CN115040247B - Femtosecond laser minimally invasive surgical robot system - Google Patents

Abstract

The present invention discloses a femtosecond laser minimally invasive surgical robot system, specifically a femtosecond laser minimally invasive surgical robot system for the oral pharynx. The robot system includes a robot subsystem, a navigation registration subsystem, a laser cutting subsystem and an operating table subsystem, wherein the robot subsystem includes a robot controller, a universal mechanical arm adapted to the requirements of multiple surgical types and a dedicated working end, wherein the dedicated working end includes a detachably connected soft tissue surgical working end and an implant surgical working end, and different working ends can be installed and used according to the specific surgical type, and each working end is a double-headed integrated working end, including two reversely installed micro-robots in series. The length, outer diameter and other dimensions of the robot are suitable for the oral pharynx, and the robot cleverly integrates different working ends into a single-arm robot system, and can realize the precise operation of multiple types of surgeries such as femtosecond laser automatic cutting, automatic wound suturing, and automatic implantation of implants in the oral pharynx.

Description

Femtosecond laser minimally invasive surgical robot system

Technical Field

The present invention belongs to the field of femtosecond laser minimally invasive surgical robots, and in particular relates to an oral and pharyngeal femtosecond laser minimally invasive surgical robot system.

Background Art

The oral and pharyngeal areas are prone to trauma, inflammation, tumors and other diseases. This area has the characteristics of a small cavity and a deep hole, poor exposure of the surgical area, adjacent important nerves and blood vessels, and sensitive sensation. At present, clinical surgery requires the use of endoscopes, supported laryngoscopes, microscopes and special instruments, which is difficult to complete. Lesion exposure, hemostasis and suturing are difficult, and are easily affected by objective factors such as the doctor's condition and experience, which can lead to surgical errors and affect the treatment effect. The existing surgical robots represented by the da Vinci robot are all non-autonomous, and their cutting and suturing still rely on manual operation by doctors. There is an urgent need to develop a minimally invasive surgical robot system suitable for the narrow and deep cavities of the oral and pharyngeal areas.

In addition, oral and pharyngeal surgery generally includes three types: oral soft tissue surgery, oral implant surgery and pharyngeal soft tissue surgery, such as vocal cord tumor surgery. Usually soft tissue surgery requires resection or cutting of soft tissue, followed by suturing; oral implant surgery requires cutting of soft tissue at the site of the tooth defect where the implant is to be placed, and then inserting the implant.

There are different surgical robots, such as soft tissue surgery robots for soft tissues and implant robots for oral implants. In addition, the cutting and suturing ends of existing robot systems are mounted on different robotic arms or even different robot systems. This leads to the following problems: On the one hand, hospitals need to purchase multiple robot systems, or at least equip multiple robotic arms, which greatly increases the equipment costs of hospitals. On the other hand, multiple robots are placed in the operating room, occupying more space and causing more unsafe factors. On the other hand, for multi-arm robots, there is a significant risk of collision during surgery, or even causing chaos in the surgery.

In summary, this application proposes a robot system with length, outer diameter and other dimensions suitable for the oral and pharyngeal areas, aiming at the problems of limited visual field, poor exposure of the surgical area, dense peripheral nerves and blood vessels, and high risk in soft tissue resection surgeries in the oral cavity, pharynx, etc. The robot system cleverly integrates different working ends into a single-arm robot system, and can complete a variety of surgical operations in the oral and pharyngeal areas that do not rely on manual operation of the doctor, such as automatic femtosecond laser cutting, automatic wound suturing, and automatic implantation. In addition, due to its appropriate size, it can achieve precise cutting of soft and hard tissues in the narrow and deep cavities of the oral and pharyngeal areas, efficient suturing of soft tissue incisions, and precise implantation of implants, thereby shortening the operation time and reducing trauma.

Summary of the invention

For two types of surgeries such as oral and pharyngeal soft tissue resection and dental implantation, the present invention proposes a femtosecond laser surgical robot design concept with a dual-head integrated working end, forming a six-degree-of-freedom universal robotic arm + dual-head working end soft tissue surgical robot subsystem and a dental implant surgical robot subsystem. In addition to the robot subsystem, the two types of surgical robot systems also include a laser cutting subsystem, a navigation and registration subsystem, and an operating table subsystem. The four subsystems work together to achieve preoperative intelligent planning, intraoperative visual navigation positioning control, and postoperative automatic and efficient suturing/implant insertion.

