Ultrasonic scalpel for assisting delicate surgery

Abstract

The present invention provides an ultrasonic scalpel for assisting in delicate surgery. During the ultrasonic scalpel excitation process, multiple sets of sensors disposed within the handle detect slight movements of the handle, and a microprocessor calculates the spatial posture of the ultrasonic scalpel's working surface in real time. A compensation algorithm calculates the displacement and speed to be compensated, and these correction parameters are used by a correction component deployed in the handle to precisely control the scalpel core to offset vibrations of the ultrasonic scalpel's working surface caused by slight hand tremors of the operator. The present invention can help the operator reduce damage to the patient's surgical area caused by abnormal slight vibrations during surgery, and can effectively assist the operator in completing delicate surgical operations. Furthermore, the abnormal vibration correction data during surgery can restore the vibration state during the ultrasonic scalpel excitation process. After data analysis and learning of the vibration state, the system can further adapt to the operator's movement habits.

Description

Technical Field

[0001] The present invention relates to the field of medical devices, and in particular to an ultrasonic scalpel for assisting delicate surgery. Background Art

[0002] Ultrasonic scalpels are a common surgical device, manually operated by the surgeon to perform various operations such as grasping, freeing, and cutting various tissues. Typically, an ultrasonic scalpel consists of a handle, a blade core, a sheath, and a transducer. The handle is held by the surgeon, while the blade core and sheath come into contact with the tissue.

[0003] The existing technology requires the surgeon to manually control abnormal shaking during the operation, or use other surgical instruments such as instrument holders, laparoscopy, etc. to stabilize the tissue or stabilize the ultrasonic scalpel to achieve stability. This not only wastes costs but also makes the operation process very inconvenient, greatly reducing the efficiency of the operation. Summary of the Invention

[0004] In view of the above-mentioned shortcomings of the prior art, an object of the present invention is to provide an ultrasonic scalpel for assisting delicate surgery, so as to solve the above technical problems arising in the prior art.

[0005] To achieve the above-mentioned purpose and other related purposes, the present invention provides an ultrasonic scalpel for assisting delicate surgery, comprising: an ultrasonic scalpel rod, comprising: a scalpel core with a scalpel head at the front end, a scabbard structure on which the scalpel core is sleeved, a sleeve structure connected to the rear end of the scabbard structure and through which the scalpel core can pass and drive the scalpel core to move, a handle assembly connected to the sleeve structure and through which the scalpel core can pass, and a transducer connected to the rear end of the scalpel core; wherein, a pliers head is provided at the front end of the scabbard structure; the pliers head can be opened and closed relative to the scalpel head to form a working surface with the scalpel head; a first sensor group, a second sensor group, an angle sensor and a microprocessor are installed on the handle assembly; wherein, the first sensor group and the second sensor group are used to collect first motion data and second motion data corresponding to their two positions at each moment; the angle sensor , used for collecting the rotation angle data corresponding to the working surface at each moment; the microprocessor is connected to the first sensor group, the second sensor group and the angle sensor, and is used to send a corresponding correction control signal when an abnormal jitter occurs based on the received first motion data, the second motion data and the rotation angle data; the correction component is connected to the microprocessor, including: a first correction device group arranged in the sleeve structure, used for receiving the correction control signal sent by the microprocessor, driving the sleeve structure to drive the knife core to perform forward and backward jitter compensation; a second correction device group, a third correction device group, a fourth correction device group and a fifth correction device group evenly distributed on the outer surface of the sleeve, used for receiving the correction control signal sent by the microprocessor, driving the sleeve structure to drive the knife core to perform up and down and / or pitch jitter compensation.

[0006] In one embodiment of the present invention, the handle assembly includes: a component frame, an angle locking structure, a fixed handle and a movable handle; wherein, the component frame includes: a sleeve fixing portion for fixedly connecting the sleeve structure; a movable handle fixing plate for movably connecting with the movable handle; a fixed handle connecting portion for fixedly connecting with the fixed handle; the angle locking structure is used to lock the knife core and drive the rotation when the knife core rotates.

