CN-121987352-A - Intelligent control method and system for oral operation robot

CN121987352ACN 121987352 ACN121987352 ACN 121987352ACN-121987352-A

Abstract

The application relates to the technical field of medical appliances and discloses an intelligent control method and system of an oral operation robot, wherein the system comprises a laryngoscope support module, a lens module and a control module, the laryngoscope support module comprises a support body and a tongue depressor, an endoscope channel and an appliance channel are arranged in the support body and the tongue depressor in a penetrating manner, and a pressure detection unit is integrated on one side of the tongue depressor, which is contacted with a tongue body; the lens module comprises an endoscope, a third visual field lens and a lens cleaning assembly, wherein the lens cleaning assembly comprises a nozzle used for cleaning the endoscope and the third visual field lens, and the control module is in communication connection with the laryngoscope support module and the lens module. The application realizes the integrated auxiliary control of the oral operation of sensing, controlling, self-cleaning and intelligent cooperative collision prevention by each functional module, and overcomes the defects of low automation degree, single function and easy interruption of operation of the traditional auxiliary system of the oral operation.

Inventors

LI YAO
XIE YING
WANG PENG
GONG JUNJIE
CHEN HAO

Assignees

成都博恩思医学机器人有限公司

Dates

Publication Date: 20260508
Application Date: 20260409
Priority Date: 20250415

Claims (10)

1. An intelligent control system of an oral surgical robot, comprising: The laryngoscope support module (110) comprises a support body (111) and a tongue depressor (112), wherein the support body (111) is connected with the tongue depressor (112), an endoscope channel (113) and an instrument channel (114) are arranged inside the support body (111) and the tongue depressor (112) in a penetrating way, and a pressure detection unit (115) is integrated on one side of the tongue depressor (112) contacted with the tongue body; The lens module (120) comprises an endoscope (121) and a lens cleaning component (122), the endoscope (121) is movably arranged inside the endoscope channel (113), and the lens cleaning component (122) is integrated on one side of an outlet of the endoscope channel (113) on the tongue depressor (112); and the control module (160) is used for being respectively in communication connection with the laryngoscope support module (110) and the lens module (120).
2. The intelligent control system of an oral surgical robot according to claim 1, wherein the lens module (120) further comprises a third field lens (126), and the third field lens (126) is fixedly disposed on the tongue depressor (112) and has a preset positional relationship with the endoscope (121).
3. The intelligent control system of an oral surgical robot according to claim 2, wherein the lens cleaning assembly (122) comprises a cleaning channel (124) and a nozzle (123), the cleaning channel (124) is integrated inside the laryngoscope support module (110), the nozzle (123) is connected to one end of the cleaning channel (124) and is fixed on the tongue depressor (112), the cleaning channel (124) comprises a gas channel and a liquid channel, and the injection area of the nozzle (123) covers the initial position of the endoscope (121) and the position of the third field lens (126), respectively.
4. An intelligent control system of an oral surgical robot according to claim 1, characterized in that the tongue depressor (112) comprises a pressure plate (116) and a base (117), the pressure plate (116) being rotationally connected to the base (117) by a connection, the pressure plate (116) being rotatable in a vertical or horizontal direction relative to the base (117).
5. The intelligent control system of an oral surgical robot according to claim 2, wherein the endoscope (121) and the third field lens (126) are flexible lenses.
6. An intelligent control method of an oral surgical robot, the method comprising: obtaining pressure distribution data between the tongue depressor (112) and the tongue body, and obtaining a result value of each preset support state index based on the pressure distribution data, wherein the support state index comprises a static support state index and a dynamic support state index; Acquiring a real-time image of a lens module (120), and performing image recognition on the real-time image to acquire a preset result value of each visual state index, wherein the lens module (120) comprises an endoscope (121) and a third visual field lens (126), and the real-time image comprises a real-time image of the endoscope (121) and a real-time image of the third visual field lens (126); and combining the result value of the support state index with the result value of the visual state index, and matching a preset adjusting strategy to adjust the tongue depressor (112) and the endoscope (121), wherein the adjusting priority of the tongue depressor (112) is higher than that of the endoscope (121).
7. The method for intelligent control of an oral surgical robot of claim 6, further comprising: monitoring the real-time image in real time, identifying the pollution type and pollution degree of the lens module (120) based on the real-time image, and judging whether a preset first cleaning triggering condition is reached or not; And if the first cleaning triggering condition is met, controlling the lens module (120) to perform preset pose compensation movement, and controlling the lens cleaning component (122) to perform cleaning operation comprising ventilation pulse and/or water pulse on the lens module (120) according to a cleaning strategy corresponding to the pollution type during or after the pose compensation movement.
8. The intelligent control method of an oral surgical robot according to claim 7, wherein the identifying the contamination type and contamination level of the lens module (120) based on the real-time image further comprises: Establishing a mapping rule base of each operation and each cleaning trigger condition, wherein the mapping rule base comprises a plurality of mapping relations between the operation, the cleaning trigger conditions and the cleaning strategies; Acquiring current operation in real time, carrying out matching search from the mapping rule base based on the current operation, and judging whether a second cleaning triggering condition is reached; and if the second cleaning trigger condition is met, executing a cleaning strategy corresponding to the second cleaning trigger condition, and controlling the lens cleaning component (122) to execute cleaning operation comprising ventilation pulse and/or water pulse on the lens module (120).
9. The intelligent control method of an oral surgical robot according to claim 6, further comprising: acquiring a third view image with a surgical instrument and the endoscope (121) through the third view lens (126), wherein the surgical instrument and the endoscope (121) in the third view image are provided with visual marks; Identifying the visual marks and respectively calculating a first pose and a second pose of the surgical instrument and the endoscope (121) under the coordinate system of the third field lens (126); based on a coordinate transformation relation calibrated in advance, converting the first pose into a third pose under a global coordinate system and converting the second pose into a fourth pose under the global coordinate system respectively; Based on the third pose and the fourth pose, predicting collision risk of the surgical instrument and the endoscope (121) in real time, and controlling the surgical instrument and/or the endoscope (121) to carry out avoiding operation if the collision risk exceeds a preset threshold.
10. The method of intelligent control of an oral surgical robot according to claim 9, wherein said controlling the surgical instrument and/or the endoscope (121) for avoiding operations comprises: Judging and determining a main moving body in the surgical instrument and the endoscope (121), when the surgical instrument is the main moving body, adjusting the moving direction of the surgical instrument to bypass the endoscope (121), and when the endoscope (121) is the main moving body, controlling the endoscope (121) to move to a preset safety direction to avoid the surgical instrument.

