A visual human tissue rotary cutting device and a shell opening and closing amount control method thereof

Abstract

This invention proposes a visual human tissue rotary cutting device and its shell opening and closing control method, belonging to the field of shell medical device technology. The visual human tissue rotary cutting device includes a scalpel sheath, a blade, a ductoscope, an electrocoagulation hemostatic needle, a sampling chamber, and a puncture shell. The scalpel sheath is capable of axial feeding movement. The blade is installed in the scalpel sheath. The ductoscope is fixedly installed on the outer wall of the scalpel sheath. The electrocoagulation hemostatic needle is installed on the outer wall of the scalpel sheath and located on the opposite side of the ductoscope. The sampling chamber is connected to the scalpel sheath and an external vacuum device. The puncture shell includes a first half-shell and a second half-shell, which can be connected at their tail ends and open at their front ends, forming a bullet shape when combined. The lesion tissue is removed by rotating the blade, which completes axial cutting with the axial feeding of the scalpel sheath. The ductoscope provides the surgeon with a surgical field, which improves surgical accuracy and reduces recurrence. The electrocoagulation hemostatic needle is used to handle large-scale active bleeding.

Description

Technical Field

[0001] This invention relates to the field of surgical instrument technology, and in particular to a visual human tissue rotary cutting device and a method for controlling the opening and closing of its housing. Background Technology

[0002] The Mammotome system is essentially a vacuum-assisted minimally invasive breast biopsy system, and is one of the most advanced breast biopsy systems internationally. This system combines electric cutting with vacuum suction, and mainly consists of inner and outer needles, a rotary cutting blade, a delivery device, and a vacuum suction pump.

[0003] The shortcomings of existing products are: (1) Mammotome devices have always relied on ultrasound positioning and mammography (calcification) positioning, which is very inadequate for identifying small lesions and cutting the edge of lesions; (2) Most existing Mammotome needles are one-piece lateral cutters. Large-scale excision causes deformation due to lateral stress on the external needle. This effect affects the excised lesion tissue. Therefore, the main use is for breast biopsy and it cannot be used directly as a surgical excision tool; (3) It cannot cope with large-scale active bleeding. Summary of the Invention

[0004] In view of this, the present invention proposes a visual human tissue rotary cutting device and a method for controlling the opening and closing of its shell, in order to solve the technical problems mentioned in the background art. The existing Mammotome device has always relied on ultrasound positioning and mammography (calcification) positioning, which has great shortcomings in the identification of small lesions and the cutting of lesion edges; it cannot be directly used as a surgical excision tool; and it cannot cope with the technical problems of large-scale active bleeding.

[0005] The technical solution of this invention is implemented as follows: In a first aspect, the present invention provides a visual human tissue rotary cutting device, comprising a sheath, a blade, a ductoscope, an electrocoagulation needle, a sampling chamber, and a puncture shell, wherein: The blade sheath is capable of axial feed motion; The blade is installed in the blade sheath and can rotate to remove the lesion tissue; The ductoscope is fixedly installed on the outer wall of the knife sheath tube; The electrocoagulation hemostatic needle is installed on the outer wall of the knife sheath and is located on the opposite side of the ductoscope; The sampling chamber is connected to the scalpel sheath and an external vacuum device to provide a vacuum environment for inhaling lesion tissue into the scalpel sheath; The puncture shell includes a first half-shell and a second half-shell. The first half-shell and the second half-shell can be connected at the tail end and open at the front end. When the front end is combined, it forms a bullet shape.

[0006] In some optional embodiments, preferably, it further includes an opening / closing sensor and an opening / closing limiting ring. The opening / closing sensor is disposed at the tail end of the puncture shell and is used to detect the deformation of the tail end of the puncture shell. The tail end of the puncture shell is located inside the opening / closing limiting ring. When the deformation reaches a preset threshold, the opening / closing limiting ring abuts and limits the puncture shell.