[0007] In one embodiment of the present invention, the first sensor group is arranged in the movable handle fixing plate, for collecting the first motion data of the current position; the second sensor group is arranged in the fixed handle, for collecting the second motion data of the current position; the angle sensor is arranged on the angle locking structure.

[0008] In one embodiment of the present invention, the first sensor group and the second sensor group are horizontally arranged on the movable handle fixing plate and the fixed handle in the same parallel direction corresponding to the direction in which the blade core is arranged.

[0009] In one embodiment of the present invention, the first sensor group includes: a first speedometer and a first gyroscope, which are used to respectively collect first acceleration data and first spatial posture at the current moment; the second sensor group includes: a second speedometer and a second gyroscope, which are used to respectively collect second acceleration data and second spatial posture at the current moment.

[0010] In one embodiment of the present invention, the method of sending a corresponding correction control signal when an abnormal jitter occurs based on the received first motion data, second motion data and rotation angle data includes: calculating the spatial position coefficient at the current moment based on the received first motion data, second motion data and rotation angle data; wherein, the spatial position coefficient includes: the first spatial posture, the second spatial posture, the rotation angle data and the speed data calculated from the first acceleration data and the second acceleration data; when an abnormal jitter occurs, based on the standard spatial position coefficient, the correction data at the current moment is calculated according to the spatial position coefficient at the current moment, and a corresponding adjustment path is obtained; wherein, the standard spatial position coefficient is calculated by the first motion data, the second motion data and the preset rotation angle data collected at the initial moment; based on the adjustment path, a corresponding correction control signal containing a corresponding correction value is sent to the corresponding correction device group.

[0011] In one embodiment of the present invention, when abnormal jitter occurs, based on the standard spatial position coefficient, the correction data at the current moment is calculated according to the spatial position coefficient at the current moment, and the corresponding adjustment path is obtained, including: based on the changes in the spatial position coefficient and speed data of the ultrasonic knife at adjacent moments, by judging whether the spatial position coefficient and speed data of the working surface have periodic reciprocating fluctuations within 3 or more moments, a comprehensive judgment is made as to whether the ultrasonic knife is jittering abnormally; if it is jittering abnormally, the correction values corresponding to the first correction device group, the second correction device group, the third correction device group, the fourth correction device group and the fifth correction device group are calculated according to the spatial position coefficient at the current moment using the standard spatial position coefficient and the input scabbard length value; based on the calculated correction value, the corresponding adjustment path is calculated to adjust the working surface of the ultrasonic knife to the position of the working surface corresponding to the standard spatial position coefficient.

[0012] In one embodiment of the present invention, the changes in the spatial position coefficient and speed data of the ultrasonic scalpel at adjacent moments are judged by judging whether the spatial position coefficient and speed data of the working surface have periodic reciprocating fluctuations within 3 or more moments. The comprehensive judgment of whether the ultrasonic scalpel is an abnormal jitter mode includes: calculating the spatial position change of the working surface based on the spatial position and speed data of the working surface at 3 or more moments; comparing the spatial position change of the working surface with the normal jitter data; if it is consistent with the normal jitter data, it is normal jitter; if it is not consistent with the normal jitter data, it is abnormal jitter.

[0013] In one embodiment of the present invention, each of the second correction device group, the third correction device group, the fourth correction device group, and the fifth correction device group includes two correction components.

[0014] In one embodiment of the present invention, the second correction device group, the third correction device group, the fourth correction device group and the fifth correction device group are evenly and symmetrically arranged around the cross section of the sleeve structure perpendicular to the axis, and the distance between adjacent correction devices is the same; the two correction components of each group are symmetrically arranged about the central axis of the cross section of the sleeve structure parallel to the axis.

