Control method of ultrasonic surgical instrument, surgical apparatus, readable storage medium

Abstract

Embodiments of the present disclosure provide a control method of an ultrasonic surgical instrument, a surgical device and a computer readable storage medium. The control method comprises: before the ultrasonic blade cuts the target tissue, applying a no-load voltage and a no-load current to the ultrasonic surgical instrument, and under the action of the no-load voltage and the no-load current, the ultrasonic blade vibrates at a target amplitude; during the cutting of the target tissue by the ultrasonic blade, obtaining a feedback voltage and a feedback current of the ultrasonic surgical instrument; and determining a cutting voltage and a cutting current according to the feedback voltage and the feedback current and applying the cutting voltage and the cutting current to the ultrasonic surgical instrument, so that during the cutting of the target tissue by the ultrasonic blade, the amplitude of the ultrasonic blade is kept in the range of target amplitude x 90% to target amplitude x 110%. The consistency of the cutting and sealing effect is effectively ensured.

Description

[0001] This application is a divisional application of Chinese invention patent application No. 202210406874.1, entitled "Control method for ultrasonic surgical instruments, surgical equipment, and readable storage medium". Technical Field

[0002] Embodiments of this disclosure relate to a method for controlling an ultrasonic surgical instrument, a surgical device, and a computer-readable storage medium. Background Technology

[0003] Ultrasonic surgical instruments are commonly used medical devices in surgical procedures. They mainly consist of a main unit, a transducer, and a waveguide rod. One end of the transducer is connected to the main unit, and the other end is connected to the waveguide rod. An ultrasonic scalpel head is located at the end of the waveguide rod furthest from the transducer. Electrical energy is transmitted from the main unit to the transducer via a foot switch or hand switch. The transducer converts this electrical energy into mechanical energy based on the piezoelectric effect. Simultaneously, the transducer drives the connected waveguide rod to vibrate mechanically. The waveguide rod transmits this mechanical vibration to the ultrasonic scalpel head, causing it to vibrate. The ultrasonic scalpel head contacts the target tissue. During the vibration of the ultrasonic scalpel head, the heat generated by friction between the ultrasonic scalpel head and the target tissue causes water vaporization, protein hydrogen bond breakage and denaturation, and cell disintegration within the target tissue, thereby achieving the cutting and sealing of the target tissue. Summary of the Invention

[0004] According to embodiments of this disclosure, a method for controlling an ultrasonic surgical instrument is provided. The ultrasonic surgical instrument includes an ultrasonic scalpel head for cutting target tissue. The method includes: applying an open-circuit voltage and an open-circuit current to the ultrasonic surgical instrument before the ultrasonic scalpel head cuts the target tissue, wherein the ultrasonic scalpel head vibrates at a target amplitude under the action of the open-circuit voltage and the open-circuit current; acquiring a feedback voltage and a feedback current of the ultrasonic surgical instrument during the cutting of the target tissue; and determining a cutting voltage and a cutting current based on the feedback voltage and the feedback current, and applying the cutting voltage and the cutting current to the ultrasonic surgical instrument such that during the cutting of the target tissue, the amplitude of the ultrasonic scalpel head is maintained within the following range: target amplitude × 90% ≤ amplitude ≤ target amplitude × 110%.

[0005] For example, the control method further includes: determining whether the ultrasonic scalpel head has completely cut the target tissue; if the ultrasonic scalpel head has completely cut the target tissue, then applying a holding voltage and a holding current to the ultrasonic surgical instrument, wherein the holding current is less than the cutting current.

[0006] For example, the holding current is less than or equal to 75% of the cutting current.

[0007] For example, determining whether the ultrasonic scalpel head has completely cut the target tissue includes at least one of the following methods: Method 1: during the process of the ultrasonic scalpel head cutting the target tissue, the impedance of the ultrasonic surgical instrument is acquired, and the change trend of the impedance over time is used to determine whether the ultrasonic scalpel head has completely cut the target tissue; and Method 2: during the process of the ultrasonic scalpel head cutting the target tissue, the resonant frequency of the ultrasonic surgical instrument is acquired, and the change trend of the resonant frequency over time is used to determine whether the scalpel head has completely cut the target tissue.

[0008] For example, in mode 1, if the impedance changes over time in the following manner: first rising to a first impedance value, then falling to a second impedance value, and then rising to a third impedance value, then it is determined that the ultrasonic scalpel head has finished cutting the target tissue.

[0009] For example, the third impedance value is less than the first impedance value.

[0010] For example, in mode 2, if the resonant frequency changes over time as follows: first, the amplitude decreases in the first time interval, and then the amplitude decreases in the second time interval, where the first amplitude is equal to the second amplitude but the first time interval is longer than the second time interval, then it is determined that the ultrasonic scalpel has completely cut the target tissue.

[0011] For example, the ratio between the first time interval and the second time interval is greater than or equal to 5:1.

[0012] For example, the resonant frequency is greater than or equal to 53.5 kHz and less than or equal to 57.5 kHz, and the first amplitude and the second amplitude are both 0.1 kHz.

[0013] For example, acquiring the feedback voltage and feedback current of the ultrasonic surgical instrument includes: sequentially acquiring n sets of raw feedback data, each set of raw feedback data including raw feedback voltage and raw feedback current, n≥2; and processing the n sets of raw feedback data, wherein processing the n sets of raw feedback data includes: calculating the average value of the raw feedback voltage included in the n sets of raw feedback data as the feedback voltage, and calculating the average value of the raw feedback current included in the n sets of raw feedback data as the feedback current.