The present application proposes a femtosecond laser minimally invasive surgical robot system, including an operating table, a robot controller, a universal robotic arm that can adapt to the requirements of multiple surgical procedures, and a dedicated working end, wherein the dedicated working end includes a detachably connected soft tissue surgical working end and an implant surgical working end. Different working ends can be installed and used according to the specific type of surgery. Each working end is a double-headed integrated working end, including two micro-robots installed in reverse series.

The femtosecond laser minimally invasive surgical robot system, wherein the detachable connection includes a threaded connection, a locking connection, and a shaft pin connection.

The femtosecond laser minimally invasive surgical robot system is preferably an oral and pharyngeal femtosecond laser minimally invasive surgical robot system.

In the femtosecond laser minimally invasive surgical robot system, the soft tissue surgical working end includes an oral soft tissue surgical working end and a throat soft tissue surgical working end.

The femtosecond laser minimally invasive surgical robot system, wherein the implant surgery working end is composed of two micro-robots installed in reverse series, one of which is a five-degree-of-freedom femtosecond laser cutting robot, and the other is a micro-implantation robot.

The femtosecond laser minimally invasive surgical robot system, wherein the soft tissue surgical working end is composed of two micro-robots installed in reverse series, one of which is a five-degree-of-freedom femtosecond laser cutting robot, and the other is a micro-suturing robot.

The femtosecond laser minimally invasive surgical robot system, in which the dedicated working end is mounted on the end flange of the universal robotic arm, and the flange can be rotated at least 180°. By rotating the flange, the required microrobot can be adjusted to the front end or toward the patient according to surgical requirements.

Preferably, the femtosecond laser minimally invasive surgical robot system, wherein the five-degree-of-freedom femtosecond laser cutting robot is a laser automatic ablation and cutting microrobot, can realize three-dimensional movement of the light spot, 360-degree rotation and 0-110° pitch of the light knife, and integrates a dust suction and cooling system and a 3D endoscopic vision system. The diameter of the intracavitary part does not exceed 10-20 mm, preferably does not exceed 15 mm, and the vision system is not affected by the laser.

The femtosecond laser minimally invasive surgical robot system, wherein the micro-implantation robot is an implant automatic positioning/screwing-in micro-robot, has an overall outer diameter of ≤40mm and a length of ≤200mm, and includes an end adjustment unit, a screw-in clamping unit, a force detection unit, and an implant clamping unit, and can adapt to implant surgeries of three types of implants.

The femtosecond laser minimally invasive surgical robot system, wherein the micro suturing robot is a soft tissue automatic suturing micro robot, whose overall dimensions include an outer diameter of ≤25mm, a length of ≤200mm, and a number of storage needles of no less than 10. The micro suturing robot includes an end adjustment unit, a needle pressing unit, a needle storage unit, a pulling unit, and a needle pushing unit, and the suturing depth is ≤5mm.

In the femtosecond laser minimally invasive surgical robot system, the soft tissue surgical working end is designed to have different lengths and outer diameters of the microrobot according to whether the surgical site is the oral cavity or the throat. For oral soft tissue, the microrobot can be designed to have a length of 50-150mm and an outer diameter of 10mm-20mm; for throat soft tissue, the microrobot can be designed to have a length of 100-200mm and an outer diameter of 5mm-10mm.

The above technical solution provided by the present invention has at least the following beneficial effects:

(1) This application realizes preoperative intelligent planning, intraoperative visual navigation positioning control, and postoperative automatic and efficient suturing/implant insertion through the coordinated cooperation of four subsystems: a robot system, a navigation and registration system, a laser system, and an operating console system, without relying on the doctor's manual operation.

(2) The present invention detachably connects the soft tissue surgery working end and the implant surgery working end to a universal surgical robot arm, which can be applied to different oral departments. At the same time, in situations where joint review by implant doctors and oral soft tissue doctors is required, the operation can be completed using a robot system, saving costs.

(3) Each working end of the present invention includes a double-headed integrated working end installed in reverse series. For different surgical operations in the same surgery, it is only necessary to rotate the required working end to the front end of the surgery. There is no need for multiple robotic arms, which reduces space occupancy and avoids the risk of collision between multiple robotic arms.

(4) The flange at the front end of the universal robot arm of the present invention rotates reliably and stably, and is equipped with a stopper, making the operation safer and more stable.