[0015] As described above, the ultrasonic scalpel for assisting delicate surgery of the present invention has the following beneficial effects: during the excitation of the ultrasonic scalpel, a plurality of groups of sensors disposed inside the handle detect slight movements of the handle, and the spatial posture of the working surface of the ultrasonic scalpel is calculated in real time by a microprocessor. The amount of displacement to be compensated is calculated by a compensation algorithm, and this displacement is precisely controlled by a correction component disposed at the handle to offset the vibration of the ultrasonic scalpel working surface caused by slight shaking of the operator's hand. The present invention can effectively help the operator reduce the damage to the patient's surgical site caused by abnormal slight shaking during the operation, and can effectively help the operator complete delicate surgical operations; and the abnormal shaking correction data during the operation can restore the shaking state during the excitation of the ultrasonic scalpel, and after data analysis of the shaking state, it can better adapt to surgical needs. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 Shown is a schematic structural diagram of an ultrasonic scalpel for assisting delicate surgery in one embodiment of the present invention.

[0017] Figure 2 Shown is a schematic diagram of a working surface in one embodiment of the present invention.

[0018] Figure 3 Shown is a hardware communication diagram of an ultrasonic scalpel for assisting delicate surgery according to an embodiment of the present invention.

[0019] Figure 4 Shown is a schematic diagram of the data processing flow of a microprocessor in one embodiment of the present invention.

[0020] Figure 5 Shown is a schematic diagram of the configuration of a correction component in one embodiment of the present invention.

[0021] Figure 6 Shown is a schematic diagram of the configuration of a correction component in one embodiment of the present invention.

[0022] Figure 7 Shown is a schematic diagram of the structural connection of an ultrasonic scalpel for assisting delicate surgery in one embodiment of the present invention. DETAILED DESCRIPTION

[0023] The following describes the embodiments of the present invention through specific examples. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments. The details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the following embodiments and features in the embodiments can be combined with each other unless they conflict.

[0024] It should be noted that in the following description, reference is made to the accompanying drawings, which describe several embodiments of the present invention. It should be understood that other embodiments may be used and that mechanical, structural, electrical and operational changes may be made without departing from the spirit and scope of the present invention. The following detailed description should not be considered restrictive, and the scope of the embodiments of the present invention is limited only by the claims of the published patents. The terms used herein are only for the purpose of describing specific embodiments and are not intended to limit the present invention. Spatially related terms, such as "upper", "lower", "left", "right", "below", "below", "lower", "above", "upper", etc., may be used in the text to facilitate the description of the relationship between one element or feature shown in the figure and another element or feature.

[0025] Furthermore, as used herein, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context indicates otherwise. It should be further understood that the terms "comprise", "include" indicate the presence of the described features, operations, elements, components, items, kinds, and / or groups, but do not exclude the presence, occurrence, or addition of one or more other features, operations, elements, components, items, kinds, and / or groups. The terms "or" and "and / or" used herein are interpreted as inclusive, or mean any one or any combination. Thus, "A, B, or C" or "A, B, and / or C" means "any of the following: A; B; C; A and B; A and C; B and C; A, B, and C". Exceptions to this definition occur only when the combination of elements, functions, or operations is inherently mutually exclusive in some way.

[0026] The present invention provides an ultrasonic scalpel for assisting delicate surgery. During the excitation process of the ultrasonic scalpel, a plurality of sensors disposed inside the handle detect slight movements of the handle, and a microprocessor calculates the spatial posture of the ultrasonic scalpel working surface in real time. The compensation algorithm calculates the amount of displacement to be compensated, and this displacement is precisely controlled by a correction component disposed at the handle to counteract the vibration of the ultrasonic scalpel working surface caused by slight vibrations of the operator's hand. The present invention can effectively help the operator reduce damage to the patient's surgical site caused by abnormal slight vibrations during the operation, and can effectively help the operator complete delicate surgical operations; and the abnormal vibration correction data during the operation can restore the vibration state during the excitation process of the ultrasonic scalpel, and through data analysis and learning of the vibration state, it can better adapt to surgical needs.

[0027] The following is attached Figure 1 For reference, embodiments of the present invention are described in detail so that those skilled in the art can easily implement the present invention. The present invention can be embodied in many different forms and is not limited to the embodiments described herein.

[0028] like Figure 1 As shown, a schematic structural diagram of an ultrasonic scalpel for assisting delicate surgery in one embodiment is shown.