[0014] For example, the sequential acquisition of n sets of raw feedback data includes: acquiring the i-th set of raw feedback data, which includes the i-th raw feedback voltage and the i-th raw feedback current, i≥1; determining whether the i-th set of raw feedback data is normal includes: determining whether the i-th raw feedback voltage and the i-th raw feedback current are within a preset range; if either the i-th raw feedback voltage or the i-th raw feedback current is not within the preset range, then the i-th set of raw feedback data is not included in the n sets of raw feedback data; if either the i-th raw feedback voltage or the i-th raw feedback current is within the preset range, then the i-th set of raw feedback data is included in the n sets of raw feedback data.

[0015] For example, the preset range of the original feedback voltage is: 10V ≤ original feedback voltage ≤ 150V; and the preset range of the original feedback current is: 100mA ≤ original feedback current ≤ 500mA.

[0016] For example, determining the cutting voltage and cutting current based on the feedback voltage and the feedback current includes: if the feedback current is less than the no-load current, increasing the cutting voltage to increase the cutting current; if the feedback current is greater than the no-load current, decreasing the cutting voltage to decrease the cutting current.

[0017] For example, the no-load current, the feedback current, and the cutting current are all active currents; the method includes: during the process of the ultrasonic scalpel cutting the target tissue, acquiring the feedback voltage, the feedback current, the phase difference between the feedback voltage and the feedback current, and the capacitive reactance of the ultrasonic surgical instrument; and determining the cutting voltage and the cutting current based on the feedback voltage, the feedback current, the phase difference, and the capacitive reactance.

[0018] For example, determining the cutting voltage and the cutting current based on the feedback voltage, the feedback current, the phase difference, and the capacitive reactance includes: determining the reactive feedback current corresponding to the feedback current based on the feedback voltage: reactive feedback current = feedback voltage / capacitive reactance; determining the cutting current based on the reactive feedback current: cutting current = reactive feedback current / (1 - power factor), where the power factor = cos phase difference; and determining the cutting voltage that matches the cutting current.

[0019] For example, the phase difference is greater than or equal to 0° and less than or equal to 72°.

[0020] For example, during the process of the ultrasonic scalpel cutting the target tissue, the steps of obtaining the feedback voltage and feedback current of the ultrasonic surgical instrument and the steps of determining the cutting voltage and cutting current based on the feedback voltage and feedback current are performed cyclically until the target tissue is completely cut.

[0021] According to embodiments of this disclosure, a surgical device is provided, including a main unit and an ultrasonic surgical instrument connected to the main unit. The main unit includes an energy application unit and a data acquisition unit. The energy application unit is configured to apply an open-circuit voltage and an open-circuit current to the ultrasonic surgical instrument before the ultrasonic scalpel head cuts the target tissue, under the action of the open-circuit voltage and the open-circuit current, the ultrasonic scalpel head vibrating at a target amplitude. The data acquisition unit is configured to acquire a feedback voltage and a feedback current of the ultrasonic surgical instrument during the cutting of the target tissue by the ultrasonic scalpel head. Furthermore, the energy application unit is configured to determine a cutting voltage and a cutting current based on the feedback voltage and the feedback current, and apply the cutting voltage and the cutting current to the ultrasonic surgical instrument, such that during the cutting of the target tissue by the ultrasonic scalpel head, the amplitude of the ultrasonic scalpel head remains within the following range: target amplitude × 90% ≤ amplitude ≤ target amplitude × 110%.

[0022] For example, the surgical device further includes: a target tissue cutting completion identification part, wherein the target tissue cutting completion identification part is configured to determine whether the ultrasonic scalpel head has finished cutting the target tissue; the energy application unit is further configured to: if the ultrasonic scalpel head has finished cutting the target tissue, apply a holding voltage and a holding current to the ultrasonic surgical instrument, wherein the holding current is less than the cutting current.

[0023] According to embodiments of this disclosure, a surgical device is provided, comprising: a processor; and a memory including one or more computer program modules; wherein the one or more computer program modules are stored in the memory and configured to be executed by the processor, and the one or more computer program modules include instructions for implementing the control method as described above.

[0024] According to embodiments of the present disclosure, a computer-readable storage medium is provided for storing non-transitory computer-readable instructions that, when executed by a computer, can implement the control method described above. Attached Figure Description

[0025] To more clearly illustrate the technical solutions of the embodiments of this disclosure, the accompanying drawings of the embodiments will be briefly described below. Obviously, the drawings described below only relate to some embodiments of this disclosure and are not intended to limit this disclosure.

[0026] Figure 1 This is a flowchart illustrating a control method for an ultrasonic surgical instrument according to an embodiment of the present disclosure, showing steps S101, S102, and S103.

[0027] Figure 2 This is a flowchart illustrating a control method for an ultrasonic surgical instrument according to an embodiment of the present disclosure, wherein step S201 is shown;

[0028] Figure 3a This is a schematic diagram of the frame of a surgical device according to an embodiment of the present disclosure;

[0029] Figure 3b This is a schematic diagram of the structure of a surgical device according to an embodiment of the present disclosure;

[0030] Figure 4 This is another schematic diagram of the surgical device according to an embodiment of the present disclosure;

[0031] Figure 5 This is another schematic diagram of the surgical apparatus according to an embodiment of the present disclosure; and

[0032] Figure 6 This is a schematic diagram of a computer-readable storage medium according to an embodiment of the present disclosure. Detailed Implementation

[0033] To make the objectives, technical solutions, and advantages of the embodiments of this disclosure clearer, the technical solutions of the embodiments of this disclosure 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 disclosure. All other embodiments obtained by those skilled in the art based on the described embodiments of this disclosure without creative effort are within the scope of protection of this disclosure.

[0034] Unless otherwise defined, the technical or scientific terms used herein shall have the ordinary meaning understood by one of ordinary skill in the art to which this disclosure pertains. The terms “first,” “second,” and similar terms used in this patent application specification and claims do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as “comprising” or “including” indicate that the element or object preceding “comprising” or “including” encompasses the element or object listed following “comprising” or “including” and its equivalents, but do not exclude other elements or objects. Terms such as “upper,” “lower,” “left,” and “right” are used only to indicate relative positional relationships, and these relative positional relationships may change accordingly when the absolute position of the described object changes.