(5) The present invention designs microrobots of different sizes and types based on the characteristics of oral and throat tissues, making surgical operations more precise.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

FIG1 is the overall structure of the femtosecond laser minimally invasive surgical robot of the present invention;

FIG2 shows the states of the femtosecond laser minimally invasive surgical robot of the present invention under different surgical operations, a) oral soft tissue resection, b) oral soft tissue suturing;

FIG3 is a schematic diagram of a five-degree-of-freedom femtosecond laser micro-surgery robot according to the present invention;

FIG4 is a schematic diagram of a single-arm micro-suturing robot according to the present invention;

FIG5 is a schematic diagram of a micro planting robot according to the present invention;

FIG. 6 is a schematic diagram of a universal mechanical arm rotating flange of the present invention.

DETAILED DESCRIPTION

In order to make the technical problems, technical solutions and advantages to be solved by the present invention more clear, a detailed description will be given below with reference to the accompanying drawings and specific embodiments.

1 , the femtosecond laser minimally invasive surgical robot system of the present invention is composed of four subsystems: a robot system, a navigation and registration system, a laser system, and an operating table system.

The femtosecond laser minimally invasive surgical robot system of the present application uses femtosecond laser technology, and is therefore specifically a femtosecond laser minimally invasive surgical robot system for the oral and pharyngeal regions.

1. Robotic system

The robot system includes a universal robotic arm and a dedicated working end that can adapt to the requirements of different surgical types. The dedicated working end includes a detachable soft tissue surgery working end and an implant surgery working end. Different working ends can be installed and used according to the specific type of surgery. Each working end is a double-headed integrated working end, including two reversely installed micro-robots in series.

2. Navigation registration system

Each microrobot is equipped with an endoscopic visual navigation sensor at the end. Although the visual navigation sensor is structurally integrated with the microrobot, the image signal it collects is processed by the navigation registration subsystem. The microrobot end deviation calculated by the navigation controller is fed back to the robot controller via the console main controller.

Robotic movements, including those of the universal robotic arm surgical platform, micro femtosecond laser surgical robot, micro suturing robot, and micro implant robot, are all controlled by the robot controller. The robot controller communicates with the console main controller in real time and receives instructions from the main controller, such as starting position, motion path, deviation adjustment, etc. The robot controller and navigation controller feed back information such as robot position, end deviation, and instruction execution status to the main controller.

The robot's automatic work requires preoperative registration and intraoperative navigation. For this purpose, a navigation registration subsystem needs to be developed. From the perspective of functional division, the navigation registration subsystem includes infrared sensors, visual sensors, and navigation controllers. Among them, the infrared sensor detects the surgical mark, completes the position registration of the robot and the surgical target, and ensures that the working end can reach the vicinity of the target point without visual feedback in the cavity. In order to further improve the navigation positioning accuracy and correct the errors introduced by deep cavities and soft tissue changes, the end of the microrobot is equipped with a visual sensor, which can go deep into the oral cavity with the microrobot to achieve close observation of the surgical environment and achieve intraoperative positioning. The infrared sensor and the visual sensor send the position signal of the surgical mark and the multi-view endoscopic image signal to the navigation controller respectively. The navigation controller calculates the position of the microrobot relative to the lesion in real time and sends it to the main controller of the console. In addition, the navigation registration subsystem will also organize the sensor information and algorithm processing results and send them to the console for display. Conversely, the main controller of the console controls the opening and closing of the navigation registration subsystem and is also responsible for providing the required preoperative scanning/planning data for the navigation registration subsystem. The navigation and registration subsystem outputs positioning results at a frequency of no less than 2 Hz. When the surgical operation is being performed, the frequency is increased to no less than 5 Hz.

(III) Laser subsystem

During the cutting process, the laser unit receives the control signal from the main controller in real time. First, the output parameters of the laser are adjusted according to the surgical requirements. The laser output power is 5W, the pulse width is 400fs, and the repetition frequency is 200KHz. The laser is equipped with an electric control switch, which is controlled by three signals: one is manual control, one is controlled by the laser output parameter monitoring module, and one is controlled by the navigation and registration subsystem. The laser output parameter monitoring module is established to observe the laser output status in real time. If there is a lock problem, the optical path is cut off and the laser is turned off. The pulse control module is controlled by the navigation subsystem according to the image recognition results of the lesion site. The dispersion compensation module pre-compensates the accumulated dispersion in the optical fiber so that the cutting pulse maintains the narrowest pulse width. The achromatic lens focuses the light beam to a spot size of 30μm and couples it into the large-core hollow fiber, and the collimator collimates the output into the five-degree-of-freedom femtosecond laser micro-robot.

