WO2020216253A1 - 经尿道前列腺手术机器人切除系统 - Google Patents

经尿道前列腺手术机器人切除系统 Download PDF

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WO2020216253A1
WO2020216253A1 PCT/CN2020/086143 CN2020086143W WO2020216253A1 WO 2020216253 A1 WO2020216253 A1 WO 2020216253A1 CN 2020086143 W CN2020086143 W CN 2020086143W WO 2020216253 A1 WO2020216253 A1 WO 2020216253A1
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surgical
resection
prostate
control device
surgery
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PCT/CN2020/086143
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English (en)
French (fr)
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李汉忠
王君臣
张学斌
邓建华
连鹏鹄
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李汉忠
王君臣
张学斌
邓建华
连鹏鹄
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Publication of WO2020216253A1 publication Critical patent/WO2020216253A1/zh

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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
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • 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
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • 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
    • A61B34/37—Master-slave robots
    • 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
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • A61B2034/101—Computer-aided simulation of surgical operations
    • A61B2034/105—Modelling of the patient, e.g. for ligaments or bones
    • 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
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2065—Tracking using image or pattern recognition
    • 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
    • A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities

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  • the embodiment of the present invention relates to automated surgical equipment technology, in particular to a transurethral prostate surgery robotic resection system.
  • Transurethral resection of the prostate is mainly used for the removal of benign prostatic hyperplasia tissue.
  • the operation of this operation relies on the skills and experience of the surgeon. However, if the doctor who performs the operation lacks experience, the operation may cause hemorrhage, adjacent tissues such as urethral sphincter, rectal injury and other complications, and incomplete gland removal. , Residual tissues, postoperative dysuria and other symptoms cannot be improved. At the same time, transurethral surgery requires circulatory perfusion and irrigation in order to obtain a good surgical field of vision. The surgeon's operating environment is poor.
  • the embodiment of the present invention provides a transurethral prostate surgery robotic resection system to ensure the accuracy and safety of the surgery, facilitate the standardization and standardization of surgical resection, and avoid injury, urinary incontinence, and intestine caused by improper operation and technical incompetence. Fistula, etc., to avoid residual tissue and affect the effect of surgery.
  • the embodiment of the present invention provides a transurethral prostate surgery robotic resection system, including:
  • the surgical robot device is connected to the surgical control device, and is used to probe into the preset surgical position according to the preset path according to the surgical control instruction sent by the surgical control device, and perform surgical operations on the preset resection range of the patient's prostate; and Acquiring surgical image information and sending it to the surgical control device;
  • a display device connected to the surgical control device, and used to display images to the surgical operator according to the display data sent by the surgical control device;
  • the surgical control device is used to obtain prostate scan data from an external scanning device, and establish a three-dimensional model of the prostate according to the prostate scan data; determine a surgical resection path and a surgical resection range according to the three-dimensional model and a preset model, and generate the
  • the operation control instruction is sent to the surgical robot device; the display data is generated and sent to the display device according to the received surgical image information and the three-dimensional model sent by the surgical robot device.
  • the embodiment of the present invention solves the problem of low surgical quality caused by the lack of experience of surgeons by performing three-dimensional modeling of the prostate of the surgeon and presetting the resection path, thereby ensuring the accuracy and safety of the operation, standardization and standardization, and avoiding artificial Complications such as intestinal fistula, urinary incontinence, and residual tissue caused by injury caused by improper operation and unskilled technology affect the efficacy.
  • Fig. 1 is a schematic structural diagram of a transurethral prostate surgery robotic resection system in the first embodiment of the present invention
  • FIG. 2 is a schematic structural diagram of a transurethral prostate surgery robotic resection system in the second embodiment of the present invention
  • Fig. 3 is a schematic structural diagram of the surgical robot equipment in the transurethral prostate surgery robot resection system in the second embodiment of the present invention.
