CN107174340A - A kind of device that prostate is removed by control with computational intelligence laser Full-automatic cutting - Google Patents
A kind of device that prostate is removed by control with computational intelligence laser Full-automatic cutting Download PDFInfo
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- CN107174340A CN107174340A CN201710600066.8A CN201710600066A CN107174340A CN 107174340 A CN107174340 A CN 107174340A CN 201710600066 A CN201710600066 A CN 201710600066A CN 107174340 A CN107174340 A CN 107174340A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/18—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves
- A61B18/20—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves using laser
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/37—Surgical systems with images on a monitor during operation
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B2018/00315—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body for treatment of particular body parts
- A61B2018/00547—Prostate
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B2018/00571—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body for achieving a particular surgical effect
- A61B2018/00601—Cutting
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B2018/00636—Sensing and controlling the application of energy
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B2560/00—Constructional details of operational features of apparatus; Accessories for medical measuring apparatus
- A61B2560/02—Operational features
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- Gynecology & Obstetrics (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Robotics (AREA)
- Optics & Photonics (AREA)
- Electromagnetism (AREA)
- Otolaryngology (AREA)
- Laser Surgery Devices (AREA)
Abstract
The present invention relates in a kind of device that prostate is removed by control with computational intelligence laser Full-automatic cutting, system (3) and special purpose lathe (4) are cut off automatically including video imaging system (1), computer control system (2), laser, and the defeated in/out end of data message of described video imaging system (1) connects with the defeated entry/exit end of the data message of computer control system (2)；The defeated entry/exit end of data message that the defeated in/out end of data message of computer control system (2) cuts off system (3) with laser automatically connects, video imaging system (1), computer control system (2) and laser is set up bidirectional dialog communication between cutting off system (3) automatically, be consequently formed the laser ablation operation on prostate system that fully-automatic intelligent control is carried out to the human body on special purpose lathe (4).The present invention is without professional operative doctor, and an operator's control that need to have basic medical can complete operation, thus can substantially reduce medical treatment cost, reduce medical treatment surprisingly, substantially reduce postoperative complication.
Description
Technical field
The present invention relates in a kind of medical system, and in particular to a kind of laser surgey that prostate is cut off for intelligent control
Device.Belong to artificial intelligence field of medical device.
Background technology
Resection of prostate cuts operation and completed by medical practitioner, the electric knife that the operation apparatus of early stage and open surgery are used
Principle is the same, and development later occurs in that Bipolar electrocautery system.Its prostate X excisions are to drag electric knife by medical practitioner, as plane
Radish is the same, prostata tissue is scaled off in layer, and it cuts off prostata tissue mode without the work(that stops blooding simultaneously
Can, the point-to-point electric coagulation hemostasis of TURP loop must be used by blutpunkte occur, and its resection operation requires high.Therefore, existing prostate is cut
Could carry out operation except operation has to medical practitioner, such artificial operation undoubtedly easily by individual factor (such as experience,
Mood) and increase the risk of operation, cause malpractice incidence high, and it cuts off speed slowly, and efficiency is low, also add hand
The treatment cost of art.
The content of the invention
The purpose of the present invention is, cutting operation to solve existing resection of prostate has above-mentioned technical problem there is provided one
Plant the device that prostate is removed by control with computational intelligence laser Full-automatic cutting.
The purpose of the present invention can be achieved through the following technical solutions：
A kind of device that prostate is removed by control with computational intelligence laser Full-automatic cutting, including video imaging system, calculating
Machine control system, laser cut off system and special purpose lathe automatically, and described video imaging system is used to obtain prostate in human body
3D model datas, and send to computer control system；Described computer control system is used to collect video imaging system
The 3D model datas of the prostate of acquisition, and system to laser cut off according to the 3D model datas of prostate automatically send operation and refer to
Order；Described laser cuts off system automatically includes laser controller and excision manipulator, and the laser controller, which is used to receive, to be calculated
The operation instruction that machine control system is sent, by instruction control excision manipulator of performing the operation, described excision manipulator is used to swash
Optical controller receives the lower progress laser ablation prostate of operation instruction；Described special purpose lathe is fixed on specific bit for human body
Put, carry out implementing laser ablation operation on prostate；The defeated in/out end of data message of described video imaging system and computer control
The defeated entry/exit end of data message of system processed connects；The defeated in/out end of data message of computer control system and laser ablation system
The defeated entry/exit end of data message connect, make to set up double between video imaging system, computer control system and laser ablation system
To dialogue communication, the laser ablation operation on prostate system that fully-automatic intelligent control is carried out to the human body on special purpose lathe is consequently formed
System.