[0029] The ultrasonic scalpel for assisting delicate surgery comprises: an ultrasonic scalpel rod, comprising: a scalpel core (not shown) with a scalpel head at the front end; a scabbard structure 1 on which the scalpel core is sheathed; a sleeve structure (not shown) connected to the rear end of the scabbard structure 1 and capable of allowing the scalpel core to pass through and driving the scalpel core to move, wherein the sleeve structure can drive the scalpel core to move when it moves by filling a substance between the scalpel core and the sleeve structure or by connecting to the sleeve structure; a handle assembly connected to the sleeve structure and capable of allowing the scalpel core to pass through, and a transducer 2 connected to the rear end of the scalpel core; wherein, Figure 2 As shown, a pliers head 101 is provided at the front end of the scabbard structure; the pliers head can be opened and closed relative to the cutter head 102 to form a working surface with the cutter head 102.

[0030] Ultrasonic scalpel also includes: Figure 1 As shown, a first sensor group 3, a second sensor group 4, an angle sensor 5 and a microprocessor (not shown in the figure) are installed on the handle assembly; a correction assembly 7, connected to the microprocessor, includes: a first correction device group arranged in the sleeve structure; a second correction device group, a third correction device group, a third correction device group and a fourth correction device group evenly distributed on the outer surface of the sleeve.

[0031] Among them, for the communication process of the first sensor group, the second sensor group, the angle sensor, the microprocessor and the correction component, we combine Figure 3 To illustrate;

[0032] The first sensor group 3 and the second sensor group 4 are used to collect the first motion data and the second motion data corresponding to the two positions thereof at each moment in the ultrasonic scalpel excitation process; since the ultrasonic scalpel working surface can rotate 360 degrees, it is necessary to bring in the rotation angle of the working surface when reading the direction of the working part of the working surface, so the angle sensor 5 is set to collect the rotation angle data corresponding to the working surface at each moment in the ultrasonic scalpel excitation process; the microprocessor 6 is connected to the first sensor group 3, the second sensor group 4 and the angle sensor 5, and is used to collect the first motion data and the second motion data corresponding to the two positions thereof at each moment in the ultrasonic scalpel excitation process according to the received first motion data. The correction component 7 is connected to the microprocessor 6 and includes: a first correction device group 71 for receiving the correction control signal sent by the microprocessor 6, driving the sleeve structure to drive the knife core to perform front and back jitter compensation; a second correction device group 72, a third correction device group 73, a fourth correction device group 74 and a fifth correction device group 75 evenly distributed on the outer surface of the sleeve, for receiving the correction control signal sent by the microprocessor 6, driving the sleeve structure to drive the knife core to perform up and down and / or pitch jitter compensation. Preferably,

[0033] In one embodiment, if Figure 1 As shown, the handle assembly includes: an assembly frame, an angle locking structure 81, a fixed handle 82, and a movable handle 83; wherein, the assembly frame includes: a sleeve fixing portion (not shown in the figure), which is used to fix the sleeve structure; a movable handle fixing plate 841, which is used to be movably connected to the movable handle 83; a fixed handle connecting portion (not shown in the figure), which is used to be fixedly connected to the fixed handle 82; the angle locking structure 81 is used to lock the blade core and drive the rotation when the blade core rotates. It should be noted that the various parts of the assembly frame can be integrally formed or fixedly connected separately, and this is not limited.

[0034] In one embodiment, if Figure 1 As shown, the first sensor group 3 is provided in the movable handle fixing plate 841 for collecting first motion data of the current position; the second sensor group 4 is provided in the fixed handle 2 for collecting second motion data of the current position. The angle sensor is provided on the angle locking structure 81.

[0035] To collect more stable data, the first sensor group 3 and the second sensor group 4 are located on the movable handle fixing plate and the movable handle of the assembly frame, both of which are fixed structures and separated by a certain distance. This allows for better detection of real-time spatial posture and motion vectors. Furthermore, since the angle locking structure 81 rotates with the blade core, the angle sensor is located thereon to better detect the rotation angle of the work surface.

[0036] In one embodiment, the first sensor group 3 and the second sensor group 4 are horizontally arranged on the movable handle fixing plate 841 and the fixed handle 82 in the same parallel direction corresponding to the blade core setting direction.