  • FIG. 1 is a schematic structural diagram of a transurethral prostate surgery robot resection system provided by Embodiment 1 of the present invention. This embodiment can be applied to a situation where a surgeon performs a transurethral prostate resection operation.
  • a transurethral prostate surgery robot resection The system includes: surgical robot equipment 1, display equipment 2 and surgical control equipment 3.
  • the surgical robot device 1 connected to the surgical control device 3, is used to probe into the preset surgical position according to the preset path according to the surgical control instruction sent by the surgical control device 3, and perform surgical operations on the preset resection range of the patient's prostate; And the operation image information is obtained and sent to the operation control device 3;
  • the display device 2 is connected to the surgery control device 3, and is used to display images to the user according to the display data sent by the surgery control device 3;
  • the surgical control device 3 is used to obtain prostate scan data from an external scanning device, and establish a three-dimensional model of the prostate according to the prostate scan data; determine the surgical resection path and the surgical resection range according to the three-dimensional model and the preset model, and generate surgical control instructions to send to Surgical robot equipment 1; According to the received surgical image information and three-dimensional model sent by the surgical robot equipment 1, display data is generated and sent to the display device 2.
  • the patient’s prostate is scanned by the external scanning device 4, and then a three-dimensional model of the patient’s prostate is established by the operation control device 3 according to the scanning data obtained by the external scanning device 4, for example, the operation
  • the control device 3 may be a computer device and installed with software for building a three-dimensional model based on scan data.
  • the external scanning device 4 may be at least one of a magnetic resonance inspection device, an electronic computed tomography device, and an ultrasound scanning device.
  • the three-dimensional model is displayed to the doctor through the display device 2, so that the doctor can determine the surgical plan based on the three-dimensional model, and determine the surgical resection path and scope according to the comparison result of the three-dimensional model and the preset model.
  • the preset model has a corresponding surgical planning plan.
  • the surgical plan can be determined, and the surgical planning can be performed by computer software, and the pre-resection verification can be simulated. It is also possible for the doctor to input the surgical resection path and the surgical resection range when performing surgery on the prostate of the patient through input devices configured by the surgery control device 3, such as a mouse and a keyboard, and the surgeon can also confirm the surgical planning plan derived by the software. Or modify the planning plan obtained by the software as the final operation plan.
  • the surgical control device 3 sends a surgical control instruction to the surgical robot device 1 according to the set surgical resection path and surgical resection range, and the resection device configured in the surgical robot device 1 probes into the preset surgical position according to the preset path, and treats the patient
  • the surgical operation is performed on the preset resection range of the prostate, and the surgical robot device 1 is equipped with a device for acquiring surgical images, so that the surgical image and information about the prostate and adjacent tissues are sent to the surgical control device 3.
  • the operation control device 3 After the operation control device 3 receives the operation image information, it converts it into corresponding display data, and displays the operation image prostate tissue itself and adjacent tissues to the doctor through the display device 2 so that the doctor who performs the operation can know the operation status.
  • the surgical robot device 1 and the surgical control device 3 are connected wirelessly.
  • the doctor can set the surgical plan at the end of the surgical control device 3 to monitor the operation process, and the surgical robot device 1 and the surgical control device 3 are in The location is more flexible, and the doctor does not need to sit close to the patient to perform the operation, which improves the doctor's operating environment.
  • the technical solution of this embodiment solves the problem of poor surgical quality caused by the lack of experience of surgeons by performing three-dimensional modeling of the prostate of the surgeon and presetting the resection path, so as to ensure the accuracy and safety of the operation and facilitate surgical resection.
  • Standardization and standardization to avoid injury, urinary incontinence, intestinal fistula, etc. caused by improper operation and unskilled technology, to avoid residual tissue and affect the effect of surgery.
  • FIG 2 is a schematic structural diagram of a transurethral prostate surgery robot resection system provided by the second embodiment of the present invention. This embodiment is further refined on the basis of the above technical solution.