Description

Intelligent control method and system for oral operation robot Technical Field The application relates to the technical field of medical instruments, in particular to an intelligent control method and system of an oral operation robot. Background Transoral surgery (Transoral Surgery) is a minimally invasive surgical technique that operates by accessing the throat through a natural oral passageway. In practical operation, the operation area is deep and narrow, and the tongue body is pressed by the laryngoscope support to obtain exposure. In the traditional way, the stent is manually adjusted depending on the experience of the operator. Insufficient support or poor positioning can result in the surgical field being obstructed or the exposure being unstable. Blood, interstitial fluid, electric coagulation or smoke generated by laser and mirror atomization generated by temperature difference generated in the operation process can quickly pollute an endoscope lens, so that the visual field is blurred. The traditional treatment mode needs to completely withdraw the endoscope from the channel for wiping or flushing, so that the operation rhythm is seriously interrupted, and the operation efficiency and the safety are affected. In addition, collision, winding or mutual shielding easily occurs between the instruments and the lens, and the risks of instrument damage, lens damage or tissue accidental injury exist. Currently, some surgical robots or auxiliary systems attempt to solve some of the above problems, but focus on a single function, and lack of linkage between the systems results in limited degree of automation. Disclosure of Invention The present application aims to provide an intelligent control method and system for an oral surgical robot, which improve the above problems in the prior art. In order to achieve the above object, the present application provides the following technical solutions: the first aspect of the present application provides an intelligent control system for an oral surgical robot, comprising: The laryngoscope support module comprises a support body and a tongue depressor, wherein the support body is connected with the tongue depressor, an endoscope channel and an instrument channel are arranged in the support body and the tongue depressor in a penetrating manner, and a pressure detection unit is integrated on one side of the tongue depressor, which is contacted with the tongue body; The lens module comprises an endoscope and a lens cleaning component, the endoscope is movably arranged in the endoscope channel, and the lens cleaning component is integrated on one side of an outlet of the endoscope channel on the tongue depressor; And the control module is used for being respectively in communication connection with the laryngoscope support module and the lens module. Further, the lens module further comprises a third visual field lens, and the third visual field lens is fixedly arranged on the tongue depressor and has a preset position relation with the endoscope. Further, the lens cleaning assembly comprises a cleaning channel and a nozzle, the cleaning channel is integrated in the laryngoscope support module, the nozzle is connected with one end of the cleaning channel and is fixed on the tongue depressor, the cleaning channel comprises a gas channel and a liquid channel, and the injection area of the nozzle covers the initial position of the endoscope and the position of the third field lens respectively. Further, the tongue depressor comprises a pressing plate and a base, wherein the pressing plate is rotationally connected with the base through a connecting piece, and the pressing plate can rotate along a vertical direction or a horizontal direction relative to the base. Further, the endoscope and the third field lens are flexible lenses. The second aspect of the present application provides an intelligent control method for an oral surgical robot, comprising: Acquiring pressure distribution data between the tongue depressor and the tongue body, and acquiring a result value of each preset support state index based on the pressure distribution data, wherein the support state index comprises a static support state index and a dynamic support state index; acquiring a real-time image of a lens module, and performing image recognition on the real-time image to acquire a preset result value of each visual state index, wherein the lens module comprises an endoscope and a third visual field lens, and the real-time image comprises a real-time image of the endoscope and a real-time image of the third visual field lens; and combining the result value of the support state index with the result value of the visual state index, and matching a preset adjusting strategy to adjust the tongue depressor and the endoscope, wherein the adjusting priority of the tongue depressor is higher than that of the endoscope. Further, the method further comprises: monitoring the real-time image in real time, ide