[0037] In one embodiment, the first sensor group 3 includes: a first speedometer and a first gyroscope, which are used to respectively collect first acceleration data and first spatial posture at the current moment; the second sensor group 4 includes: a second speedometer and a second gyroscope, which are used to respectively collect second acceleration data and second spatial posture at the current moment.

[0038] In one embodiment, if Figure 4 As shown, the microprocessor sends a corresponding correction control signal according to the received first motion data, second motion data and rotation angle data when abnormal jitter occurs, including:

[0039] Step S41: Calculate the spatial position coefficient at the current moment based on the received first motion data, second motion data and rotation angle data; wherein, the spatial position coefficient includes: the first spatial posture, the second spatial posture, the rotation angle data and the speed data of the working surface calculated from the first acceleration data and the second acceleration data; wherein, the speed data has both direction and magnitude.

[0040] Specifically, the spatial position coefficient of the ultrasonic scalpel working surface is calculated based on the received first motion data, second motion data, and rotation angle data. The spatial position coefficient (x1, x2, j, v) is composed of four elements, namely O = XYZV of the working surface, where XYZ refers to the polar coordinates of the working surface. Among them, v is calculated based on the first acceleration data and the second acceleration data.

[0041] Step S42: When abnormal jitter occurs, based on the standard spatial position coefficient, the correction data at the current moment is calculated according to the spatial position coefficient at the current moment, and a corresponding adjustment path is obtained; wherein the standard spatial position coefficient is calculated based on the first motion data, the second motion data, and the preset rotation angle data collected at the initial moment;

[0042] Step S43: Based on the adjustment path, a corresponding correction control signal including a corresponding correction value is sent to a corresponding correction device group.

[0043] In one embodiment, when abnormal jitter occurs, based on the standard spatial position coefficient, calculating the correction data at the current moment according to the spatial position coefficient at the current moment, and obtaining the corresponding adjustment path, includes:

[0044] Based on the velocity data in the spatial position coefficient at the current moment, whether the ultrasonic knife is shaking abnormally is determined by judging whether the velocity data of the working surface fluctuates periodically in a short period of time; specifically, whether the displacement trajectory is abnormal is determined based on the velocity data in the spatial position coefficient at the current moment; if the velocity data of the working surface fluctuates periodically in a short period of time (the acceleration data in the corresponding time is also a periodic signal), it is abnormal shaking; otherwise, it is normal shaking; wherein, the setting of the short period of time can be determined according to needs;

[0045] If the vibration is abnormal, the correction values corresponding to the first correction device group, the second correction device group, the third correction device group, the fourth correction device group, and the fifth correction device group are calculated according to the current spatial position coefficient using the standard spatial position coefficient and the input scabbard length value;

[0046] Based on the calculated correction value, a corresponding adjustment path is calculated to adjust the working surface of the ultrasonic knife to the position of the working surface corresponding to the standard spatial position coefficient.

[0047] In one embodiment, during the actual surgical procedure, the surgeon's normal operation cannot be compensated, so an abnormal jitter identification mechanism needs to be added. Since the characteristic of jitter is repeated changes in spatial posture, presenting a uniform sine wave, this characteristic is used as a criterion for determining abnormal jitter. Based on the changes in the spatial position coefficient and velocity data of the ultrasonic scalpel at adjacent moments, a comprehensive judgment is made as to whether the spatial position coefficient and velocity data of the working surface exhibit periodic reciprocating fluctuations within three or more moments, thereby comprehensively determining whether the ultrasonic scalpel is experiencing abnormal jitter. If abnormal jitter is present, the correction values corresponding to the first correction device group, the second correction device group, the third correction device group, the fourth correction device group, and the fifth correction device group are calculated based on the spatial position coefficient at the current moment using the standard spatial position coefficient and the input scabbard length value. Based on the calculated correction values, the corresponding adjustment path is calculated to adjust the working surface of the ultrasonic scalpel to the position of the working surface corresponding to the standard spatial position coefficient.

