Intelligent surgical forceps, signal processing method and device applied to intelligent surgical forceps

Abstract

The application discloses an intelligent surgical forceps, a signal processing method and device applied to the intelligent surgical forceps, and relates to the technical field of intelligent medical instruments. The intelligent surgical forceps comprises a tactile sensing module connected with a forceps head, which is used for acquiring a contact force signal when the forceps head contacts with human tissue; an angle detection module connected with a handle, which is used for acquiring an angle change signal of the handle opening and closing; and a signal processing module connected with the tactile sensing module and the angle detection module, which is used for processing and transmitting the contact force signal and the angle change signal. The method comprises the following steps: calculating a pressure distribution map of the forceps head and multi-axis grabbing force information according to the contact force signal; detecting whether there is a blood vessel in the human tissue gripped by the forceps head through monitoring the pressure distribution map to obtain a blood vessel detection result; and calculating the hardness of the human tissue gripped by the forceps head according to the angle change signal to identify the type of the human tissue. The embodiment of the application can improve the convenience and efficiency of surgery.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to an intelligent surgical forceps, a signal processing method and apparatus for use with the intelligent surgical forceps. Background Technology

[0002] In recent years, laparoscopic surgery has become a major form of surgical procedure due to its advantages of less bleeding, less pain, and faster speed. However, laparoscopic surgery requires the use of laparoscopic surgical forceps to operate on the human body. In current technology, doctors can only rely on visual feedback to distinguish the types of human tissues in order to perform the surgery. Visual feedback refers to the fact that doctors can only obtain information about the contact between the laparoscopic surgical forceps and human tissues through the images captured by the laparoscopic lens during laparoscopic surgery. This not only makes the operation very inconvenient for doctors, but also affects the efficiency of the surgery to a certain extent, thereby reducing the safety of the surgery. Summary of the Invention

[0003] This invention provides an intelligent surgical forceps, a signal processing method and device for the intelligent surgical forceps, aiming to solve the problems of poor convenience and low surgical efficiency of existing laparoscopic surgical forceps.

[0004] In a first aspect, embodiments of the present invention provide an intelligent surgical forceps, including a forceps head and a handle for controlling the forceps head to grip, and further including: a tactile sensing module connected to the forceps head, the tactile sensing module being used to acquire contact force signals when the forceps head contacts human tissue; an angle detection module connected to the handle, the angle detection module being used to acquire angle change signals of the opening and closing of the handle; and a signal processing module connected to the tactile sensing module and the angle detection module, the signal processing module being used to process and transmit the contact force signals and the angle change signals.

[0005] In the intelligent surgical forceps provided by the present invention, the forceps head includes an upper forceps head and a lower forceps head, both of which include a housing. The tactile sensing module includes a tactile sensing membrane and a contact body structure, the contact body structure being housed within the housing, and the tactile sensing membrane being disposed between the housing and the contact body structure.

[0006] In the intelligent surgical forceps provided by the present invention, the tactile sensing module further includes a plurality of first contact units, the first contact units being partially disposed on the upper surface of the contact main structure, the tactile sensing film including a main body, the main body being disposed at the bottom of the contact main structure, and the main body being provided with the same number of first tactile sensing units as the first contact units.

[0007] In the intelligent surgical forceps provided by the present invention, the tactile sensing module further includes a plurality of second contact units, the second contact units being disposed on the side of the contact main structure, the tactile sensing membrane further includes a folded portion, the folded portion being disposed outwardly along the main body and being foldable toward the main body, the folded portion being disposed on the side of the contact main structure, and the folded portion being provided with the same number of second tactile sensing units as the second contact units.

[0008] In the intelligent surgical forceps provided by the present invention, the contact body structure includes a hollow support and a squeezing part protruding outward along the hollow support. The hollow support is provided with a plurality of hollow mounting areas arranged in an array. The first contact unit is partially installed in the hollow mounting area and connected to the first tactile sensing unit. The second contact unit is located between the second tactile sensing unit and the squeezing part.