The purpose of the present invention can also be achieved through the following technical solutions：
Further, described video imaging system includes high-resolution B ultrasound, MRI nuclear magnetic resonance or CT imaging devices.
Further, described excision manipulator is made up of mechanical arm and laser beam emitting head, and the mechanical arm is used for laser
Emitting head per urethram stretches into human prostate position and carries out resection operation, and described laser beam emitting head is used to launch before laser erosion food
Row glandular tissue.
Further, also include servicing unit, the servicing unit include electronic fiber mirror, rinse fluid circulation and
Sample collecting apparatus.
Further, described servicing unit is inputted in human body by mechanical arm.
Further, described mechanical arm is made by retractable curved arm.
Further, described special purpose lathe is adjustable height, the plane of right position bed.
The present invention has substantive distinguishing features following prominent and significant progressive：
1st, the present invention includes video imaging system, computer control system, laser and cuts off system and special purpose lathe automatically,
Human prostate's 3D model datas are obtained by video imaging system, laser is automatically controlled by computer control system and cut off automatically
System carries out intelligence excision prostate, therefore without professional operative doctor, the operator's control that need to only have basic medical can be complete
Into operation, medical treatment cost thus can be substantially reduced, medical treatment is reduced surprisingly, substantially reduces postoperative complication.
2nd, the present invention carries out excision prostate by computer control system Automated condtrol laser ablation system, therefore,
Operation on prostate standardization, specialization can be made, it is to avoid existing artificial excision prostate, which has technical difference, to be unified
The problem of, thus reduce the generation of medical contingency.
3rd, the present invention uses intelligent control operation, full-automatic unartificial, thus make prostate removal surgery it is simple,
Quickly, efficiently and realize in the short time and repeat or Repeated Operation, and patient's operation waiting can be shortened, moreover it is possible to make intracavity resecting
Prostate is more thorough, while can expand operative treatment scope, the patient for having operation to avoid is performed the operation.
4th, the present invention uses laser ablation technique, and the laser ablation technique can not only vaporize prostata tissue simultaneously and stop
Blood, the wound to operation greatly reduces, make after corrective surgery can rehabilitation faster, or even day surgery can be realized (i.e. patient works as
Its operation, same day discharge), mitigate the phenomenon that present hospital is overstaffed, one is hard to find etc., while also being cut for full automatic mechanical
Except prostate provides the foundation.
Brief description of the drawings
Fig. 1 is structural representation of the invention.
Fig. 2 and Fig. 3 uses schematic diagram for the operation of the present invention.
Embodiment
Below in conjunction with accompanying drawing, the present invention is described in further detail.
Referring to figs. 1 to a kind of device that prostate is removed by control with computational intelligence laser Full-automatic cutting shown in Fig. 3, including
Video imaging system 1, computer control system 2, laser cut off system 3 and special purpose lathe 4, described video imaging system automatically
The 1 3D model datas for obtaining prostate in human body, and send to computer control system 2；Described computer control system
System 2 is used for the 3D model datas for collecting the prostates of the acquisition of video imaging system 1, and according to the 3D model datas of prostate to swashing
Light cuts off system 3 and sends operation instruction automatically；Described laser cuts off system 3 automatically includes laser controller 31 and excision machinery
Hand 32, the laser controller 31 is used for the operation instruction for receiving the transmission of computer control system 2, passes through instruction control excision of performing the operation
Manipulator 32, described excision manipulator 32 is used to carry out laser ablation prostatitis in the case where laser controller 31 receives operation instruction
Gland；Described special purpose lathe 4 is fixed on specified location for human body, carries out implementing laser ablation operation on prostate；Described shadow
As the defeated in/out end of the data message of imaging system 1 connects with the defeated entry/exit end of the data message of computer control system 2；Computer
The defeated entry/exit end of data message that the defeated in/out end of data message of control system 2 cuts off system 3 with laser automatically connects, and makes image
Imaging system 1, computer control system 2 and laser set up bidirectional dialog communication between cutting off system 3 automatically, are consequently formed to special
The laser ablation operation on prostate system of fully-automatic intelligent control is carried out with the human body on lathe 4.