[0048] In one embodiment, the changes in the spatial position coefficient and speed data of the ultrasonic scalpel at adjacent moments are judged by judging whether the spatial position coefficient and speed data of the working surface show periodic reciprocating fluctuations within 3 or more moments, and the comprehensive judgment of whether the ultrasonic scalpel is an abnormal jitter mode includes: calculating the spatial position changes of the working surface based on the spatial position and speed data of the working surface at 3 or more moments; comparing the spatial position changes of the working surface with normal jitter data; if it is consistent with the normal jitter data, it is normal jitter; if it is not consistent with the normal jitter data, it is abnormal jitter.

[0049] In one embodiment, the second correcting device group, the third correcting device group, the third correcting device group, and the fourth correcting device group each include two correcting components.

[0050] In one embodiment, if Figure 5 As shown, the second correction device group 72, the third correction device group 73, the fourth correction device group 74 and the fifth correction device group 72 are evenly and symmetrically arranged around the cross section of the sleeve structure 9 with the knife core 10 therein, which is perpendicular to the central axis of the sleeve structure 9, and the distance between adjacent correction devices is the same.

[0051] In one embodiment, if Figure 6 As shown, the two correction components of each group are symmetrically arranged on the central axis of the cross section of the sleeve structure parallel to the central axis of the sleeve structure 9.

[0052] In one embodiment, the sleeve structure has a built-in roller to correct for back-and-forth jitter, and the roller is tightly connected to the blade core transducer assembly. The center of the sleeve shell is rigidly connected to the handle via a connecting rod, and the sleeve shell and the connecting rod are movably connected, similar to a seesaw structure.

[0053] In one embodiment, the first correction device group 71 , the second correction device group 72 , the third correction device group 73 , the fourth correction device group 74 and the fifth correction device 75 are precision micro servo motors.

[0054] In order to better explain the ultrasonic scalpel for assisting delicate surgery, the following specific examples are provided.

[0055] Example 1: An ultrasonic scalpel for assisting delicate surgery. Figure 7 Schematic diagram of the structural connection of an ultrasonic scalpel used to assist in delicate surgery.

[0056] The ultrasonic scalpel for assisting delicate surgery comprises a handle, a first sensor group, a second sensor group, a microprocessor, a correction device, a scabbard, a scalpel core, and a transducer assembly.

[0057] Among them, the handle has at least two sets of sensors built in to detect the real-time spatial posture and motion vector of the two parts of the handle respectively. One set of sensors consists of an accelerometer and a gyroscope. The displacement data measured by the two sets of sensors are used to calculate the spatial posture of the current ultrasonic knife working surface in real time. Because the ultrasonic knife working surface can rotate 360 degrees, it is necessary to bring in the rotation angle (j) of the working surface when reading the direction of the working part of the working surface. The working surface angle sensor is set at the connection between the scabbard and the handle. The data measured by each sensor is sent to the microprocessor to calculate the spatial position coefficient of the ultrasonic knife working surface. The spatial position coefficient consists of four elements, namely O=XYZV of the working surface, where XYZ refers to the polar coordinates of the working surface. By comparing the acceleration value fed back by the sensor and the speed change at the current moment and the previous moment, the moving speed and direction of the working surface can be calculated as jitter.

[0058] The ultrasonic scalpel core, sheath, and transducer assembly are flexibly connected to the handle. Five micro-correction devices are located at these connections, providing compensation for vertical, horizontal, forward, and backward motion, as well as pitch. The forward and backward correction device is a sleeve with a built-in roller connected to the core-transducer assembly, which corrects for forward and backward motion. This device is tightly connected to the core-transducer assembly. The center of the sleeve housing is rigidly connected to the handle via a connecting rod, which allows the sleeve housing to be flexibly connected to the connecting rod, similar to a seesaw structure.

[0059] The correction devices for vertical, horizontal, and pitch adjustments consist of four groups of eight micro-correctors, each consisting of two micro-correctors. Each of the eight micro-correctors is evenly distributed around the central cross-section of the sleeve. These five groups of correction devices enable adjustment along three axes. Each adjustment is algorithmically calculated to minimize strain on the tissue. (Note: The shortest adjustment path must meet the minimum strain requirement.)