  • the transurethral surgery resection system includes: a surgical robot Device 1, display device 2, surgical control device 3, and surgical monitoring device 5.
  • the surgical monitoring device 5 is used for real-time scanning of the current operation location during the operation to obtain a scanned image of the current operation location.
  • the surgical monitoring device 5 can also scan the surgical site to acquire the scanned image. Because there will be tissue bleeding and other influencing factors during the operation, resulting in insufficiently clear images of the operation and difficult to identify the operation. Moreover, it is not easy to determine whether the surgical robot device 1 has reached the preset surgical position and whether the resection range meets the preset resection range based on the surgical image alone. By acquiring the scanned image by the surgical monitoring device 5, these conditions during the operation can be monitored.
  • the surgical monitoring device 5 is a transrectal ultrasound monitoring device, which monitors the resection depth of the surgical robot device 1. By watching the display screen of the transrectal ultrasound monitoring device, you can learn about the status of the operation. If there is a situation that does not conform to the predetermined plan during the operation, the doctor can stop performing the operation through the operation control device 3.
  • the surgical robot equipment 1 includes:
  • the execution end 11 of the resectoscope robot includes a resectoscope 111, which is used to obtain the surgical image information, combine with the corresponding energy platform to perform cutting and hemostasis, and resect the preset resection range of the patient’s prostate; a clamping device 112, Connected to the resectoscope 111, used to drive the resecting ring in the resectoscope 111 to perform cutting and hemostasis operations; force feedback and tissue impedance recognition monitoring device 113, used to obtain the resecting ring and the surgical field in the resectoscope 111
  • the contact strength of the tissue and the impedance of the tissue in the operation field; the water in and out of the flushing pipeline is used to supply and discharge the cleaning liquid (not shown in Figure 3).