(IV) Operation console subsystem

The operation console is an interactive platform between doctors and the system. It consists of an interactive interface and a main controller. To improve the system integration, the laser unit and robot controller can be integrated into the operation console. The interactive interface displays the 3D model of the lesion, real-time intraoperative video, visualized surgical path, various data and alarm signals, and provides input interfaces such as surgical path, robot posture adjustment, and laser adjustment. The operation end consists of operating handles, buttons, etc., for doctors to control movement start and stop, manual robot fine-tuning, cutting start and stop, and other operations.

The main controller of the operation console controls the robot and laser unit in real time according to the surgical process, robot status, navigation feedback information and doctor monitoring instructions. The main controller runs a variety of software and algorithm modules to achieve 3D model display, preoperative auxiliary planning, preoperative registration, preoperative surgical planning and intraoperative navigation, real-time adjustment of motion trajectory parameters, laser start and stop and parameter control, interactive interface display and operation end signal feedback, etc.

The operating table subsystem in the present invention is a 6-DOF mobile platform with a working radius of 1m, a repeat positioning accuracy of 0.5mm, a mechanical clamping force of 6-10kg, and a quick interface for convenient and fast replacement of surgical instruments.

(V) Usual surgical procedures

The basic surgical process is usually as follows: acquisition of patient CT and MRI data and occlusal model data before surgery - three-dimensional reconstruction, alignment and fusion of multi-source data - preoperative robot navigation route and motion planning - patient preoperative preparation - patient anesthesia, surgical area preparation (including disinfection, drape laying, and placement of an opener to expose the oral cavity and throat) - robot alignment and planning confirmation - general robotic arm macro positioning - femtosecond laser robot micro positioning - automatic resection of lesions/automatic preparation of implant cavities - operating arm withdraws the femtosecond laser robot - working end rotates to adjust the micro suturing robot/micro implant robot to the front end and completes positioning navigation - completes automatic suturing/implantation - withdraws the suturing/implantation robot - patient observation after the operation is completed.

Acquisition of CT, MRI and dental model data of patients before surgery

Obtain CT or MRI and dental model data of the patient's surgical site, and complete 3D reconstruction through image processing software. 3D reconstruction, registration and fusion of multi-source data Import CT or MRI and dental model images into the main controller of the operating table, use the "surgical image synthesis software module" to complete the 3D reconstruction of the data, and use the bony landmarks of the head to complete the registration and fusion of the patient's multi-source data to generate the 3D model of the patient's lesion required for surgery. The model should be able to accurately reflect the lesions and registration marks, and display them to the doctor through the "interactive interface".

Surgical planning

In the "Preoperative Surgery Planning Module" of the interactive interface, the doctor confirms the lesion boundary and completes the surgical path planning, including: universal robotic arm macro positioning points, automatic working end micro positioning points, automatic working end terminal trajectory, human-machine collaborative operation points, laser cutting start and stop points, suturing points, implantation pit dimensions, etc.

Preoperative preparation

The patient is anesthetized, immobilized, the operating table is adjusted, the mouth opener is placed, and registration markers are fixed to the bony structures of the head.

Robot registration and planning confirmation

Start the "Registration Navigation Software Module", use the in vitro registration positioning sensor (such as the infrared navigation system) to detect the spatial position of the robot relative to the registration mark, calculate the spatial posture of the robot relative to the lesion, and align the patient's three-dimensional model to the robot's current posture in the "Registration Navigation Software Module". Unify the two in the same coordinate system, and display the spatial relationship between the robot and the patient's three-dimensional model in real time. Run the "Surgery Planning Simulation Software Module" to adjust and confirm the parameters of the preoperative planning.

Universal Robotic Arm Macro Positioning

Start the "Universal Robotic Arm Macro Positioning Module" in the "Automatic Surgery Control Module". The robot controller uses the relative position of the robot end and the registration mark fed back in real time by the "Registration Navigation Software Module" to control the universal robot arm to move to the macro positioning point. The doctor monitors the scene in real time and accurately observes the relative position changes between the robot end and the surgical channel through the "Registration Navigation Software Module". The doctor can pause and fine-tune the robot end position at any time.