[0007] In some alternative embodiments, preferably, a position sensor is also included, which is disposed on one side of the tail end of the puncture shell for detecting the puncture depth.

[0008] In some alternative embodiments, preferably, the blade is fan-shaped and the blade face is tilted at an angle of 15°.

[0009] In some alternative embodiments, preferably, the electrocoagulation needle is capable of axial movement and rotation.

[0010] In some alternative embodiments, preferably, a water pipe is also included, which passes through the sampling chamber and leads to the front end of the puncture shell, the water pipe not affecting the collection of excised lesion tissue by the sampling chamber.

[0011] In some alternative implementations, preferably, the device further includes a rotary cutting motor and a first shock absorber, the rotary cutting motor being connected to the sampling chamber and the first shock absorber being mounted outside the rotary cutting motor.

[0012] In some optional embodiments, preferably, it further includes a shell-removing motor, a lead screw, a sliding sleeve, and a second shock absorber; the shell-removing motor is drivenly connected to the lead screw; the sliding sleeve is threadedly connected to the lead screw and connected to the tail end of the piercing shell; the second shock absorber is mounted outside the shell-removing motor.

[0013] In a second aspect, the present invention provides a method for controlling the opening and closing amount of the housing of the visual human tissue rotary cutting device as described in the first aspect, comprising: Data on positional changes of the punctured outer shell are collected using position sensors; The real-time displacement change of the pierced outer shell x (t) As the independent variable, the real-time opening and closing angle θ(t) of the puncture shell is the dependent variable, and the maximum opening and closing angle θ is the independent variable. max =15°, establish the objective function for the real-time opening and closing angle θ(t); A first-order inertial low-pass filter is introduced to filter the original displacement signal, resulting in a smoothed displacement signal x. f(t) ; Based on the filtered smoothed displacement signal x f(t) Based on arcsine reference mapping, second-order nonlinear power correction and differential term dynamic compensation, a control model for the real-time opening and closing angle θ(t) of the puncture shell is constructed.

[0014] In some alternative implementations, preferably, it also includes: The axial feed displacement s of the puncture shell is collected by the position sensor. (t) The opening angle θm(t) at a given puncture position is the independent variable, and the overall maximum physical opening θ is the dependent variable. lim =15°, establish the objective function of the opening and closing angle θm(t) at a certain puncture position; The original axial feed signal is filtered by a first-order inertial low-pass filter to obtain the smoothed feed amount s. f(t) ; Based on the attenuation coefficient α and the filtered smoothed feed rate s f(t) A control model is constructed for the opening and closing angle θm(t) at a certain puncture position.