[0060] The input values of the correction and compensation algorithm used by the microprocessor are the sensor displacement value, sensor displacement speed, working surface rotation angle, and scabbard length. The output values are the fine-tuning values of 5 sets of micro-correction devices, as follows:

[0061] A closed-loop posture algorithm is used to calculate correction values based on sensor data. Fast motor control technology, based on existing motor control, makes the adjustment process smoother, further reducing tissue damage. Abnormal slight jitter detection is used. During actual surgery, the surgeon's normal operation cannot be compensated, so an abnormal jitter detection mechanism is required. Because jitter is characterized by repeated changes in spatial posture and a uniform sine wave, this characteristic is used as a criterion for determining abnormal jitter.

[0062] The microprocessor can also perform data analysis and learning on historical abnormal jitter data to form jitter correction parameters for a specific operator, which can further assist the operator in performing delicate surgery.

[0063] The advantages of this embodiment are: it can effectively help the surgeon reduce the damage to the patient's surgical site caused by abnormal slight shaking during the operation, and can effectively help the surgeon complete refined surgical operations; the abnormal shaking correction data during the operation can restore the shaking state during the ultrasonic knife excitation process, and through data analysis and learning of the shaking state, it can further adapt to the surgeon's movement habits.

[0064] In summary, the ultrasonic scalpel of the present invention assists in delicate surgery. During the excitation process of the ultrasonic scalpel, a plurality of sensors disposed inside the handle detect slight movements of the handle, and a microprocessor calculates the spatial posture of the ultrasonic scalpel working surface in real time. The compensation algorithm calculates the displacement amount to be compensated, and this displacement amount is precisely controlled by the scabbard through the correction component deployed at the handle to offset the vibration of the ultrasonic scalpel working surface caused by slight vibrations of the operator's hand. The present invention can effectively help the operator reduce the damage to the patient's surgical site caused by abnormal slight vibrations during the operation, and can effectively help the operator complete delicate surgical operations; and the abnormal vibration correction data during the operation can restore the vibration state during the excitation process of the ultrasonic scalpel, and further adapt to the operator's movement habits through data analysis and learning of the vibration state. Therefore, the present invention effectively overcomes the various shortcomings of the prior art and has a high industrial utilization value.

[0065] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the present invention. Anyone skilled in the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by one of ordinary skill in the art without departing from the spirit and technical principles disclosed herein are intended to be covered by the claims of the present invention.