Laser robot micro positioning

Start the "Laser Robot Micro-positioning" operation in the "Automatic Surgery Control Module". The "Registration Navigation Software Module" uses the endoscopic navigation sensor to analyze the multi-view endoscopic images, calculates the position of the laser robot relative to the starting point of the lesion or the implant surgery in real time, and feeds back to the robot controller. The robot controller controls the laser robot to move in the mouth or throat to the starting point of the automatic cutting path. The doctor monitors the scene in real time and accurately observes the relative position changes between the robot end and the lesion or implant surgery area through the "Registration Navigation Software Module". The doctor can pause and fine-tune the end position at any time.

Automatic excision of lesions or automatic preparation of implant holes

Start the "Laser Automatic Resection" operation in the "Automatic Surgery Control Module". The robot controller works in conjunction with the laser controller based on the terminal posture information fed back by the endoscopic navigation sensor to realize the movement of the laser robot's terminal galvanometer, focusing lens, posture adjustment mechanism and laser control, so that the femtosecond laser focused spot executes the surgical planning path and completes the lesion resection or implant preparation. During this process, the doctor monitors the scene in real time and accurately observes the relative posture changes between the robot end and the lesion through the "Registration Navigation Software Module". The doctor can pause and fine-tune the terminal posture at any time. After completing the lesion resection or implant preparation, the laser robot returns to the starting point of the path, the universal robotic arm returns to the macro positioning starting point, and then returns to the standby posture.

Automatic suturing or automatic screwing of implants

Start the "Automatic suturing or automatic implant screwing-in" operation in the "Automatic Surgery Control Module", and the universal robotic arm rotates the working end to transfer the suturing robot or implant robot to the front end. Repeat the process similar to laser resection to complete the automatic suturing or implant screwing-in. After that, the working end and the robotic arm return to the standby position to complete the entire surgical process.

The following is a detailed introduction to the composition and working mode of the robotic subsystem for different types of surgeries.

The dedicated working end of the robot system is divided into two categories according to the type of surgery: soft tissue surgery working end and implant surgery working end. The soft tissue surgery working end can be specifically divided into oral soft tissue surgery working end and throat soft tissue surgery working end. In actual use, soft tissue surgery and implant surgery are two different types of surgeries, generally belonging to different departments, and there is no crossover in one operation. Therefore, in the implementation plan, the detachable connection includes a threaded connection, a locking connection, and a shaft pin connection. Through these detachable connections, different working ends can be configured for the universal robotic arm according to different types of surgeries, thereby completing different surgeries. However, in some cases, there are situations where different departments jointly review and jointly operate surgeries. Therefore, different working ends can be integrated into a robot system, which can also save space for the operating table and robotic arm, reducing unsafe factors in surgery.

The dedicated working end is installed on the end flange of the universal robotic arm, and the end flange can be rotated at least 180°. By rotating the flange, the required micro-robot can be adjusted to the front end according to the surgical requirements. Referring to Figure 6, the flange is T-shaped, that is, a T-joint, which serves to connect the universal robotic arm and the micro-robot. The suturing robot/implantation robot is coaxially installed on the flange with the laser robot, and the flange is connected to the robotic arm. The rotation, positioning and resetting of the micro-robot are completed by rotating the robotic arm. Each working end consists of two micro-robots installed in reverse series. Referring to Figure 2, when performing the operation, according to the requirements of the surgical process, by rotating the end flange of the robotic arm, the currently required micro-robot can be adjusted to the front end to complete the soft tissue removal/implantation surgery and suturing/implant insertion.

The following is a detailed description of oral soft tissue surgery, implant surgery, and throat soft tissue surgery.

1. Oral soft tissue surgery

Figure 2 shows the working end configuration and micro-robot status for oral soft tissue resection and suturing surgery. As shown in Figure 2, the soft tissue surgery working end consists of two micro-robots installed in reverse series, one of which is a five-degree-of-freedom femtosecond laser cutting robot and the other is a micro-suturing robot.