In embodiment, described video imaging system 1 includes high-resolution B ultrasound, MRI nuclear magnetic resonance or CT imagings and set
It is standby.Specifically, video imaging system 1 is using current existing video imaging system, such as high-resolution B ultrasound, MRI nuclear magnetic resonance or
The video imaging equipment such as CT, every suit system can set up the 3D models of the prostate of patient, specifically chosen high-resolution B ultrasound,
MRI nuclear magnetic resonance or CT, or synthesis are used, and are used according to actual conditions；Described laser transmitting system can use existing
The brand medical laser devices such as section doctor people, big nation
Described excision manipulator 32 is made up of mechanical arm 321 and laser beam emitting head 322, and the mechanical arm 321 is used to swash
Light emitting head 322 per urethram stretches into human prostate position and carries out resection operation, and described laser beam emitting head 322 is used to launch sharp
Photetching food prostata tissue A.Described special purpose lathe 4 is adjustable height, the plane of right position bed.In order to improve operation
Convenient and therapeutic effect, described mechanical arm 321 is made by retractable curved arm.Described one kind is by computer intelligence control
Laser Full-automatic cutting processed also includes servicing unit 5 except the device of prostate, and the servicing unit 5 inputs people by mechanical arm 321
Body, described servicing unit 5 includes electronic fiber mirror, rinses fluid circulation and sample collecting apparatus.
When the present invention is applied, 3D models are synthesized by the gathered data of video imaging system 1, rear input computer control system 2
Computer in, by computer control this data control laser ablation system 3 mechanical arm 321 stretch under patient's urethra prostate
Portion, by program launches laser (scope is 3D models) by the flexible of the front end of mechanical arm 321, bending, rotation, makes before laser contact
Row glandular tissue A, makes tissue vaporization, and loses food prostate, reaches that Full-automatic cutting removes the effect of prostate.During excision, excision machinery
The intelligence of mechanical arm 321 of hand 32 stretches into urethra, and bendable front end or flexible launches laser, mechanical arm by laser beam emitting head 322
321, which stretch into urethra, reaches prostatic, and these operations can be carried out under the electronic fiber mirror direct-view of servicing unit 5, then
Transmitting laser starts excision, and it is by 3D models, centered on urethra, near ellipse by computer control system 2 that it, which cuts off prostate,
Round cylinder-type, the excision of one aspect of an aspect, the front end of mechanical arm 321, which passes through, in the process bends, stretches, rotating and send out
Laser vaporization prostata tissue A is penetrated, while rinsing fluid circulation makes to get a clear view, complete resection prostata tissue A.
During specific operation, patient is preoperative by B ultrasound, the video imaging inspection such as MR or CT, and the data being collected into are by video imaging
System sets up prostate 3D model data, is then communicated to control with computational intelligence center, and system is controlled in computer by operator
Mechanical arm 321 is inserted disease by the scope cut off when on the computer of system 2 according to the state of an illness and prostate 3D model specifications, then control
Human urethra's prostatic part, while the datum mark on the datum mark and computer of the good prostate of adjustment coincide, i.e. 3D on computer
Model matches with actual prostate volume, then starts laser and cuts off system 3 automatically, instruction, Zhi Huiji are sent out by computer
Tool arm 321 starts the transmitting laser of laser beam emitting head 322 for stretching, bending, rotating head end simultaneously, starts to cut off prostate, erosion food
(such as engraving sample) cuts off prostate layer by layer, is resected to prostate tip always from neck of urinary bladder, so far prostate excision X
(by the preoperative scope set) operation terminates.When cutting off prostate, as shown in Figures 2 and 3, center, mechanical arm are set to urethra
321 are drawn a circle from shallow to deep placement rotation, and after neck of urinary bladder prostata tissue A is vaporized, mechanical arm is slightly exited a bit (by computer by journey
Sequence is performed) one layer of prostate of re-vaporization, with this similarly, constantly centered on urethra, prostate is cut off in layer, until pressing
Range set complete resection destination organization, cuts out prostate such as engraving hollow out, this process is completely by computer control.
Claims (7)
1. a kind of device that prostate is removed by control with computational intelligence laser Full-automatic cutting, it is characterized in that：Including video imaging system
System (1), computer control system (2), laser cut off system (3) and special purpose lathe (4) automatically,
Described video imaging system (1) is used for the 3D model datas for obtaining prostate in human body, and sends to computer control
System (2)；
Described computer control system (2) is used for the 3D model datas for collecting the prostate of video imaging system (1) acquisition, and
System (3) is cut off to laser according to the 3D model datas of prostate automatically and sends operation instruction；
Described laser cuts off system (3) automatically includes laser controller (31) and excision manipulator (32), the laser controller
(31) it is used for the operation instruction for receiving computer control system (2) transmission, passes through the instruction control excision manipulator (32), institute of performing the operation
The excision manipulator (32) stated is used to carry out laser ablation prostate in the case where laser controller (31) receives operation instruction；
Described special purpose lathe (4) is fixed on specified location for human body, carries out implementing laser ablation operation on prostate；
The defeated in/out end of data message of described video imaging system (1) and the data message of computer control system (2) are defeated
Entry/exit end connects；The data that the defeated in/out end of data message of computer control system (2) cuts off system (3) automatically with laser are believed
Cease defeated entry/exit end to connect, video imaging system (1), computer control system (2) and laser is cut off automatically between system (3)
Bidirectional dialog communication is set up, is consequently formed before the laser ablation that fully-automatic intelligent control is carried out to the human body on special purpose lathe (4)
Row gland surgery systems.