[0015] The visual human tissue rotary cutting device and its shell opening and closing control method of the present invention have the following advantages over the prior art: (1) The lesion tissue is removed by rotating the blade. The blade is fed axially along the blade sheath to complete the axial cutting. The process is similar to the movement of a tunnel boring machine. The ductoscope is fixedly installed on the outer wall of the blade sheath to provide the doctor with a surgical field of view. Direct vision can improve the accuracy of the operation and reduce the recurrence of the disease. The electrocoagulation hemostatic needle is installed on the outer wall of the blade sheath and located on the opposite side of the ductoscope to deal with large-scale active bleeding. (2) The opening and closing sensor is set at the tail end of the puncture shell to detect the deformation of the tail end of the puncture shell. The tail end of the puncture shell is located inside the opening and closing limiting ring. When the deformation reaches a preset threshold, the opening and closing limiting ring resists and limits the puncture shell to avoid excessive opening and closing, which would cause the wound to be stretched too much during the puncture process and result in excessive blood loss. This improves the reliability of the device and reduces the surgical risk. (3) The position sensor is set on one side of the tail end of the puncture shell to detect the puncture depth, so that the doctor can know the puncture depth during operation, thereby facilitating the operation and reducing the difficulty of the operation; (4) The electrocoagulation hemostatic needle can move and rotate axially, thereby adjusting its axial position and angle, so as to stop bleeding at the specified bleeding site, improve the hemostasis efficiency, and reduce the surgical risk. (5) A first-order inertial low-pass filter is introduced to filter the original displacement signal, resulting in a smoothed displacement signal x. f(t) The signal is denoised to improve data reliability; the filtered and smoothed displacement signal x is then used. f(t)Based on arcsine reference mapping, quadratic nonlinear power correction and differential term dynamic compensation, a control model for the real-time opening and closing angle θ(t) of the puncture shell is constructed to control the opening and closing angle in real time, thereby avoiding excessive surgical incision, reducing damage to the human body, and facilitating postoperative recovery. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a perspective view of the visual human tissue rotary cutting device in an embodiment of the present invention; Figure 2 This is a schematic diagram of the structure of the knife sheath, blade, ductoscope, and electrocoagulation needle in an embodiment of the present invention. Figure 3 This is a schematic diagram of the opening / closing sensor, opening / closing limiting ring, and position sensor in an embodiment of the present invention; Figure 4 This is a front view of the visualization human tissue rotary cutting device in an embodiment of the present invention; Figure 5 This is a schematic diagram of the rotary cutting motor and the first shock absorber in an embodiment of the present invention; Figure 6 This is a schematic diagram of the structure of the shell-removing motor, lead screw, sliding sleeve, and second shock absorber in an embodiment of the present invention. Figure 7 This is a schematic diagram of the puncture shell structure in an embodiment of the present invention; Figure 8 This is an exploded view of the opening and closing limiting ring and the housing in an embodiment of the present invention; Figure 9 This is a flowchart illustrating the method for controlling the opening and closing amount of the housing of the visual human tissue rotary cutting device in an embodiment of the present invention.

[0018] Explanation of reference numerals in the attached figures: 1-Sheath tube, 2-Blade, 3-Dulposcope, 4-Electrocoagulation hemostatic needle, 5-Sampling chamber, 6-Puncture shell, 7-Opening and closing sensor, 8-Opening and closing limiting ring, 9-Position sensor, 10-Rotary cutting motor, 20-First shock absorber, 30-Shell removal motor, 40-Screw, 50-Sliding sleeve, 60-Second shock absorber; 100-Vacuum equipment, 200-Vacuum extraction pipe, 300-Water pipe, 400-Machine casing, 401-Slide groove; 11-First mounting slot, 12-Second mounting slot; 61 - First half-shell, 62 - Second half-shell; 81-Sliding column. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0020] In the description of the embodiments of the present invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of the present invention based on the specific circumstances.

[0021] In the description of the embodiments of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of the present invention.

[0022] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0023] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0024] The following disclosure provides numerous different embodiments or examples for implementing various structures of the invention. To simplify the disclosure, specific examples of components and arrangements are described below. These are merely examples and are not intended to limit the invention. Furthermore, reference numerals and / or letters may be repeated in different examples. Such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed. Additionally, examples of various specific processes and materials are provided in this invention; however, those skilled in the art will recognize the applicability of other processes and / or the use of other materials.

