A kind of device that prostate is removed by control with computational intelligence laser Full-automatic cuttingTechnical 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 controlDevice.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 usedPrinciple 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 planeRadish is the same, prostata tissue is scaled off in layer, and it cuts off prostata tissue mode without the work(that stops blooding simultaneouslyCan, 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 cutCould 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 handThe 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 onePlant 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, calculatingMachine control system, laser cut off system and special purpose lathe automatically, and described video imaging system is used to obtain prostate in human body3D model datas, and send to computer control system；Described computer control system is used to collect video imaging systemThe 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 toOrder；Described laser cuts off system automatically includes laser controller and excision manipulator, and the laser controller, which is used to receive, to be calculatedThe operation instruction that machine control system is sent, by instruction control excision manipulator of performing the operation, described excision manipulator is used to swashOptical controller receives the lower progress laser ablation prostate of operation instruction；Described special purpose lathe is fixed on specific bit for human bodyPut, carry out implementing laser ablation operation on prostate；The defeated in/out end of data message of described video imaging system and computer controlThe 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 systemThe defeated entry/exit end of data message connect, make to set up double between video imaging system, computer control system and laser ablation systemTo 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 formedSystem.
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 laserEmitting 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 foodRow glandular tissue.
Further, also include servicing unit, the servicing unit include electronic fiber mirror, rinse fluid circulation andSample 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 automaticallySystem carries out intelligence excision prostate, therefore without professional operative doctor, the operator's control that need to only have basic medical can be completeInto 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 unifiedThe 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 resectingProstate 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 stopBlood, the wound to operation greatly reduces, make after corrective surgery can rehabilitation faster, or even day surgery can be realized (i.e. patient works asIts 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 mechanicalExcept 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, includingVideo imaging system 1, computer control system 2, laser cut off system 3 and special purpose lathe 4, described video imaging system automaticallyThe 1 3D model datas for obtaining prostate in human body, and send to computer control system 2；Described computer control systemSystem 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 swashingLight cuts off system 3 and sends operation instruction automatically；Described laser cuts off system 3 automatically includes laser controller 31 and excision machineryHand 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 operationManipulator 32, described excision manipulator 32 is used to carry out laser ablation prostatitis in the case where laser controller 31 receives operation instructionGland；Described special purpose lathe 4 is fixed on specified location for human body, carries out implementing laser ablation operation on prostate；Described shadowAs 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；ComputerThe 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 imageImaging system 1, computer control system 2 and laser set up bidirectional dialog communication between cutting off system 3 automatically, are consequently formed to specialThe 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 setIt is standby.Specifically, video imaging system 1 is using current existing video imaging system, such as high-resolution B ultrasound, MRI nuclear magnetic resonance orThe 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 existingThe 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 swashLight 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 sharpPhotetching food prostata tissue A.Described special purpose lathe 4 is adjustable height, the plane of right position bed.In order to improve operationConvenient and therapeutic effect, described mechanical arm 321 is made by retractable curved arm.Described one kind is by computer intelligence controlLaser Full-automatic cutting processed also includes servicing unit 5 except the device of prostate, and the servicing unit 5 inputs people by mechanical arm 321Body, 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 2Computer in, by computer control this data control laser ablation system 3 mechanical arm 321 stretch under patient's urethra prostatePortion, by program launches laser (scope is 3D models) by the flexible of the front end of mechanical arm 321, bending, rotation, makes before laser contactRow glandular tissue A, makes tissue vaporization, and loses food prostate, reaches that Full-automatic cutting removes the effect of prostate.During excision, excision machineryThe 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 322321, which stretch into urethra, reaches prostatic, and these operations can be carried out under the electronic fiber mirror direct-view of servicing unit 5, thenTransmitting 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 outLaser 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 imagingSystem sets up prostate 3D model data, is then communicated to control with computational intelligence center, and system is controlled in computer by operatorMechanical 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 controlHuman 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 computerModel matches with actual prostate volume, then starts laser and cuts off system 3 automatically, instruction, Zhi Huiji are sent out by computerTool 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 urethra321 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 journeySequence is performed) one layer of prostate of re-vaporization, with this similarly, constantly centered on urethra, prostate is cut off in layer, until pressingRange set complete resection destination organization, cuts out prostate such as engraving hollow out, this process is completely by computer control.