2. a kind of device that prostate is removed by control with computational intelligence laser Full-automatic cutting according to claim 1, it is special
It is when levying：Described video imaging system (1) includes high-resolution B ultrasound, MRI nuclear magnetic resonance or CT imaging devices.
3. a kind of device that prostate is removed by control with computational intelligence laser Full-automatic cutting according to claim 1, it is special
It is when levying：Described excision manipulator (32) is made up of mechanical arm (321) and laser beam emitting head (322), and the mechanical arm (321) is used
Resection operation, described laser beam emitting head (322) are carried out in laser beam emitting head (322) is per urethram stretched into human prostate position
For launching laser erosion food prostata tissue.
4. a kind of device that prostate is removed by control with computational intelligence laser Full-automatic cutting according to claim 3, it is special
It is when levying：Also include servicing unit (5), the servicing unit (5) includes electronic fiber mirror, rinses fluid circulation and sample
Harvester.
5. a kind of device that prostate is removed by control with computational intelligence laser Full-automatic cutting according to claim 4, it is special
It is when levying：Described servicing unit (5) is inputted in human body by mechanical arm (321).
6. a kind of device that prostate is removed by control with computational intelligence laser Full-automatic cutting according to claim 3, it is special
It is when levying：Described mechanical arm (321) is made by retractable curved arm.
7. a kind of device that prostate is removed by control with computational intelligence laser Full-automatic cutting according to claim 1, it is special
It is when levying：Described special purpose lathe (4) is adjustable height, the plane of right position bed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710600066.8A CN107174340A (en) | 2017-07-21 | 2017-07-21 | A kind of device that prostate is removed by control with computational intelligence laser Full-automatic cutting |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710600066.8A CN107174340A (en) | 2017-07-21 | 2017-07-21 | A kind of device that prostate is removed by control with computational intelligence laser Full-automatic cutting |
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| Publication Number | Publication Date |
|---|---|
| CN107174340A true CN107174340A (en) | 2017-09-19 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710600066.8A Pending CN107174340A (en) | 2017-07-21 | 2017-07-21 | A kind of device that prostate is removed by control with computational intelligence laser Full-automatic cutting |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110051435A (en) * | 2019-04-25 | 2019-07-26 | 李汉忠 | Transurethral prostate surgery robot excision system |
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|---|---|---|---|---|
| CN1612713A (en) * | 2001-11-05 | 2005-05-04 | 计算机化医学体系股份有限公司 | Apparatus and method for registration, guidance, and targeting of external beam radiation therapy |
| CN101069653A (en) * | 2006-05-09 | 2007-11-14 | 无锡浩波光电子有限公司 | Slective photo-vapourizing operation method for treatment of prostate hyperplasia by 532 nm wave-length green laser |
| CN101222895A (en) * | 2005-07-08 | 2008-07-16 | 聚焦外科公司 | Method and apparatus for the treatment of tissue |
| CN102159152A (en) * | 2008-06-18 | 2011-08-17 | 工程服务公司 | MRI compatible robot with calibration phantom and phantom |
| CN104203078A (en) * | 2012-02-29 | 2014-12-10 | 普罗赛普特生物机器人公司 | Automated image-guided tissue resection and treatment |
-
2017
- 2017-07-21 CN CN201710600066.8A patent/CN107174340A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1612713A (en) * | 2001-11-05 | 2005-05-04 | 计算机化医学体系股份有限公司 | Apparatus and method for registration, guidance, and targeting of external beam radiation therapy |
| CN101222895A (en) * | 2005-07-08 | 2008-07-16 | 聚焦外科公司 | Method and apparatus for the treatment of tissue |
| CN101069653A (en) * | 2006-05-09 | 2007-11-14 | 无锡浩波光电子有限公司 | Slective photo-vapourizing operation method for treatment of prostate hyperplasia by 532 nm wave-length green laser |
| CN102159152A (en) * | 2008-06-18 | 2011-08-17 | 工程服务公司 | MRI compatible robot with calibration phantom and phantom |
| CN104203078A (en) * | 2012-02-29 | 2014-12-10 | 普罗赛普特生物机器人公司 | Automated image-guided tissue resection and treatment |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110051435A (en) * | 2019-04-25 | 2019-07-26 | 李汉忠 | Transurethral prostate surgery robot excision system |
| WO2020216253A1 (en) * | 2019-04-25 | 2020-10-29 | 李汉忠 | Surgical robot system for transurethral resection of prostate |
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Application publication date: 20170919 |