[0025] The technical solution will now be explained in detail: Reference Figures 1-8 As shown, a first aspect of the present invention provides a visualization device for rotary cutting of human tissue, comprising a sheath 1, a blade 2, a ductoscope 3, an electrocoagulation needle 4, a sampling chamber 5, and a puncture shell 6, wherein: The sheath tube 1 is capable of axial feed movement; the sheath tube 1 is cylindrical, and its outer peripheral wall is provided with a first mounting groove 11 and a second mounting groove 12 arranged opposite each other along the axial direction. The blade 2 is installed in the sheath tube 1 and can rotate to complete the removal of the lesion tissue; the blade 2 is located inside the sheath tube 1; The ductoscope 3 is fixedly installed on the outer wall of the knife sheath tube 1; the ductoscope 3 is installed in the first mounting groove 11; The electrocoagulation hemostatic needle 4 is installed on the outer wall of the knife sheath tube 1 and located on the opposite side of the ductoscope 3; the electrocoagulation hemostatic needle 4 is installed in the second mounting groove 12 and can move axially and rotate, thereby adjusting its axial position and angle, so as to stop bleeding at the designated bleeding site, improve hemostasis efficiency, and reduce surgical risk; The sampling chamber 5 is connected to the sheath tube 1 and the external vacuum device 100 to provide a vacuum environment for the sheath tube 1 to absorb lesion tissue; the sampling chamber 5 is connected to the external vacuum device 100 through the vacuum extraction pipe 200 to provide a vacuum environment for the sheath tube 1, and the sampling chamber 5 is a sealed structure; the connection part between the sampling chamber 5 and the vacuum extraction pipe 200 is designed as a straight groove rather than a round hole, on the one hand to ensure that the hole area does not affect the extraction rate, and on the other hand, due to the movement of the device and the tail end of the cutter, the axial straight groove can better ensure the sealing at this point than a round hole; The puncture shell 6 includes a first half-shell 61 and a second half-shell 62. The first half-shell 61 and the second half-shell 62 can keep their tail ends connected and their front ends can be opened. When the front ends are combined, they form a bullet shape.

[0026] The visualized human tissue rotary cutting device proposed in this embodiment adopts a negative pressure suction mode. After the lesion tissue is sucked into the sheath tube 1, it is removed by the rotating blade. The rotation of the blade completes the removal of the lesion tissue, and the axial feeding motion of the sheath tube 1 completes the complete removal of the lesion tissue. The process is similar to the movement of a tunnel boring machine. The ductoscope 3 is fixedly installed on the outer wall of the sheath tube 1 to provide the doctor with a surgical field of view. Direct vision can improve the accuracy of surgery and reduce the recurrence of the disease. The electrocoagulation hemostatic needle 4 is installed on the outer wall of the sheath tube 1 and located on the opposite side of the ductoscope 3 to deal with large-scale active bleeding.

[0027] In some embodiments, the device further includes an opening / closing sensor 7 and an opening / closing limiting ring 8. The opening / closing sensor 7 is disposed at the tail end of the puncture shell 6 and mounted on the housing 400. It is used to detect the deformation of the tail end of the puncture shell 6, which is located within the opening / closing limiting ring 8. When the deformation reaches a preset threshold, the opening / closing limiting ring 8 abuts and limits the puncture shell 6. During the opening process of the front end of the puncture shell 6, the tail end will also undergo slight deformation due to stress. The opening / closing sensor 7 captures this deformation and its corresponding opening / closing amount. The opening / closing limiting ring 8 consists of two semicircular rings, each with a sliding post 81 on its end face. The housing 400 has a sliding groove 401, the length direction of which is parallel to the radial direction of the semicircular ring. The sliding post 81 is slidably mounted in the sliding groove 401. The opening / closing limiting ring 8 receives instructions from the signals processed by the first two sensors and limits the opening / closing angle of the shell by stopping at a designated position in the lower sliding groove 401. The opening and closing direction of the limiting ring 8 is perpendicular to the direction of the position sensor 9 to avoid mutual interference.

[0028] In some embodiments, a position sensor 9 is further included, which is disposed on one side of the tail end of the puncture housing 6 for detecting the puncture depth. Since the opening and closing restriction varies according to the puncture depth, the position sensor 9 is used to detect the puncture depth, thereby allowing the corresponding opening and closing angle to be set according to different depths. The position sensor 9 moves together with the puncture housing 6; when the puncture housing 6 undergoes axial movement, the position sensor 9 senses the corresponding displacement.

[0029] In some embodiments, the blade 2 is fan-shaped and the blade surface is tilted at an angle of 15°. These parameter settings facilitate the rotational resection of the lesion assembly, improving resection efficiency.