When soft tissue cutting is performed, the flange on the mechanical arm is rotated so that the five-degree-of-freedom femtosecond laser cutting robot faces the patient. The five-degree-of-freedom femtosecond laser cutting robot is a laser automatic ablation and cutting micro robot that can achieve three-dimensional movement of the light spot, 360-degree rotation of the light knife and 0-110° pitch, and integrates a dust suction cooling system and a 3D endoscope vision system. The diameter of the intracavitary part does not exceed 15mm, and the vision system is not interfered by the laser.

The steps of oral soft tissue surgery are as follows: ① The robotic arm accurately positions the femtosecond laser microrobot to the lesion; ② The femtosecond laser ablates and cuts the lesion with a spot speed of no less than 5000 mm/s, a cutting error of no more than 50 μm, and an angle error of no more than 1° (with additional dust suction and cooling system, 3D visual servo system); ③ The automatic suturing microrobot sutures the wound, with the suture depth ≤5 mm and the suture staple position error ≤1 mm; ④ The robot is reset and the surgical results are evaluated.

When performing soft tissue suturing, the flange on the mechanical arm is rotated so that the micro suturing robot faces the patient. The micro suturing robot is a soft tissue automatic suturing micro robot, with an overall outer diameter of ≤25mm, a length of ≤200mm, and a needle storage number of not less than 10. The micro suturing robot includes an end adjustment unit, a needle pressing unit, a needle storage unit, a pulling unit, and a needle pushing unit, and the suturing depth is ≤5mm.

The surgical steps of throat soft tissue surgery are as follows: ① The motion platform accurately positions the femtosecond laser microrobot to the target position so that the tumor surface is in the focal plane; ② The laser microrobot ablates the tumor according to the preoperative planned path, with an ablation range of 2 cm and an accuracy (navigation positioning error + ablation error) ≤ 0.5 mm. An additional suction device and 3D endoscope are used for real-time monitoring. If an emergency such as heavy bleeding occurs, the master-slave mode is immediately switched; ③ The automatic suturing microrobot sutures the wound, with a suture depth of ≤ 5 mm and a suture nail position error of ≤ 1 mm; ④ The robot is reset and the surgical results are evaluated.

2. Implant surgery

The configuration and status of the working end of the implant surgery are similar to the working end hardware of the oral soft tissue. The only difference is that the suturing robot is replaced by the implant robot. That is to say, there are two micro-robots installed in reverse series at the working end of the implant surgery, one of which is a five-degree-of-freedom femtosecond laser cutting robot and the other is a micro-implantation robot.

When performing soft tissue cutting before implantation, the flange on the robotic arm is rotated so that the five-degree-of-freedom femtosecond laser cutting robot faces the patient. The specific robot configuration and operation are similar to those of the robot for cutting in the aforementioned oral soft tissue surgery and will not be repeated here.

When the formal implantation operation is performed, the flange on the mechanical arm is rotated so that the micro-implantation robot faces the patient. The micro-implantation robot is an implant automatic positioning/screwing micro-robot, with an overall size of ≤40mm outer diameter and ≤200mm length, including an end adjustment unit, a screw-in clamping unit, a force detection unit, and an implant clamping unit, which can adapt to the implantation surgery of three types of implants.

The steps of oral implant surgery are: ① The robotic arm accurately positions the femtosecond laser microrobot to the cutting point; ② Laser cutting, where the cutting wound deviation (navigation positioning error + ablation error) is ≤0.5mm and the cutting depth is ≤14mm (with additional dust suction and cooling system); ③ The implant operation robot automatically positions and screws the implant into the prepared implant socket.

3. Throat soft tissue surgery

The configuration and state of the working end of throat soft tissue surgery are similar to the hardware of the working end of oral soft tissue. The only difference is that the size of the micro robot is different. For oral soft tissue, the micro robot can be designed to have a length of 50-150mm, preferably 80-120mm, and an outer diameter of 10mm-20mm, preferably 14-18mm; for throat soft tissue, the micro robot can be designed to have a length of 100-200mm, preferably 150-200mm, and an outer diameter of 5mm-10mm, preferably 6-8mm. By adapting robots of different sizes to the oral and throat areas, surgical operations are made more convenient and accurate.

For the soft tissue of the throat, the specific robot configuration and operation are similar to the robot configuration and operation for cutting and suturing in the aforementioned oral soft tissue surgery, and will not be repeated here.

It is worth mentioning that the throat soft tissue surgical working end and the oral soft tissue manual working end can be two independent working ends of different sizes, or they can share the same rear end handle part, but only the front end insertion part that extends into the oral cavity and/or throat is different. In the latter case, the front end insertion part can be detachably connected to the rear end handle part, for example, by means of threaded connection, locking connection, or shaft pin connection.