  • the mechanical arm 12 is connected to the clamping device 112 of the execution end 11 of the resectoscope robot, and is used to drive the resectoscope 111 into the preset operation position.
  • the clamping device 112 drives the resectoscope 111 to advance and retreat along the axial direction of the resectoscope 111; wherein the clamping device 112 clamps and fixes the resectoscope 111, and can drive the resectoscope 111 to advance and retreat along the axial direction of the resectoscope 111 , So that the electric cutting ring can reach the specified position accurately.
  • the mechanical arm 12 can be a six-degree-of-freedom tandem mechanical arm, which drives the clamping device 112 to advance and retreat along the axial direction of the resectoscope 111, rotate around the central axis of the resectoscope 111, and rotate around a preset point on the central axis of the resectoscope 111 to ensure surgery The flexibility of each action in the.
  • the technical solution of this embodiment ensures the safety of the operation by monitoring the operation process, and uses a mechanical arm and a clamping device to ensure the accuracy of the operation and improve the quality of the operation.

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  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Robotics (AREA)
  • Medical Informatics (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
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Abstract

一种经尿道前列腺手术机器人切除系统，包括：手术机器人设备(1)，用于根据手术控制设备(3)发送的手术控制指令，对患者的前列腺的预设切除范围进行手术操作；发送手术图像信息至手术控制设备(3)；显示设备(2)，用于根据手术控制设备(3)发送的显示数据向手术操作者展示图像；手术控制设备(3)，用于从外部扫描设备(4)获取前列腺扫描数据，建立前列腺的三维模型；根据三维模型和预设模型确定手术切除路径和手术切除范围，生成手术控制指令发送至手术机器人设备(1)。通过三维建模，并预设切除路径，保证手术的精准及安全，提高切除效率，避免人为的操作不当及技术不熟练所导致的组织残留与损伤。

Description

经尿道前列腺手术机器人切除系统
本申请要求2019年4月25日向中国国家知识产权局提交的专利申请号为201910340126.6，发明名称为“经尿道前列腺手术机器人切除系统”的在先申请的优先权。所述在先申请的全文通过引用的方式结合于本申请中。
技术领域
本发明实施例涉及自动化手术设备技术，尤其涉及一种经尿道前列腺手术机器人切除系统。
背景技术
经尿道前列腺切除术，主要用于前列腺增生症的前列腺增生组织的切除。
实施该手术在操作上依靠于外科医生的技术及经验，但实施手术的医生如果经验欠缺，那么手术实施过程中可能导致大出血、临近组织如尿道括约肌、直肠损伤等并发症，切除腺体不完整，组织残留，术后排尿困难等症状得不到改善。同时，经尿道手术为取得良好手术视野，需循环灌注冲洗，外科医生手术操作环境较差。