[0030] In some embodiments, the sampling chamber 5 is further included with a water pipe 300, which passes through the sampling chamber 5 and leads to the front end of the puncture shell 6. The water pipe 300 does not interfere with the collection of excised lesion tissue by the sampling chamber 5. Two water pipes 300 are included: one is an inlet pipe 300, and the other is an outlet pipe 300. The water pipe 300 and the vacuum extraction pipe 200 are required to fit tightly with the sampling chamber 5 to ensure a tight seal. Furthermore, since the water pipe 300 and the vacuum extraction pipe 200 are to be made of flexible non-metallic materials, no additional sealing rings are provided; the seal is ensured by the deformation of the pipes themselves. The sampling chamber 5 has no other structures besides the water pipe 300. The vacuum device is separately located outside, ensuring sufficient sample storage space while preventing tissue from getting stuck in the gaps between parts, facilitating subsequent cleaning and disinfection.

[0031] In some embodiments, the device further includes a rotary cutting motor 10 and a first shock absorber 20. The rotary cutting motor 10 is mounted on the housing 400 and connected to the sampling chamber 5, which is connected to the cutting tool. The first shock absorber 20 is mounted outside the rotary cutting motor 10. The rotary cutting motor drives the sampling chamber 5 to rotate, thereby rotating the cutting tool and achieving rotary resection of the lesion tissue. The first shock absorber 20 ensures the stability of the rotary cutting motor 10 during operation, guaranteeing surgical accuracy, and also serves as a positioning device, acting as a positioning reference along the entire spindle direction.

[0032] In some embodiments, the device further includes a shell-removing motor 30, a lead screw 40, a sliding sleeve 50, and a second shock absorber 60. The shell-removing motor 30 is mounted on the housing 400 and is drivenly connected to the lead screw 40. The sliding sleeve 50 is threadedly connected to the lead screw 40 and connected to the tail end of the puncture shell 6. The second shock absorber 60 is mounted outside the shell-removing motor 30. The second shock absorber 60 ensures the stability of the shell-removing motor 30 during operation, guarantees surgical accuracy, and also serves as a positioning device, acting as a positioning reference for the entire main axis direction. The shell first completes the puncture movement. At this time, the lead screw 40 and the sliding sleeve 50 are in a thread-unengaged state. When the shell needs to be retracted, the sliding sleeve 50 is radially fixed, the lead screw 40 rotates, and the sliding sleeve 50 moves axially backward, driving the puncture shell 6 to move in the same direction. The inner sheath of the tunnel boring machine pushes open the head of the shell, and the movable joint of the connecting rod simultaneously ensures that the tail end of the shell can be opened. The entire shell completes the opening and retraction movement.

[0033] The working principle of the visual human tissue rotary cutting device proposed in this embodiment is as follows: When the puncture shell 6 is opened, the negative pressure environment inside the blade sheath 1 draws in the lesion tissue. After being rotated and cut by the fan-shaped blade, the blood clots, lesion tissue, and rinsing saline are drawn into the blade sheath 1. The blade sheath 1 contains an absorption tube for absorbing liquid, and the sampling chamber 5 stores the lesion tissue. After the puncture is completed, the puncture shell 6 is retracted, and the blade sheath 1 is axially fed to achieve complete cutting of the lesion tissue.