[0035] Ultrasonic surgical instruments can be used to cut and seal target tissues. Target tissues vary widely (e.g., fat, muscle, and various composite tissues combining fat and muscle in different proportions). If a constant cutting voltage and current are used to cut different types of target tissues, inconsistent cutting and sealing results will be achieved. Therefore, it is necessary to adjust the energy (the product of cutting current and cutting voltage) transmitted to the ultrasonic surgical instrument according to the different target tissues to ensure that the ultrasonic surgical instrument achieves substantially the same cutting and sealing effect when cutting different target tissues. During the cutting and sealing of the same target tissue, the state of the target tissue is constantly changing. If a constant cutting voltage and current are used throughout the cutting process, inconsistent cutting and sealing results will also be achieved for different parts of the same target tissue. Therefore, it is necessary to adjust the energy (the product of cutting current and cutting voltage) transmitted to the ultrasonic surgical instrument according to the changes in the state of the target tissue during the cutting process to ensure that the ultrasonic surgical instrument achieves substantially the same cutting and sealing effect throughout the cutting process of the same target tissue.

[0036] Embodiments of this disclosure provide a control method for an ultrasonic surgical instrument, a surgical device, and a computer-readable storage medium. The method can adjust the energy transmitted to the ultrasonic surgical instrument based on different types of target tissue to achieve substantially the same cutting and sealing effects for different types of target tissue. It can also adjust the energy transmitted to the ultrasonic surgical instrument based on different states of the same target tissue to achieve substantially the same cutting and sealing effects throughout the entire cutting and sealing process of the same target tissue. The above-described technical solutions according to embodiments of this disclosure can be referred to as tissue adaptive technology. The technical solutions according to embodiments of this disclosure will be described in detail below with reference to the accompanying drawings.

[0037] Figure 1 This is a schematic flowchart of a control method for an ultrasonic surgical instrument according to an embodiment of the present disclosure, illustrating steps S101, S102, and S103. The ultrasonic surgical instrument includes an ultrasonic scalpel head for cutting target tissue. For example, the ultrasonic scalpel head simultaneously cuts and seals the target tissue, i.e., it cuts and seals simultaneously. See also Figure 1The control method of the ultrasonic surgical instrument according to the embodiments of the present disclosure includes: S101: before the ultrasonic scalpel head cuts the target tissue, applying an open-circuit voltage and an open-circuit current to the ultrasonic surgical instrument, and under the action of the open-circuit voltage and the open-circuit current, the ultrasonic scalpel head vibrates at the target amplitude; S102: during the process of the ultrasonic scalpel head cutting the target tissue, acquiring the feedback voltage and feedback current of the ultrasonic surgical instrument; and S103: determining the cutting voltage and cutting current based on the feedback voltage and feedback current and applying the cutting voltage and cutting current to the ultrasonic surgical instrument, so that during the process of the ultrasonic scalpel head cutting the target tissue, the amplitude of the ultrasonic scalpel head is maintained within the following range: target amplitude × 90% ≤ amplitude ≤ target amplitude × 110%.

[0038] According to embodiments of this disclosure, during the cutting of target tissue by the ultrasonic scalpel, feedback voltage and feedback current of the ultrasonic surgical instrument are acquired. Cutting voltage and cutting current are determined based on the feedback voltage and feedback current, thereby allowing the energy output to the ultrasonic surgical instrument (the product of cutting voltage and cutting current) to be adjusted in real time according to the cutting situation. Further, according to embodiments of this disclosure, the result of real-time adjustment of the output energy (the product of cutting voltage and cutting current) is to maintain the amplitude of the ultrasonic scalpel within a range greater than or equal to 90% and less than or equal to 110% of the target amplitude. That is, the amplitude of the ultrasonic scalpel is maintained near the target amplitude, allowing the ultrasonic scalpel to cut different target tissues with approximately the same amplitude. Throughout the cutting process of the same target tissue, the ultrasonic scalpel can also cut the same target tissue with approximately the same amplitude from beginning to end, effectively ensuring the consistency of cutting and sealing effects. Therefore, according to embodiments of this disclosure, substantially the same cutting and sealing effects can be obtained for different types of target tissues, and substantially the same cutting and sealing effects can also be obtained throughout the entire cutting and sealing process of the same target tissue.

[0039] For example, according to embodiments of this disclosure, based on ensuring the consistency of cutting and sealing effects for different target tissues and the consistency of cutting and sealing effects for the same target tissue throughout the entire cutting and sealing process, the closer the amplitude of the ultrasonic scalpel head is to the target amplitude during the ultrasonic scalpel head cutting the target tissue, the better the cutting and sealing effect. For example, the cutting voltage and cutting current are determined based on the feedback voltage and feedback current, and the cutting voltage and cutting current are applied to the ultrasonic surgical instrument so that during the cutting of the target tissue by the ultrasonic scalpel, the amplitude of the ultrasonic scalpel head is maintained within the following range: target amplitude × 93% ≤ amplitude ≤ target amplitude × 107%; further, target amplitude × 95% ≤ amplitude ≤ target amplitude × 105%; even further, target amplitude × 96% ≤ amplitude ≤ target amplitude × 104%; even further, target amplitude × 97% ≤ amplitude ≤ target amplitude × 103%; even further, target amplitude × 98% ≤ amplitude ≤ target amplitude × 102%; even further, target amplitude × 99% ≤ amplitude ≤ target amplitude × 101%; and even further, the amplitude of the ultrasonic scalpel head is equal to the target amplitude. Obviously, when the amplitude of the ultrasonic scalpel head is equal to the target amplitude, in addition to ensuring the consistency of cutting and sealing effects for different target tissues and the consistency of cutting and sealing effects for the same target tissue throughout the entire cutting and sealing process, the best cutting and sealing effect can also be obtained.

