-dimensional space is realized, the structure is compact and the adjusting logic is clear, the adaptability of the system to different anatomical structures and operation scenes is enhanced, and the flexibility and controllability of operation are improved.

The invention discloses automatic cotton ball delivery equipment which is characterized by comprising a supporting device, a conveying device, a delivery device, a disinfectant supply device and a control module. The supporting device realizes detachable connection and angle adaptation between the equipment and an operating table through a clamping seat and a multi-dimensional adjusting structure; the conveying device achieves automatic conveying of cotton balls through a conveying belt and a partition plate. The delivery device realizes automatic material supplement triggered by a material taking action of a doctor through a rotating seat, an inductive switch and a pressing rod; the disinfectant supply device is controlled by an infusion pump to realize quick switching of dry and wet cotton balls; the control module controls the devices to work cooperatively. The equipment can realize automatic delivery and supplement of cotton balls, a doctor does not need to turn around or depend on an assistant, the surgical risk is reduced, the efficiency is improved, the equipment is adaptive to various surgical scenes, and sterile operation is guaranteed.

The utility model relates to the technical field of medical instruments, and provides an ultrasonic ablation system, which comprises an ultrasonic ablation assembly, a handle mechanism and a host, the ultrasonic ablation assembly comprises a carrier and at least two focused ultrasonic transducers, each focused ultrasonic transducer is arranged on the carrier, and each focused ultrasonic transducer has the same energy focus point; the handle mechanism is in driving connection with the carrier and used for driving the carrier to move in the axial direction or rotate in the circumferential direction so as to drive the focused ultrasonic transducers to move synchronously. The host is electrically connected with the focused ultrasonic transducers and used for controlling the focused ultrasonic transducers to work alternately. According to the utility model, a more accurate, safer and more efficient tissue ablation process can be realized, meanwhile, the system design is simplified, the surgical risk is reduced, and the comfort level and the recovery speed of a patient are improved.

The utility model relates to the technical field of cervical cerclage, in particular to a cervical cerclage support for cervical insufficiency, which comprises a protective ring, a push rod, first connecting blocks, a fixing rod, a silica gel pad and a second connecting block, the push rod is slidably connected in the protective ring, the first connecting blocks are connected at the upper end of the push rod at equal intervals, and the fixing rod is connected with the silica gel pad. Fixing rods are rotationally connected to the first connecting blocks, silica gel pads are jointly connected between the fixing rods, and second connecting blocks are rotationally connected to the fixing rods. The fixing rod and the silica gel pad are installed, due to the fact that the amniotic sac is protected by the silica gel pad, the silica gel pad can effectively isolate direct contact between a suturing instrument and the amniotic sac, the softness and the elasticity of the silica gel pad can adapt to the shape of the amniotic sac, comprehensive protection is provided, and through protection of the silica gel pad, the suturing instrument can be prevented from being damaged. A doctor can perform suture operation more trustingly, the safety and success rate of an operation are effectively improved, and the operation risk is reduced.

The application discloses a kind of based on graph coding's diagnosis and surgical matching check method and system, the method includes: obtaining the diagnosis data and surgical plan data of target object;Based on feature extraction algorithm, extract the diagnosis change feature and surgical step feature in the diagnosis data and the surgical plan data;Based on graph network coding algorithm, the diagnosis change feature and surgical step feature are encoded into corresponding node relationship graph;The node relationship graph is input into trained graph neural network to obtain the matching degree parameter of output diagnosis and surgical plan.It can be seen that the present application can realize accurate medical diagnosis and surgery matching evaluation based on graph structure feature association, improve the scientificity and adaptability of surgical plan selection, reduce the surgical risk and treatment deviation caused by mismatch between scheme and diagnosis.

The invention aims to provide an electrode needle positioning device, which comprises a first scale, a second scale, a first guide hole, a second guide hole and a second guide hole, and is characterized in that the first scale is provided with a first guide hole for an electrode needle to pass through; the first vernier is connected with the first scale in a sliding mode, a second guide hole for an electrode needle to penetrate through is formed in the first vernier, and the axis directions of the first guide hole and the second guide hole are parallel to each other. Therefore, the plurality of electrode needles can be kept parallel in ablation treatment, the gap distance among the plurality of electrode needles can be controlled, the bifurcation risk of the needle tip is reduced, the operation difficulty is reduced, and the operation risk is reduced.

The invention belongs to the technical field of surgical robots, and discloses a main control hand clamp and a doctor control platform. The problem that operation risks are caused by horizontal axis force generated when the main control hand clamp is kneaded by external force to change the angle is solved. The main control hand clamp comprises an opening and closing mechanism and a balance force mechanism. The opening and closing mechanism comprises a first clamping handle and a second clamping handle which are oppositely arranged in the horizontal axial direction, and the opening and closing angle of the first clamping handle and the opening and closing angle of the second clamping handle can be changed in the horizontal axial direction when the first clamping handle and the second clamping handle bear external force. The balance force mechanism is arranged between the first clamping handle and the second clamping handle, and the balance force mechanism can keep the horizontal axial force to be zero when the first clamping handle and the second clamping handle are subjected to external force. The balance force mechanism is arranged between the opening and closing mechanisms, so that the horizontal axial force is zero when the main control hand clamp bears external force, the problem that the main control hand clamp deviates to a far position to cause surgical risks when bearing the external force is solved, and the use reliability and surgical safety of the main control hand clamp are improved.