[0034] Based on the same concept, a second aspect of the present invention, combined with... Figure 9 As shown, a method for controlling the opening and closing amount of the housing of a visual human tissue rotary cutting device as described in the first aspect embodiment is provided, comprising: Step S1: Collect position change data of the puncture shell 6 using position sensor 9; Step S2: Using the real-time displacement change x of the pierced outer shell 6 (t) As the independent variable, the real-time opening and closing angle θ(t) of the puncture shell 6 is the dependent variable, and the maximum opening and closing angle θ is the independent variable. max =15°, establish the objective function for the real-time opening and closing angle θ(t); In step S2, the effective control interval is 0°≤θ(t)≤15°, and the effective displacement input range is x. (t) ∈[0,5] mm; Step S3: Introduce a first-order inertial low-pass filter to filter the original displacement signal, obtaining the filtered smooth displacement signal x. f(t) The specific filtering formula is as follows: (1); In equation (1), T is the filtering time constant, taken as T=0.02s; x f(t) The filtered and smoothed displacement signal; x (t) This represents the real-time displacement change of the pierced outer shell 6; Step S4: Based on the filtered smoothed displacement signal x f(t) Based on arcsine reference mapping, quadratic nonlinear power correction, and differential term dynamic compensation, a control model for the real-time opening and closing angle θ(t) of the puncture shell 6 is constructed. The formula for the control model of the real-time opening and closing angle θ(t) of the puncture shell 6 is as follows: (2); In equation (2), k p This is the compensation coefficient; For the arcsine reference mapping, the arcsine function itself changes at a slower rate initially and then more gradually, serving as the basic reference curve for the feed displacement x. f(t) The smooth mapping is converted to the basic motor rotation angle to avoid a sharp increase in starting speed caused by linear mapping; the coefficient 15 and the denominator 5 are scaling factors calibrated according to the maximum feed stroke of the device and the motor rotation angle range to match the mechanical stroke range; For the second-order nonlinear power correction, the quadratic square structure forms a flexible gain envelope: when the feed rate is very small, the correction gain is small, and the low-speed start is gentle; the gain is increased in the middle of the feed to match the normal cutting load; when the feed approaches the limit stroke, the gain drops back, and the limit buffer is used to correct the stiffness of the arcsine reference and adapt to the nonlinear cutting resistance of the uneven soft and hard breast tissue. For differential dynamic compensation, the equivalent differential damping element, combined with the differential perspective, quickly outputs a compensation angle when the feed speed changes abruptly, suppresses the fluctuation of cutting torque during feed acceleration and deceleration, prevents the blade from slipping and tearing lesion tissue, and improves surgical stability; k p The core function of the differential dynamic compensation gain coefficient is to compensate for the real-time change in feed displacement. When the feed suddenly accelerates, decelerates, or slips, the differential term immediately outputs the compensation angle Δθ. p Amplifying this compensation amount allows for rapid fine-tuning of the rotary cutting motor's speed by 10 revolutions, offsetting cutting torque fluctuations caused by feed impact and preventing the cutter head from tearing breast soft tissue; the response speed is correlated, with the feed speed changing instantaneously when the needle housing position moves slightly forward or backward, k p The response strength that determines the rotary cutting speed in response to the feed rate; k p The larger the value, the more sensitive the rotation speed; it suppresses oscillation and vibration, which is equivalent to the damping effect of the PID differential element, weakens the small back-and-forth vibrations caused by mechanical clearance and soft tissue elastic deformation, and improves the stability of cutting under direct vision of the ductoscope. The system control sampling period is Ts = 0.01 s. Difference is used instead of differentiation. The controller is a digital microcontroller. Since the sampling period cannot be directly solved for, a first-order backward difference is used to approximate the differentiation. (3); In equation (3), x f(k-1) This is the filtered and smoothed displacement signal at time (k-1); The continuous-time domain formula is transformed into a discrete recursive formula, which can be directly written into the MCU program to iteratively calculate the motor control angle θ(k) at each sampling moment in real time: (4); In equation (4), x f(k) The filtered and smoothed displacement signal at time k; This control function belongs to a high-order composite nonlinear control model and conforms to control engineering modeling specifications. The function is monotonically increasing overall, with a gradual angle change in the early stage, an increased response rate in the middle stage, and a gradual change near the maximum opening. Combined with the differential term to complete dynamic deviation compensation, it can effectively reduce the mechanical shock during valve opening and closing, and improve the position-angle following control accuracy. Simultaneously, through upper and lower threshold forced amplitude limiting, it strictly ensures that the valve opening and closing angle never exceeds 15°. Furthermore, this is the maximum opening and closing angle at the maximum feed rate, which is also the global maximum opening and closing angle. The maximum opening and closing angle varies at different feed positions, but will not exceed 15°, meeting the mechanical structure limit requirements of the puncture shell and the standards for use in minimally invasive surgery.