[0040] For example, the target amplitude is the amplitude of the ultrasonic surgical instrument in the resonant state to ensure excellent cutting and sealing effects.

[0041] For example, an ultrasonic surgical instrument undergoes a first calibration before leaving the factory to ensure that all parameters of the instrument are normal. Similarly, a second calibration is performed before the instrument is unpacked and ready for use to further ensure that all parameters are normal. For example, the above-described step S101 included in the ultrasonic surgical instrument control method according to embodiments of this disclosure can be performed during the first calibration process, the second calibration process, or both.

[0042] For example, an ultrasonic surgical instrument includes a transducer and a waveguide rod connected to the transducer, with the ultrasonic scalpel head positioned at the end of the waveguide rod furthest from the transducer. For instance, by activating a foot switch or a controlled switch, the main unit outputs a cutting voltage and current to the transducer of the ultrasonic surgical instrument. The transducer generates mechanical vibration based on the piezoelectric effect. Simultaneously, the transducer drives the waveguide rod connected to it to vibrate mechanically. The waveguide rod transmits the mechanical vibration to the ultrasonic scalpel head, which then contacts the target tissue. During the vibration of the ultrasonic scalpel head, the heat generated by the friction between the ultrasonic scalpel head and the target tissue causes water vaporization within the target tissue, protein hydrogen bond breakage and denaturation, and cell disintegration, thereby achieving the cutting and sealing of the target tissue.

[0043] For example, the feedback voltage and feedback current obtained in step S102 may vary depending on the type of target organization or due to changes in the state of the same target organization; these are parameters associated with the real-time state of the target organization.

[0044] For example, step S102 further includes: determining whether the product of the feedback voltage and the feedback current is less than or equal to the rated power of the ultrasonic surgical instrument; if the product of the feedback voltage and the feedback current is less than or equal to the rated power of the ultrasonic surgical instrument, then step S103 is executed next; if the product of the feedback voltage and the feedback current is greater than the rated power of the ultrasonic surgical instrument, then step S103 is not executed and an alarm is triggered.

[0045] For example, step S103 further includes: determining whether the product of the cutting voltage and the cutting current is less than or equal to the rated power of the ultrasonic surgical instrument; if the product of the cutting voltage and the cutting current is less than or equal to the rated power of the ultrasonic surgical instrument, then continue to step S103; if the product of the cutting voltage and the cutting current is greater than the rated power of the ultrasonic surgical instrument, then stop executing step S103 and trigger an alarm.

[0046] It should be noted that, according to the embodiments of this disclosure, during the process of ultrasonic surgical instruments cutting the target tissue, steps S102 and S103 are executed cyclically until the target tissue is completely cut.

[0047] Figure 2 This is a flowchart illustrating a method for controlling an ultrasonic surgical instrument according to an embodiment of the present disclosure, wherein step S201 is shown.

[0048] For example, the control method for an ultrasonic surgical instrument according to an embodiment of this disclosure further includes: determining whether the ultrasonic scalpel head has completely cut the target tissue; if the ultrasonic scalpel head has completely cut the target tissue, then applying a holding voltage and a holding current to the ultrasonic surgical instrument, wherein the holding current is less than the cutting current. According to an embodiment of this disclosure, whether the ultrasonic scalpel head has completely cut the target tissue is monitored in real time. Once the ultrasonic scalpel head has completely cut the target tissue, a holding voltage and a holding current are applied to the ultrasonic surgical instrument, wherein the holding current is less than the cutting current. In this way, the energy applied to the ultrasonic surgical instrument (the product of the holding voltage and the holding current) is reduced, which can prevent the ultrasonic scalpel head from causing lateral thermal damage to the already cut and sealed target tissue.

[0049] As described above, according to the embodiments of this disclosure, during the process of the ultrasonic scalpel cutting the target tissue, steps S102 and S103 are executed cyclically until the target tissue is completely cut. In this case, "holding current less than cutting current" means that the holding current is less than the cutting current determined and applied to the ultrasonic surgical instrument in the last step S103 before the target tissue is completely cut; that is, "holding current less than cutting current" means that the holding current is less than the last cutting current applied to the ultrasonic surgical instrument before the target tissue is completely cut. The last cutting current applied to the ultrasonic surgical instrument before the target tissue is completely cut can also be understood as the cutting current of the ultrasonic surgical instrument when the target tissue is completely cut. Therefore, "holding current less than cutting current" can also be understood as "holding current less than cutting current of the ultrasonic surgical instrument when the target tissue is completely cut."

[0050] For example, maintaining the current at less than or equal to 75% of the cutting current can more effectively prevent the ultrasonic scalpel from causing lateral thermal damage to the target tissue that has already been cut and sealed.

[0051] For example, step S201 is executed before step S103. If it is determined in step S201 that the ultrasonic scalpel has not completely cut the target tissue, then step S103 is executed; if it is determined in step S201 that the ultrasonic scalpel has completely cut the target tissue, then step S103 is not executed, and instead a holding voltage and holding current are directly applied to the ultrasonic surgical instrument.

[0052] For example, step S201 is performed after step S102. Step S102 is actually a real-time data acquisition step, and the specific implementation of step S201 depends on the data acquired in step S102.

[0053] For example, determining whether an ultrasonic scalpel has completely cut the target tissue can be achieved by at least one of the following methods: Method 1: During the process of the ultrasonic scalpel cutting the target tissue, the impedance of the ultrasonic surgical instrument is acquired, and the change trend of the impedance over time is used to determine whether the ultrasonic scalpel has completely cut the target tissue; and Method 2: During the process of the ultrasonic scalpel cutting the target tissue, the resonant frequency of the ultrasonic surgical instrument is acquired, and the change trend of the resonant frequency over time is used to determine whether the scalpel has completely cut the target tissue.