发明内容
本发明实施例提供一种经尿道前列腺手术机器人切除系统，以实现保证手术的精准及安全，便于手术切除的标准化、规范化，避免人为的操作不当和技术不熟练所导致的损伤、尿失禁、肠瘘等，避免组织残留，影响手术效果。
本发明实施例提供了一种经尿道前列腺手术机器人切除系统，包括：
手术机器人设备，与手术控制设备连接，用于根据所述手术控制设备发送的手术控制指令，按照预设路径探入预设手术位置，并对患者的前列腺的预设切除范围进行手术操作；以及获取手术图像信息发送至所述手术控制设备；
显示设备，与所述手术控制设备连接，用于根据所述手术控制设备发送的显示数据向手术操作者展示图像；
所述手术控制设备，用于从外部扫描设备获取前列腺扫描数据，根据所述前列腺扫描数 据建立前列腺的三维模型；根据所述三维模型和预设模型确定手术切除路径和手术切除范围，生成所述手术控制指令发送至所述手术机器人设备；根据接收到的所述手术机器人设备发送的所述手术图像信息和所述三维模型，生成所述显示数据发送至所述显示设备。
本发明实施例通过对手术者的前列腺进行三维建模，并预设切除路径，解决外科医生经验不足导致的手术质量不高的问题，实现保证手术的精准及安全，标准化和规范化，避免人为的操作不当及技术不熟练所导致的损伤引起的并发症如肠瘘、尿失禁，以及组织残留，影响疗效。
附图说明
图1是本发明实施例一中的经尿道前列腺手术机器人切除系统的结构示意图；
图2是本发明实施例二中的经尿道前列腺手术机器人切除系统的结构示意图；
图3是本发明实施例二中的经尿道前列腺手术机器人切除系统中的手术机器人设备的结构示意图。
具体实施方式
下面结合附图和实施例对本发明作进一步的详细说明。可以理解的是，此处所描述的具体实施例仅仅用于解释本发明，而非对本发明的限定。另外还需要说明的是，为了便于描述，附图中仅示出了与本发明相关的部分而非全部结构。
实施例一
图1为本发明实施例一提供的经尿道前列腺手术机器人切除系统的结构示意图，本实施例可适用于外科医生实施经尿道前列腺切除手术的情况，如图1所示，经尿道前列腺手术机器人切除系统包括：手术机器人设备1、显示设备2和手术控制设备3。
手术机器人设备1，与手术控制设备连接3，用于根据手术控制设备3发送的手术控制指令，按照预设路径探入预设手术位置，并对患者的前列腺的预设切除范围进行手术操作；以及获取手术图像信息发送至手术控制设备3；
显示设备2，与手术控制设备3连接，用于根据手术控制设备3发送的显示数据向用户展示图像；
手术控制设备3，用于从外部扫描设备获取前列腺扫描数据，根据前列腺扫描数据建立前列腺的三维模型；根据所述三维模型和预设模型确定手术切除路径和手术切除范围，生成 手术控制指令发送至手术机器人设备1；根据接收到的手术机器人设备1发送的手术图像信息和三维模型，生成显示数据发送至所述显示设备2。
其中，在实施手术之前，先通过外部扫描设备4对患者的前列腺进行扫描，然后通过手术控制设备3根据外部扫描设备4扫描所得到的扫描数据，建立患者的前列腺的三维模型，示例的，手术控制设备3可以为计算机设备，并安装有根据扫描数据建立三维模型的软件，外部扫描设备4可以是磁共振检查装置、电子计算机断层扫描装置和超声扫描装置中的至少一种。在建立三维模型后，通过显示设备2将该三维模型展示给医生，以备医生根据该三维模型确定手术方案，并根据三维模型和预设模型的对比结果，确定手术切除路径和手术切除范围，其中预设模型有对应的手术规划方案，当确定与三维模型相匹配的预设模型，即可确定手术规划，经计算机软件进行手术规划，还可以模拟预切除验证。也可以由医生通过手术控制设备3配置的输入设备，例如鼠标和键盘，输入针对该患者的前列腺实施手术时的手术切除路径和手术切除范围，还可以由医生确认软件得出的手术规划方案，或修改软件得出的规划方案，作为终的手术实施规划。手术控制设备3根据设定好的手术切除路径和手术切除范围，向手术机器人设备1发送手术控制指令，手术机器人设备1中配置的切除装置按照预设路径探入预设手术位置，并对患者的前列腺的预设切除范围进行手术操作，并且，手术机器人设备1中配置有获取手术图像的装置，以便获取手术图像及前列腺及临近相关组织的信息发送至手术控制设备3。手术控制设备3接收到手术图像信息后，转换为对应的显示数据，通过显示设备2向医生展示手术图像前列腺组织本身及临近组织情况，以便实施手术的医生可以获知手术的执行情况。可选的，手术机器人设备1与手术控制设备3通过无线方式连接，如此设置医生可以在手术控制设备3这一端设定手术方案，监视手术实施过程，而手术机器人设备1与手术控制设备3在位置摆放上更加灵活，医生不必坐在靠近患者的位置进行手术，改善了医生的操作环境。
本实施例的技术方案，通过对手术者的前列腺进行三维建模，并预设切除路径，解决外科医生经验不足导致的手术质量不高的问题，实现保证手术的精准及安全，便于手术切除的标准化、规范化，避免人为的操作不当及技术不熟练所导致的损伤、尿失禁、肠瘘等，避免组织残留，影响手术效果。
实施例二
图2为本发明实施例二提供的经尿道前列腺手术机器人切除系统的结构示意图，本实施例在上述技术方案的基础上进一步细化，如图2所示，经尿道手术切除系统包括：手术机器人设备1、显示设备2、手术控制设备3和手术监视设备5。