[0035] The function mentioned above is an opening and closing constraint, limiting the maximum opening and closing value throughout the entire process. The following is the maximum opening and closing value at a certain puncture position, which is a local maximum: In some embodiments, it also includes: The axial feed displacement s of the puncture shell 6 is collected by position sensor 9. (t) The opening angle θm(t) at a given puncture position is the independent variable, and the overall maximum physical opening θ is the dependent variable. lim =15°, establish the objective function for the opening and closing angle θm(t) at a certain puncture position; axial feed displacement s (t) ∈[0,20] mm; The original axial feed signal is filtered by a first-order inertial low-pass filter to obtain the smoothed feed amount s. f(t) ; (5); In equation (5), Ts is the inertial filtering time constant, Ts = 0.015 s; s (t) For the 6-axis feed displacement to pierce the outer shell, s f(t) The smoothed feed amount after filtering; Ts determines the filtering strength. The larger the time constant, the higher the smoothness of the signal and the greater the phase lag. Considerations for selecting Ts: (1) The original feed signal contains sensor electrical noise, mechanical micro-vibration, and high-frequency glitch caused by transmission clearance; 0.015s inertial damping can filter out high-frequency noise, prevent sudden glitch from being directly sent into the rotation angle calculation model, and avoid frequent motor vibration fine-tuning. (2) Most importantly, if Ts is too large (e.g., above 0.05s), the feed command will be severely delayed, the blade tip will be slow to move forward and backward, and the doctor's real-time control will be affected; 0.015s is slightly larger than the system sampling period of 0.01s, the smoothing force is moderate, and the delay is imperceptible to the naked eye; the filter time constant is 0.015s: slightly larger than the control period, to perform mild smoothing and noise reduction; if the filter time constant is smaller than the sampling period, the filter has almost no effect; if it is much larger, the control will be severely delayed, and 0.015s is the optimal compromise value; (3) It is matched with the control cycle. The filtering operation is embedded in each 0.01s main loop. After the 0.015s time constant is discretized, the recursive coefficient is stable and there will be no numerical oscillation. The digital iteration has good convergence. Based on the attenuation coefficient α and the filtered smoothed feed rate s f(t) A control model for the opening angle θm(t) at a given puncture position is constructed. The formula for the control model of the opening angle θm(t) is as follows: (6); In equation (6), α is the attenuation coefficient, α=1.2.

[0036] The opening angle and puncture depth of the puncture shell are directly related to the size of the surgical incision and tissue damage. Controlling the opening angle of the shell at the corresponding position helps to reduce damage during the operation and promote postoperative recovery. Therefore, controlling the opening angle at different times and at different puncture depths is beneficial to improving control accuracy.

[0037] The visual human tissue rotary cutting device and its shell opening and closing control method proposed in this embodiment have the following advantages: (a) The structure of the shield machine piercing shell 6 solves the problem of repeated damage caused by repeated piercing and cutting in traditional Mammotome. After piercing, the needle is withdrawn from the body and does not need to remain in the body to cause repeated damage. (b) Compared with the Mammotome side cutting, the axial feed and axial cutting of the shield machine are more intuitive to operate, and the problem of elastic deformation caused by lateral stress affecting the removal of lesion tissue is solved. (c) The shell opening and closing design of the tunnel boring machine can minimize the size of the wound caused by surgical needs, which meets both the aesthetic requirements of modern minimally invasive surgery and the requirements of fast recovery after surgery to adapt to the fast-paced modern life.