Claims

1. An ultrasonic scalpel for assisting delicate surgery, characterized in that: include: An ultrasonic knife bar comprises: a knife core with a knife head at the front end, a scabbard structure housing the knife core, a sleeve structure connected to the rear end of the scabbard structure and capable of allowing the knife core to pass through and driving the knife core to move, a handle assembly connected to the sleeve structure and capable of allowing the knife core to pass through, and a transducer connected to the rear end of the knife core; wherein the front end of the scabbard structure is provided with a pliers head; the pliers head can be opened and closed relative to the knife head, forming a working surface with the knife head; A first sensor group, a second sensor group, an angle sensor, and a microprocessor are installed on the handle assembly; wherein the first sensor group and the second sensor group are used to collect first motion data and second motion data corresponding to their two positions at each moment; the angle sensor is used to collect rotation angle data corresponding to the working surface at each moment; the microprocessor is connected to the first sensor group, the second sensor group, and the angle sensor, and is used to send a corresponding correction control signal when abnormal jitter occurs based on the received first motion data, second motion data, and rotation angle data; A correction component, connected to the microprocessor, comprising: A first correction device group provided in the sleeve structure is used to receive the correction control signal sent by the microprocessor and drive the sleeve structure to drive the blade core to perform forward and backward vibration compensation; The second correction device group, the third correction device group, the fourth correction device group, and the fifth correction device group are evenly distributed on the outer surface of the sleeve, and are used to receive the correction control signal sent by the microprocessor, drive the sleeve structure to drive the blade core to perform vertical and / or pitch vibration compensation; Wherein, the handle assembly includes: an assembly frame, an angle locking structure, a fixed handle and a movable handle; wherein, the assembly frame includes: a sleeve fixing portion for fixedly connecting the sleeve structure; a movable handle fixing plate for movably connecting with the movable handle; a fixed handle connecting portion for fixedly connecting with the fixed handle; the angle locking structure is used to lock the knife core and drive the rotation when the knife core rotates; the first sensor group is arranged in the movable handle fixing plate, for collecting first motion data of the current position; the second sensor group is arranged in the fixed handle, for collecting second motion data of the current position; the angle sensor is arranged on the angle locking structure; the first sensor group includes: a first accelerometer and a first gyroscope, for respectively collecting first acceleration data and first spatial posture at the current moment; the second sensor group includes: a second accelerometer and a second gyroscope, for respectively collecting second acceleration data and second spatial posture at the current moment; The method of sending a corresponding correction control signal when an abnormal jitter occurs based on the received first motion data, second motion data, and rotation angle data includes: comprehensively calculating a spatial position coefficient at a current moment based on the received first motion data, second motion data, and rotation angle data; wherein the spatial position coefficient includes: a first spatial posture, a second spatial posture, rotation angle data, and speed data calculated from the first acceleration data and the second acceleration data; when the abnormal jitter occurs, calculating the correction data at the current moment based on the spatial position coefficient at the current moment based on the standard spatial position coefficient, and obtaining a corresponding adjustment path; wherein the standard spatial position coefficient is calculated from the first motion data, second motion data, and preset rotation angle data collected at an initial moment; and sending a corresponding correction control signal containing a corresponding correction value to a corresponding correction device group based on the adjustment path; When abnormal jitter occurs, based on the standard spatial position coefficient, the correction data at the current moment is calculated according to the spatial position coefficient at the current moment, and the corresponding adjustment path is obtained, including: based on the changes in the spatial position coefficient and speed data of the ultrasonic knife at adjacent moments, by judging whether the spatial position coefficient and speed data of the working surface have periodic reciprocating fluctuations within 3 or more moments, a comprehensive judgment is made as to whether the ultrasonic knife is jittering abnormally; if it is jittering abnormally, the correction values corresponding to the first correction device group, the second correction device group, the third correction device group, the fourth correction device group and the fifth correction device group are calculated according to the spatial position coefficient at the current moment using the standard spatial position coefficient and the input scabbard length value; based on the calculated correction value, the corresponding adjustment path is calculated to adjust the working surface of the ultrasonic knife to the position of the working surface corresponding to the standard spatial position coefficient.

2. The ultrasonic scalpel for assisting delicate surgery according to claim 1, characterized in that: The first sensor group and the second sensor group are respectively arranged horizontally on the movable handle fixing plate and the fixed handle in the same parallel direction corresponding to the direction in which the blade core is arranged.

3. The ultrasonic scalpel for assisting delicate surgery according to claim 1, characterized in that: Based on the changes in the spatial position coefficient and velocity data of the ultrasonic scalpel at adjacent moments, the comprehensive judgment of whether the ultrasonic scalpel is in an abnormal jittering mode is made by judging whether the spatial position coefficient and velocity data of the working surface have periodic reciprocating fluctuations within three or more moments. The following are included: Calculate the spatial position change of the working surface based on the spatial position and velocity data of the working surface at three or more moments; Comparing the spatial position change of the working surface with normal jitter data; If it meets the normal jitter data, it is normal jitter; If it does not conform to the normal jitter data, it is abnormal jitter.

4. The ultrasonic scalpel for assisting delicate surgery according to claim 1, characterized in that: The second correcting device group, the third correcting device group, the fourth correcting device group and the fifth correcting device group each include two correcting components.

5. The ultrasonic scalpel for assisting delicate surgery according to claim 4, characterized in that: The second correction device group, the third correction device group, the fourth correction device group and the fifth correction device group are evenly and symmetrically arranged around the cross section of the sleeve structure perpendicular to the axis, and the distance between adjacent correction devices is the same; the two correction components of each group are symmetrically arranged about the central axis of the cross section of the sleeve structure parallel to the axis.

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