The above is a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several superpositions, deletions, improvements and modifications can be made without departing from the principles of the present invention. These superpositions, deletions, improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims (10)

1. A femtosecond laser minimally invasive surgical robot system, comprising a robot subsystem, a navigation and registration subsystem, a laser cutting subsystem and an operating table subsystem, wherein the robot subsystem comprises a robot controller, a universal robot arm adapted to the requirements of multiple surgical procedures and a dedicated working end, characterized in that the universal robot arm is one and multiple robot arms are not required, the dedicated working end is mounted on the end flange of the universal robot arm, wherein the flange is T-shaped; the dedicated working end comprises a detachably connected soft tissue surgical working end and an implant surgical working end, and different working ends can be installed and used according to the specific type of surgery, each working end is a double-headed integrated working end, and each working end comprises two micro-robots installed in reverse series, the navigation and registration subsystem comprises an infrared sensor, a visual sensor and a navigation controller, wherein the infrared sensor detects surgical marks, completes the posture registration of the robot and the surgical target, and ensures that the working end can reach the vicinity of the target point without visual feedback in the cavity, and the navigation controller calculates the posture of the micro-robot relative to the lesion in real time and sends it to the main controller of the operating table. 2. According to the femtosecond laser minimally invasive surgical robot system of claim 1, the laser cutting subsystem is controlled by three signals, one is manually controlled, one is controlled by a laser output parameter monitoring module, and one is controlled by a navigation and registration subsystem. The laser output parameter monitoring module observes the laser output status in real time. If a lock problem occurs, the optical path is cut off and the laser is turned off. The pulse control module of the laser cutting subsystem controls the power entering the large-core hollow optical fiber by the navigation and registration subsystem according to the image recognition result of the lesion site. 3. The femtosecond laser minimally invasive surgical robot system according to claim 1 is a femtosecond laser minimally invasive surgical robot system for the oral and pharyngeal regions. 4. According to the femtosecond laser minimally invasive surgical robot system of claim 1, the soft tissue surgery working end includes an oral soft tissue surgery working end and a throat soft tissue surgery working end. 5. According to the femtosecond laser minimally invasive surgical robot system of claim 1, the implant surgery working end is composed of two micro robots installed in reverse series, one of which is a five-degree-of-freedom femtosecond laser cutting robot, and the other is a micro implant robot; the soft tissue surgery working end is composed of two micro robots installed in reverse series, one of which is a five-degree-of-freedom femtosecond laser cutting robot, and the other is a micro suturing robot. 6. The femtosecond laser minimally invasive surgical robot system according to claim 1, wherein the end flange of the robotic arm can rotate at least 180°, and by rotating the flange, the required microrobot can be adjusted to the front end according to surgical requirements. 7. According to the femtosecond laser minimally invasive surgical robot system described in claim 5, the five-degree-of-freedom femtosecond laser cutting robot is a laser automatic ablation and cutting micro-robot, which can realize three-dimensional movement of the light spot, 360-degree rotation and 0-110° pitch of the light knife, and integrates a dust suction cooling system and a 3D endoscopic vision system. The diameter of the intracavitary part does not exceed 15 mm, and the vision system is not affected by the laser. 8. According to the femtosecond laser minimally invasive surgical robot system of claim 5, the micro implant robot is an implant automatic positioning/screwing-in micro robot, with an overall outer diameter of ≤40 mm and a length of ≤200 mm, and includes an end adjustment unit, a screw-in clamping unit, a force detection unit, and an implant clamping unit, and can adapt to implant surgeries of three types of implants. 9. According to the femtosecond laser minimally invasive surgical robot system of claim 5, the micro suturing robot is an automatic soft tissue suturing micro robot, the overall size of which is an outer diameter ≤25 mm, a length ≤200 mm, and a number of needle storages of no less than 10. The micro suturing robot includes an end adjustment unit, a needle pressing unit, a needle storage unit, a pulling unit, and a needle pushing unit, and the suturing depth is ≤5 mm. 10. According to the femtosecond laser minimally invasive surgical robot system of claim 4 or 5, the soft tissue surgical working end is designed to have different lengths and outer diameters of the microrobot depending on whether the surgical site is the oral cavity or the throat.