[0009] Secondly, embodiments of the present invention also provide a signal processing method for intelligent surgical forceps, applied to a main control unit. The main control unit is communicatively connected to a signal processing module in the intelligent surgical forceps. The intelligent surgical forceps includes a forceps head, comprising: if a contact force signal and an angle change signal are received from the signal processing module, calculating a pressure distribution map and multi-axis grasping force information of the forceps head based on the contact force signal; detecting whether blood vessels exist in the human tissue clamped by the forceps head by monitoring the pressure distribution map to obtain a blood vessel detection result; calculating the hardness of the human tissue clamped by the forceps head based on the angle change signal, identifying the human tissue type based on the human tissue hardness; and displaying the human tissue type and the blood vessel detection result.

[0010] Further, a pressure distribution map of the pliers head is calculated based on the main contact force signal and the side contact force signal; the three-dimensional gripping force information and three-dimensional torque information of the pliers head are calculated based on the main contact force, the side contact force signal and the pressure distribution map, and the three-dimensional gripping force information and the three-dimensional torque information are used as the multi-axis gripping force information.

[0011] Further, the x-axis gripping force, y-axis gripping force, and z-axis torque of the pliers are calculated based on the side contact force signal; the z-axis gripping force, x-axis torque, and y-axis torque of the pliers are calculated based on the pressure distribution diagram and the main contact force; the x-axis gripping force, y-axis gripping force, and z-axis gripping force are used as the three-dimensional gripping force information of the pliers, and the x-axis torque, y-axis torque, and z-axis torque are used as the three-dimensional torque information of the pliers.

[0012] Furthermore, if there is a large pressure change in a local area of ​​the pressure distribution map, it is determined that there are blood vessels in the human tissue clamped by the clamp head, and the blood vessel detection result is set to indicate the presence of blood vessels; if there is no large pressure change in a local area of ​​the pressure distribution map, it is determined that there are no blood vessels in the human tissue clamped by the clamp head, and the blood vessel detection result is set to indicate the absence of blood vessels.

[0013] Thirdly, embodiments of the present invention also provide a signal processing device for use with intelligent surgical forceps, comprising: a first calculation unit, configured to calculate a pressure distribution map and multi-axis grasping force information of the forceps head based on the contact force signal if a contact force signal and an angle change signal are received from the signal processing module; a detection unit, configured to detect whether blood vessels exist in the human tissue clamped by the forceps head by monitoring the pressure distribution map to obtain a blood vessel detection result; a second calculation unit, configured to calculate the hardness of the human tissue clamped by the forceps head based on the angle change signal, and identify the human tissue type based on the human tissue hardness; and a display unit, configured to display the human tissue type and the blood vessel detection result.

[0014] This invention provides an intelligent surgical forceps, a signal processing method and apparatus for using the intelligent surgical forceps. The intelligent surgical forceps includes a forceps head and a handle for controlling the forceps head's gripping action. It also includes a tactile sensing module connected to the forceps head, used to acquire contact force signals when the forceps head contacts human tissue; an angle detection module connected to the handle, used to acquire angle change signals when the handle opens and closes; and a signal processing module connected to the tactile sensing module and the angle detection module, used to process and transmit the contact force signals and the angle change signals. The signal processing method includes: if the contact force signal and angle change signal are received from the signal processing module, calculating a pressure distribution map and multi-axis gripping force information of the forceps head based on the contact force signal; detecting the presence of blood vessels in the human tissue clamped by the forceps head by monitoring the pressure distribution map to obtain blood vessel detection results; calculating the hardness of the human tissue clamped by the forceps head based on the angle change signals; identifying the human tissue type based on the human tissue hardness; and displaying the human tissue type and the blood vessel detection results. In this embodiment of the invention, the contact force signal when the forceps head contacts human tissue is first obtained through a tactile sensing module, and the angle change signal when the handle opens and closes is obtained through an angle detection module. Then, the contact force signal and the angle change signal are transmitted to the main control unit through a signal processing module. The main control unit calculates the pressure distribution map and the stiffness of human tissue based on the received contact force signal and angle change signal, thereby obtaining the blood vessel detection results and human tissue type to better guide the doctor in performing the surgery, thereby improving the convenience and efficiency of the surgery, and ultimately improving the safety of the surgery. Attached Figure Description

[0015] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a schematic diagram of the structure of the intelligent surgical forceps provided in an embodiment of the present invention;

[0017] Figure 2 for Figure 1 Schematic diagram of the middle clamp head;

[0018] Figure 3 for Figure 1 A schematic diagram of the structure of the tactile sensing module;