[0054] For example, one can use only method 1 to determine whether the ultrasonic scalpel head has completely cut the target tissue, one can use only method 2 to determine whether the ultrasonic scalpel head has completely cut the target tissue, or one can use both method 1 and method 2 to determine whether the ultrasonic scalpel head has completely cut the target tissue.

[0055] For example, in Mode 1, the impedance is calculated using the acquired feedback voltage and feedback current. For example, in Mode 1, if the impedance changes over time in the following manner: first rising to a first impedance value, then falling to a second impedance value, and then rising to a third impedance value, then it is determined that the ultrasonic scalpel has completely cut the target tissue. According to embodiments of this disclosure, by acquiring the impedance and recording its change over time, it is possible to determine whether the ultrasonic scalpel has completely cut the target tissue; this is simple, easy, and reliable. For example, if the third impedance value is less than the first impedance value, this condition allows for a more reliable determination that the ultrasonic scalpel has completely cut the target tissue. For example, to ensure that Mode 1 is performed reliably, step S102 is executed to acquire the feedback voltage and feedback current as soon as cutting the target tissue begins, thereby obtaining the impedance of the ultrasonic surgical instrument as soon as cutting the target tissue begins, ensuring that the impedance change spectrum over time can be completely recorded.

[0056] For example, in Method 2, in step S102, the resonant frequency of the ultrasonic surgical instrument is acquired simultaneously with the feedback voltage and feedback current of the ultrasonic surgical instrument. For example, in Method 2, if the resonant frequency changes over time as follows: first, it decreases by a first amplitude in a first time interval, then decreases by a second amplitude in a second time interval, and the first amplitude equals the second amplitude, but the first time interval is longer than the second time interval, then it is determined that the ultrasonic scalpel has completely cut the target tissue. According to embodiments of this disclosure, by acquiring the resonant frequency of the ultrasonic surgical instrument and recording the trend of its change over time, it is possible to determine whether the ultrasonic scalpel has completely cut the target tissue; this is simple, easy, and reliable. For example, if the ratio between the first time interval and the second time interval is greater than or equal to 5:1, then it can be more reliably determined that the ultrasonic scalpel has completely cut the target tissue. For example, to ensure that Method 2 is performed reliably, step S102 is executed immediately after the cutting of the target tissue begins to acquire the resonant frequency of the ultrasonic surgical instrument, ensuring that the resonant frequency change spectrum over time can be completely recorded.

[0057] For example, according to an embodiment of this disclosure, the resonant frequency is greater than or equal to 53.5 kHz and less than or equal to 57.5 kHz, and the first amplitude and the second amplitude are both 0.1 kHz. If the resonant frequency is less than 53.5 kHz or greater than 57.5 kHz, the obtained resonant frequency is determined to be an outlier, and this outlier resonant frequency will not be recorded in the trend graph of the resonant frequency changing over time. In this way, method 2 can be used more reliably to determine that the ultrasonic scalpel head has completely cut the target tissue.

[0058] See also Figure 1For example, in step S102, acquiring the feedback voltage and feedback current of the ultrasonic surgical instrument includes: sequentially acquiring n sets of raw feedback data, each set of raw feedback data including raw feedback voltage and raw feedback current, n≥2; and processing the n sets of raw feedback data, wherein processing the n sets of raw feedback data includes: calculating the average value of the raw feedback voltage included in the n sets of raw feedback data as the feedback voltage as described above, and calculating the average value of the raw feedback current included in the n sets of raw feedback data as the feedback current as described above. Through the above averaging method, the accuracy of the acquired feedback voltage and feedback current can be improved, thereby enabling the determination of appropriate cutting voltage and cutting current when determining the cutting current and cutting voltage based on the feedback voltage and feedback current, ensuring excellent cutting effect and consistency of cutting effect.

[0059] For example, as described above, in step S102, the resonant frequency of the ultrasonic surgical instrument is acquired simultaneously with the feedback voltage and feedback current of the ultrasonic surgical instrument. In this case, acquiring the feedback voltage, feedback current, and resonant frequency of the ultrasonic surgical instrument in step S102 includes: sequentially acquiring n sets of raw feedback data, each set of raw feedback data including raw feedback voltage, raw feedback current, and raw resonant frequency, n≥2; and processing the n sets of raw feedback data, wherein processing the n sets of raw feedback data includes: calculating the average value of the raw feedback voltage included in the n sets of raw feedback data as the feedback voltage as described above, calculating the average value of the raw feedback current included in the n sets of raw feedback data as the feedback current as described above, and calculating the average value of the raw resonant frequency included in the n sets of raw feedback data as the resonant frequency as described above.

[0060] Further, for example, sequentially collecting n sets of raw feedback data includes: collecting the i-th set of raw feedback data, which includes the i-th raw feedback voltage and the i-th raw feedback current, i≥1; determining whether the i-th set of raw feedback data is normal includes: determining whether the i-th raw feedback voltage and the i-th raw feedback current are within a preset range; if either the i-th raw feedback voltage or the i-th raw feedback current is not within the preset range, then the i-th set of raw feedback data is not included in the n sets of raw feedback data; if either the i-th raw feedback voltage or the i-th raw feedback current is within the preset range, then the i-th set of raw feedback data is included in the n sets of raw feedback data.