[0038] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A visual human tissue rotary cutting device, characterized in that, Includes a scalpel sheath, blade, ductoscope, electrocoagulation needle, sampling chamber, and puncture casing, among which: The blade sheath is capable of axial feed motion; The blade is installed in the blade sheath and can rotate to remove the lesion tissue; The ductoscope is fixedly installed on the outer wall of the knife sheath tube; The electrocoagulation hemostatic needle is installed on the outer wall of the knife sheath and is located on the opposite side of the ductoscope; The sampling chamber is connected to the scalpel sheath and an external vacuum device to provide a vacuum environment for inhaling lesion tissue into the scalpel sheath; The puncture shell includes a first half-shell and a second half-shell. The first half-shell and the second half-shell can be connected at the tail end and open at the front end. When the front end is combined, it forms a bullet shape.

2. The visual human tissue rotary cutting device as described in claim 1, characterized in that, It also includes an opening and closing sensor and an opening and closing limiting ring. The opening and closing sensor is disposed at the tail end of the puncture shell and is used to detect the deformation of the tail end of the puncture shell. The tail end of the puncture shell is located inside the opening and closing limiting ring. When the deformation reaches a preset threshold, the opening and closing limiting ring resists and limits the puncture shell.

3. The visual human tissue rotary cutting device as described in claim 1, characterized in that, It also includes a position sensor, which is disposed on one side of the tail end of the puncture shell and is used to detect the puncture depth.

4. The visual human tissue rotary cutting device as described in claim 1, characterized in that, The blade is fan-shaped and the blade face is tilted at an angle of 15°.

5. The visual human tissue rotary cutting device as described in claim 1, characterized in that, The electrocoagulation hemostatic needle is capable of axial movement and rotation.

6. The visual human tissue rotary cutting device as described in claim 1, characterized in that, It also includes a water pipe that passes through the sampling chamber and leads to the front end of the puncture shell, the water pipe not affecting the collection of excised lesion tissue by the sampling chamber.

7. The visual human tissue rotary cutting device as described in claim 1, characterized in that, It also includes a rotary cutting motor and a first shock absorber, the rotary cutting motor being connected to the sampling chamber and the first shock absorber being installed outside the rotary cutting motor.

8. The visual human tissue rotary cutting device as described in claim 1, characterized in that, It also includes a shell-removing motor, a lead screw, a sliding sleeve, and a second shock absorber; the shell-removing motor is driven and connected to the lead screw; the sliding sleeve is threadedly connected to the lead screw and connected to the tail end of the piercing shell; the second shock absorber is installed outside the shell-removing motor.

9. A method for controlling the opening and closing amount of the housing of a visual human tissue rotary cutting device as described in any one of claims 1 to 8, characterized in that, include: Data on positional changes of the punctured outer shell are collected using position sensors; Real-time displacement change amount x of the puncture shell (t) As the independent variable, the real-time opening angle θ(t) of the puncture shell is the dependent variable, and the maximum opening angle θ max =15°, the target function of the real-time opening angle θ(t) is established; A first-order inertial low-pass filter is introduced to filter the original displacement signal, resulting in a smoothed displacement signal x. f(t) ; Based on the filtered smoothed displacement signal x f(t) Based on arcsine reference mapping, second-order nonlinear power correction and differential term dynamic compensation, a control model for the real-time opening and closing angle θ(t) of the puncture shell is constructed.

10. The method for controlling the opening and closing amount of the housing of the visual human tissue rotary cutting device as described in claim 9, characterized in that, Also includes: The axial feed displacement s of the puncture shell is collected by the position sensor. (t) The opening angle θm(t) at a given puncture position is the independent variable, and the overall maximum physical opening θ is the dependent variable. lim =15°, establish the objective function of the opening and closing angle θm(t) at a certain puncture position; The original axial feed signal is filtered by a first-order inertial low-pass filter to obtain the smoothed feed amount s. f(t) ; Based on the attenuation coefficient α and the filtered smoothed feed rate s f(t) A control model is constructed for the opening and closing angle θm(t) at a certain puncture position.

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