其中，手术监视设备5，用于在手术中对当前手术实施位置进行实时扫描，以获取当前手术实施位置的扫描图像。在手术实施过程中，除了通过手术机器人设备1获取手术图像，还可以通过手术监视设备5对手术部位进行扫描，获取扫描图像。因为，手术中会有组织出血等影响因素，导致获取到的手术图像不够清晰，难以辨识手术的情况。而且仅通过手术图像不易确定手术机器人设备1是否探入到预设手术位置，以及切除的范围是否符合预设切除范围。通过手术监视设备5获取扫描图像，就可以监视手术中的这些情况。示例性的，手术监视设备5为经直肠超声监测装置，监测手术机器人设备1的切除深度。通过观看经直肠超声监测装置的显示屏，就可以获知手术执行的相关情况。如果手术过程中存在不符预定方案的情况，医生可以通过手术控制设备3停止执行手术。
如图3所示，可选的，手术机器人设备1包括：
电切镜机器人执行端11，包括电切镜111，用于获取所述手术图像信息，结合相应能量平台，进行切割与止血，切除患者的前列腺的所述预设切除范围；夹持装置112，与电切镜111连接，用于驱动电切镜111中的电切环进行切割与止血操作；力反馈与组织阻抗识别监测装置113，用于获取电切镜111中的电切环与手术野组织的接触力度和获取手术野组织的阻抗；进出水冲洗管道，用于给排清洗液体(图3中未示出)。
机械臂12，与电切镜机器人执行端11的夹持装置112连接，用于带动电切镜111探入预设手术位置。
夹持装置112带动电切镜111沿电切镜111轴向进退；其中，夹持装置112将电切镜111夹持固定，并可以带动电切镜111沿电切镜111轴向做进退动作，以便电切环准确达到指定位置。机械臂12可以为六自由度串联机械臂，带动夹持装置112沿电切镜111轴向进退、绕电切镜111中心轴线旋转和绕电切镜111中心轴线上预设定点转动，保证手术中各项动作的灵活性。
本实施例的技术方案，通过监视手术实施过程，保证手术实施的安全性，并采用机械臂和夹持装置保证手术实施的精确度，提高手术质量。
注意，上述仅为本发明的较佳实施例及所运用技术原理。本领域技术人员会理解，本发明不限于这里所述的特定实施例，对本领域技术人员来说能够进行各种明显的变化、重新调整和替代而不会脱离本发明的保护范围。因此，虽然通过以上实施例对本发明进行了较为详细的说明，但是本发明不仅仅限于以上实施例，在不脱离本发明构思的情况下，还可以包括更多其他等效实施例，而本发明的范围由所附的权利要求范围决定。

Claims (8)

  1. 一种经尿道前列腺手术机器人切除系统，其特征在于，包括：
    手术机器人设备，与手术控制设备连接，用于根据所述手术控制设备发送的手术控制指令，按照预设路径探入预设手术位置，并对患者的前列腺的预设切除范围进行手术操作；以及获取手术图像信息发送至所述手术控制设备；
    显示设备，与所述手术控制设备连接，用于根据所述手术控制设备发送的显示数据向手术操作者展示图像；
    所述手术控制设备，用于从外部扫描设备获取前列腺扫描数据，根据所述前列腺扫描数据建立前列腺的三维模型；根据所述三维模型和预设模型确定手术切除路径和手术切除范围，生成所述手术控制指令发送至所述手术机器人设备；根据接收到的所述手术机器人设备发送的所述手术图像信息和所述三维模型，生成所述显示数据发送至所述显示设备。
  2. 根据权利要求1所述的经尿道前列腺手术机器人切除系统，其特征在于，所述手术机器人设备包括：
    电切镜机器人执行端，包括电切镜，用于获取所述手术图像信息，结合相应能量平台，进行切割与止血，切除患者的前列腺的所述预设切除范围；夹持装置，与所述电切镜连接，用于驱动所述电切镜中的电切环进行切割与止血操作；力反馈与组织阻抗识别监测装置，用于获取所述电切镜中的电切环与手术野组织的接触力度和获取手术野组织的阻抗；进出水冲洗管道，用于给排清洗液体；
    机械臂，与所述电切镜机器人执行端的所述夹持装置连接，用于带动所述电切镜探入所述预设手术位置。
  3. 根据权利要求2所述的经尿道前列腺手术机器人切除系统，其特征在于，所述机械臂为六自由度串联机械臂。
  4. 根据权利要求1所述的经尿道前列腺手术机器人切除系统，其特征在于，还包括：
    手术监视设备，用于在手术中对当前手术实施位置进行实时扫描，以获取当前手术实施位置的扫描图像。
  5. 根据权利要求4所述的经尿道前列腺手术机器人切除系统，其特征在于，所述手术监视设备为经直肠超声监测装置，监测所述手术机器人设备的切除深度。
  6. 根据权利要求1所述的经尿道前列腺手术机器人切除系统，其特征在于，所述前列腺扫描数据包括：
    磁共振检查装置、电子计算机断层扫描装置和超声扫描装置获取到的扫描数据中的至少一种。
  7. 根据权利要求1所述的经尿道前列腺手术机器人切除系统，其特征在于，所述手术机器人设备与所述手术控制设备通过无线方式连接。
  8. 根据权利要求1所述的经尿道前列腺手术机器人切除系统，其特征在于，所述手术控制设备为计算机设备。
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