[0061] For example, as described above, in step S102, the resonant frequency of the ultrasonic surgical instrument is acquired simultaneously with the feedback voltage and feedback current of the ultrasonic surgical instrument. In this case, sequentially acquiring n sets of raw feedback data includes: acquiring the i-th set of raw feedback data, which includes the i-th raw feedback voltage, the i-th raw feedback current, and the i-th raw resonant frequency, i≥1; determining whether the i-th set of raw feedback data is normal, including: determining whether the i-th raw feedback voltage, the i-th raw feedback current, and the i-th raw resonant frequency are within a preset range; if any one of the i-th raw feedback voltage, the i-th raw feedback current, and the i-th raw resonant frequency is not within the preset range, then the i-th set of raw feedback data is not included in the n sets of raw feedback data; if any one of the i-th raw feedback voltage, the i-th raw feedback current, and the i-th raw resonant frequency is within the preset range, then the i-th set of raw feedback data is included in the n sets of raw feedback data. For example, the preset range of the original feedback voltage is: 10V ≤ original feedback voltage ≤ 150V; the preset range of the original feedback current is: 100mA ≤ original feedback current ≤ 500mA; and the preset range of the original resonant frequency is: 53.5KHz ≤ original resonant frequency ≤ 57.5KHz.

[0062] Based on the above steps of collecting and processing raw feedback data, it can be ensured that the obtained feedback data can truly and effectively reflect the real-time status of the ultrasonic surgical instrument, so as to determine the appropriate cutting voltage and cutting current, and ensure excellent cutting effect and consistency of cutting effect.

[0063] For example, according to embodiments of this disclosure, determining the cutting voltage and cutting current based on the feedback voltage and feedback current includes: if the feedback current is less than the no-load current, increasing the cutting voltage to increase the cutting current; if the feedback current is greater than the no-load current, decreasing the cutting voltage to decrease the cutting current. That is, in embodiments of this disclosure, by adjusting the cutting voltage to adjust the cutting current so that the cutting current tends towards the no-load current, the closer the cutting current is to the no-load current, the closer the amplitude of the ultrasonic scalpel head is to the target amplitude, thereby ensuring that the amplitude of the ultrasonic scalpel head remains within the following range during the cutting of target tissue: target amplitude × 90% ≤ amplitude ≤ target amplitude × 110%. By comparing the magnitudes of the feedback current and the no-load current, it can be determined whether to increase or decrease the cutting current, making the control method of the ultrasonic surgical instrument according to embodiments of this disclosure simple and easy to implement. For example, the magnitudes of the feedback current and the no-load current are compared, and the cutting voltage is adjusted proportionally to the difference between the feedback current and the no-load current to regulate the cutting current. Specifically, the larger the difference between the feedback current and the no-load current, the larger the adjustment range of the cutting voltage, and thus the larger the change range of the cutting current; the smaller the difference between the feedback current and the no-load current, the smaller the adjustment range of the cutting voltage, and thus the smaller the change range of the cutting current.

[0064] For example, the no-load current, feedback current, and cutting current are all active currents. The control method for the ultrasonic surgical instrument according to embodiments of this disclosure further includes: during the process of the ultrasonic scalpel cutting the target tissue, acquiring the feedback voltage, feedback current, phase difference between the feedback voltage and feedback current, and capacitive reactance of the ultrasonic surgical instrument; and determining the cutting voltage and cutting current based on the feedback voltage, feedback current, phase difference, and capacitive reactance. For example, determining the cutting voltage and cutting current based on the feedback voltage, feedback current, phase difference, and capacitive reactance includes: determining the reactive feedback current corresponding to the feedback current based on the feedback voltage: reactive feedback current = feedback voltage / capacitive reactance; determining the cutting current based on the reactive feedback current: cutting current = reactive feedback current / (1 - power factor), where the power factor = cos phase difference; and determining the cutting voltage matching the cutting current. For example, the cutting voltage matching the cutting current can be determined by looking up a pre-stored correspondence table. This allows for more accurate and quantitative determination of the cutting voltage and cutting current, better ensuring the consistency of the cutting and sealing effect.

[0065] For example, the phase difference is greater than or equal to 0° and less than or equal to 72°. If the phase difference is outside this range, the acquired phase difference is considered an anomaly and will not be used to determine the cutting current and cutting voltage. This allows for a more reliable determination of the cutting current and cutting voltage applied to the ultrasonic surgical instrument.

[0066] For example, the capacitive reactance Xc can be calculated according to the following formula (1):

[0067]

[0068] Where w is the angular frequency, C is the electrostatic capacitance of the ultrasonic surgical instrument, and j is the sign of the imaginary number in the complex number. For example, w = 2πf, where f is the resonant frequency as described above.

[0069] According to embodiments of this disclosure, a surgical device is also provided. Figure 3a This is a schematic diagram of the frame of a surgical device according to an embodiment of the present disclosure; Figure 3b This is a schematic diagram of the structure of a surgical device according to an embodiment of this disclosure. See also... Figure 3a and Figure 3bThe surgical device according to an embodiment of this disclosure includes a main unit and an ultrasonic surgical instrument connected to the main unit. The main unit includes an energy application unit and a data acquisition unit. The energy application unit is configured to apply an open-circuit voltage and an open-circuit current to the ultrasonic surgical instrument before the ultrasonic scalpel cuts the target tissue, and the ultrasonic scalpel vibrates at a target amplitude under the action of the open-circuit voltage and the open-circuit current. The data acquisition unit is configured to acquire the feedback voltage and feedback current of the ultrasonic surgical instrument during the cutting of the target tissue by the ultrasonic scalpel. The energy application unit is also configured to determine the cutting voltage and cutting current based on the feedback voltage and feedback current and apply the cutting voltage and cutting current to the ultrasonic surgical instrument, so that the amplitude of the ultrasonic scalpel is maintained within the following range during the cutting of the target tissue by the ultrasonic scalpel: target amplitude × 90% ≤ amplitude ≤ target amplitude × 110%. The working principle and technical effects of the surgical device according to the embodiment of this disclosure can be referred to the control method of the ultrasonic surgical instrument according to the embodiment of this disclosure as described above, and will not be repeated here.

[0070] See also Figure 3a and Figure 3b The surgical device according to embodiments of this disclosure further includes: a target tissue cutting completion identification section, configured to determine whether the ultrasonic scalpel head has completely cut the target tissue; the energy application unit is further configured to: if the ultrasonic scalpel head has completely cut the target tissue, apply a holding voltage and a holding current to the ultrasonic surgical instrument, the holding current being less than the cutting current. This prevents the ultrasonic scalpel head from causing lateral thermal damage to the already cut and sealed target tissue.

[0071] According to embodiments of this disclosure, a surgical device is also provided. Figure 4 This is another schematic diagram of the surgical apparatus according to an embodiment of the present disclosure. See also... Figure 4 The surgical device 100 according to an embodiment of this disclosure includes: a processor 110; and a memory 120, including one or more computer program modules; wherein the one or more computer program modules are stored in the memory 120 and configured to be executed by the processor 110, and the one or more computer program modules include instructions for implementing the control method of the ultrasonic surgical instrument as described above. The working principle and technical effects of the surgical device according to an embodiment of this disclosure can be referred to the control method of the ultrasonic surgical instrument according to an embodiment of this disclosure as described above, and will not be repeated here.

[0072] For example, memory 120 is used to store non-transitory computer-readable instructions (e.g., one or more computer program modules). Processor 110 is used to execute the non-transitory computer-readable instructions, which, when executed by processor 110, can perform one or more steps in the control method of the ultrasonic surgical instrument described above. Memory 120 and processor 110 can be interconnected via a bus system and / or other forms of connection mechanism (not shown).

[0073] For example, processor 110 may be a central processing unit (CPU), a graphics processing unit (GPU), or other form of processing unit with data processing and / or program execution capabilities. For example, the central processing unit (CPU) may be an x86 or ARM architecture. Processor 110 may be a general-purpose processor or a special-purpose processor, capable of controlling other components in surgical device 100 to perform desired functions.

[0074] For example, memory 120 may include any combination of one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. Volatile memory may include, for example, random access memory (RAM) and / or cache memory. Non-volatile memory may include, for example, read-only memory (ROM), hard disk, erasable programmable read-only memory (EPROM), portable compact disc read-only memory (CD-ROM), USB memory, flash memory, etc. One or more computer program modules may be stored on the computer-readable storage medium, and processor 110 may run one or more computer program modules to implement various functions of surgical device 100. Various application programs and various data, as well as various data used and / or generated by the application programs, may also be stored in the computer-readable storage medium.

[0075] Figure 5 This is another schematic diagram of a surgical apparatus according to an embodiment of the present disclosure. The surgical apparatus 400 is, for example, suitable for implementing the control method of the ultrasonic surgical instruments provided in the embodiments of the present disclosure. The surgical apparatus 400 may be a terminal device, etc. It should be noted that... Figure 5 The surgical device 400 shown is merely an example and does not impose any limitation on the functionality and scope of use of the embodiments disclosed herein.

[0076] like Figure 5As shown, the surgical device 400 may include a processing unit (e.g., a central processing unit, a graphics processor, etc.) 410, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 420 or a program loaded from a storage device 480 into a random access memory (RAM) 430. The RAM 430 also stores various programs and data required for the operation of the surgical device 400. The processing unit 410, the ROM 420, and the RAM 430 are interconnected via a bus 440. An input / output (I / O) interface 450 is also connected to the bus 440.

[0077] Typically, the following devices can be connected to I / O interface 450: input devices 460 including, for example, touchscreens, touchpads, keyboards, mice, cameras, microphones, accelerometers, gyroscopes, etc.; output devices 470 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; storage devices 480 including, for example, magnetic tapes, hard disks, etc.; and communication devices 490. Communication device 490 allows surgical equipment 400 to communicate wirelessly or wiredly with other devices to exchange data. Although Figure 5 Surgical device 400 with various devices is shown, but it should be understood that it is not required to implement or have all of the devices shown, and surgical device 400 may alternatively implement or have more or fewer devices.

[0078] For example, according to embodiments of this disclosure, the control method for the ultrasonic surgical instrument described above can be implemented as a computer software program. For instance, embodiments of this disclosure include a computer program product comprising a computer program carried on a non-transitory computer-readable medium, the computer program including program code for executing the control method for the ultrasonic surgical instrument described above. In such embodiments, the computer program can be downloaded and installed from a network via a communication device 490, or installed from a storage device 480, or installed from a ROM 420. When the computer program is executed by the processing device 410, the functions defined in the control method for the ultrasonic surgical instrument provided by embodiments of this disclosure can be implemented.

[0079] According to embodiments of this disclosure, a computer-readable storage medium is also provided. Figure 6 This is a schematic diagram of a computer-readable storage medium according to an embodiment of the present disclosure. (Refer to...) Figure 6 The computer-readable storage medium 200 provided in this embodiment is used to store non-transitory computer-readable instructions 210. When the non-transitory computer-readable instructions 210 are executed by a computer, the above-described control method for ultrasonic surgical instruments can be implemented. The working principle and technical effects of the computer-readable storage medium 200 can be referred to the control method for ultrasonic surgical instruments described above, and will not be repeated here.

[0080] For example, the storage medium 200 can be used in the surgical device 100 described above. For example, the storage medium 200 can be... Figure 4 The memory 120 in the surgical device 100 shown.

[0081] For example, storage medium 200 may include a memory card of a smartphone, a storage component of a tablet computer, a hard disk of a personal computer, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), portable compact disc read-only memory (CD-ROM), flash memory, or any combination of the above storage media, or other suitable storage media.

[0082] The above description is merely an exemplary embodiment of this disclosure and is not intended to limit the scope of protection of this disclosure, which is determined by the claims.

Claims

1. A surgical device, characterized in that, The surgical device includes a main unit and ultrasonic surgical instruments connected to the main unit. The main unit includes an energy application unit and a data acquisition unit. The energy application unit is configured to apply an open-circuit voltage and an open-circuit current to the ultrasonic surgical instrument before the ultrasonic scalpel head cuts the target tissue, and the ultrasonic scalpel head vibrates at the target amplitude under the action of the open-circuit voltage and the open-circuit current. The data acquisition unit is configured to acquire the feedback voltage and feedback current of the ultrasonic surgical instrument during the process of the ultrasonic scalpel cutting the target tissue; and The energy application unit is further configured to: determine the cutting voltage and cutting current based on the feedback voltage and the feedback current, and apply the cutting voltage and the cutting current to the ultrasonic surgical instrument, such that during the process of the ultrasonic scalpel cutting the target tissue, the amplitude of the ultrasonic scalpel head is maintained within the following range: target amplitude × 90% ≤ amplitude ≤ target amplitude × 110%. The energy application unit is further configured as follows: Determine whether the ultrasonic scalpel head has completely cut the target tissue; If the ultrasonic scalpel head has finished cutting the target tissue, a holding voltage and a holding current are applied to the ultrasonic surgical instrument, wherein the holding current is less than the cutting current; The step of determining whether the ultrasonic scalpel head has completely cut the target tissue includes: During the process of the ultrasonic scalpel cutting the target tissue, the impedance of the ultrasonic surgical instrument is acquired. The change trend of the impedance over time is used to determine whether the ultrasonic scalpel has completely cut the target tissue. Specifically, if the impedance changes over time in the following manner: first rising to a first impedance value, then falling to a second impedance value, and then rising again to a third impedance value, then it is determined that the ultrasonic scalpel has completely cut the target tissue. The statement that the holding current is less than the cutting current means that the holding current is less than the cutting current applied to the ultrasonic surgical instrument last time before the target tissue was completely cut.

2. The surgical device according to claim 1, characterized in that, The surgical device also includes a target tissue cutting completion identification component, wherein... The target tissue cutting completion identification section is configured to determine whether the ultrasonic scalpel head has completely cut the target tissue; The energy application unit is further configured to apply a holding voltage and a holding current to the ultrasonic surgical instrument if the ultrasonic scalpel head has finished cutting the target tissue, wherein the holding current is less than the cutting current.

3. The surgical device according to claim 1, characterized in that, The holding current is less than or equal to 75% of the cutting current.

4. The surgical device according to claim 1, characterized in that, The third impedance value is less than the first impedance value.

5. The surgical device according to claim 1, characterized in that, The acquisition of the feedback voltage and feedback current of the ultrasonic surgical instrument includes: n sets of raw feedback data are collected sequentially, each set including raw feedback voltage and raw feedback current, where n≥2; and Processing the n sets of raw feedback data includes: calculating the average value of the raw feedback voltages included in the n sets of raw feedback data as the feedback voltage, and calculating the average value of the raw feedback currents included in the n sets of raw feedback data as the feedback current.

6. The surgical device according to claim 5, characterized in that, The sequential collection of n sets of raw feedback data includes: Collect the i-th set of raw feedback data, which includes the i-th raw feedback voltage and the i-th raw feedback current, i≥1; Determine whether the i-th group of raw feedback data is normal, including: determining whether the i-th raw feedback voltage and the i-th raw feedback current are within the preset range; If either the i-th original feedback voltage or the i-th original feedback current is outside the preset range, then the i-th set of original feedback data will not be included in the n-th set of original feedback data. If either the i-th original feedback voltage or the i-th original feedback current is within a preset range, then the i-th set of original feedback data is included in the n-th set of original feedback data.

7. The surgical device according to claim 6, characterized in that, The preset range of the original feedback voltage is: 10V ≤ original feedback voltage ≤ 150V; and The preset range of the original feedback current is: 100mA ≤ original feedback current ≤ 500mA.

8. The surgical device according to any one of claims 1-7, characterized in that, The step of determining the cutting voltage and cutting current based on the feedback voltage and the feedback current includes: If the feedback current is less than the no-load current, then the cutting voltage is increased to increase the cutting current; If the feedback current is greater than the no-load current, then the cutting voltage is reduced to reduce the cutting current.

9. The surgical device according to any one of claims 1-7, characterized in that, The no-load current, the feedback current, and the cutting current are all active currents; The data acquisition unit is further configured to: acquire the feedback voltage, the feedback current, the phase difference between the feedback voltage and the feedback current, and the capacitive reactance of the ultrasonic surgical instrument during the process of the ultrasonic scalpel cutting the target tissue; The energy application unit is further configured to determine the cutting voltage and the cutting current based on the feedback voltage, the feedback current, the phase difference, and the capacitive reactance.

10. The surgical device according to claim 9, characterized in that, Determining the cutting voltage and the cutting current based on the feedback voltage, the feedback current, the phase difference, and the capacitive reactance includes: The reactive feedback current corresponding to the feedback current is determined based on the feedback voltage: Reactive feedback current = Feedback voltage / Capacitive reactance; The cutting current is determined based on the reactive power feedback current: Cutting current = Reactive power feedback current / (1 - Power factor), where power factor = cos phase difference; and Determine the cutting voltage that matches the cutting current.

11. The surgical device according to claim 9, characterized in that, The phase difference is greater than or equal to 0° and less than or equal to 72°.

12. The surgical device according to any one of claims 1-7, characterized in that, During the process of the ultrasonic scalpel cutting the target tissue, the steps of obtaining the feedback voltage and feedback current of the ultrasonic surgical instrument and determining the cutting voltage and cutting current based on the feedback voltage and feedback current are performed cyclically until the target tissue is completely cut.

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