[0019] Figure 4 for Figure 1 A cross-sectional schematic diagram of the tactile sensing module;

[0020] Figure 5 for Figure 1 An exploded view of the tactile sensing module after the tactile sensing membrane has been removed;

[0021] Figure 6 for Figure 1 A schematic diagram of the structure of the tactile sensing membrane;

[0022] Figure 7 for Figure 1 A schematic diagram of the folding of the tactile sensing membrane;

[0023] Figure 8 for Figure 1 A schematic diagram of the structure of a smart surgical forceps clamping a blood vessel;

[0024] Figure 9 for Figure 8 A schematic diagram of the structure when the middle clamp head clamps a blood vessel;

[0025] Figure 10 This is a schematic flowchart of a signal processing method for intelligent surgical forceps provided in an embodiment of the present invention;

[0026] Figure 11 This is a schematic diagram of a sub-process of a signal processing method for intelligent surgical forceps provided in an embodiment of the present invention;

[0027] Figure 12 A schematic diagram of the structure used to calculate the three-dimensional gripping force and three-dimensional torque information of the pliers head;

[0028] Figure 13 The pressure distribution diagram shows the change from when the human tissue was not clamped by the clamps to when the human tissue was clamped and blood vessels were present in the human tissue.

[0029] Figure 14 This is a schematic block diagram of a signal processing device applied to intelligent surgical forceps, provided in an embodiment of the present invention.

[0030] Figure 15 A schematic block diagram of a signal processing device applied to intelligent surgical forceps, provided as an embodiment of the present invention;

[0031] Figure label:

[0032] 10. Intelligent surgical forceps; 11. Forceps head; 111. Upper forceps head; 112. Lower forceps head; 12. Handle; 13. Tactile sensing module; 131. Tactile sensing membrane; 1311. Main body; 1312. First tactile sensing unit; 1313. Folding part; 1314. Second tactile sensing unit; 132. Contact main structure; 1321. Hollowed-out bracket; 1322. Squeezing part; 133. First contact unit; 134. Second contact unit; 14. Angle detection module; 15. Signal processing module; 16. Rod. Detailed Implementation

[0033] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0034] It should be understood that, when used in this specification and the appended claims, the terms "comprising" and "including" indicate the presence of the described features, integrals, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or collections thereof.

[0035] It should also be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the invention. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0036] It should also be further understood that the term "and / or" as used in this specification and the appended claims refers to any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0037] As used in this specification and the appended claims, the term "if" may be interpreted, depending on the context, as "when," "once," "in response to determination," or "in response to detection." Similarly, the phrases "if determined" or "if [described condition or event] is detected" may be interpreted, depending on the context, as "once determined," "in response to determination," "once [described condition or event] is detected," or "in response to detection of [described condition or event]."

[0038] Please see Figures 1 to 9 For simplicity, in this embodiment, the intelligent surgical forceps 10 includes a forceps head 11 and a handle 12 for controlling the forceps head 11's gripping action. Specifically, it further includes a tactile sensing module 13, an angle detection module 14, and a signal processing module 15. The tactile sensing module 13 is connected to the forceps head 11 and is used to acquire the contact force signal when the forceps head 11 contacts human tissue. The angle detection module 14 is connected to the handle 12 and is used to acquire the angle change signal of the handle 12's opening and closing. The signal processing module 15 is connected to the tactile sensing module 13 and the angle detection module 14, and is used to process and transmit the contact force signal and the angle change signal. Understandably, as... Figure 1 As shown, the intelligent surgical forceps 10 also includes a rod 16, one end of which is connected to the forceps head 11, and the other end of which is connected to the handle 12. The signal processing module 15 is disposed on the rod 16. It should be noted that, in this embodiment, the contact force signal when the forceps head 11 contacts human tissue is acquired by the tactile sensing module 13, and the angle change signal of the handle 12 opening and closing is acquired by the angle detection module 14. The contact force signal and the angle change signal are then transmitted to the main control unit by the signal processing module 15, so that the main control unit can perform calculations and analyses based on the contact force signal and the angle change signal.

[0039] Furthermore, in this embodiment, the signal processing module 15 can be any one of a rotary encoder, a magnetic position sensor, an optical position sensor, and an accelerometer, as long as it can process and transmit the contact force signal and the angle change signal. The signal processing module 15 is connected to the tactile sensing module 13 and the angle detection module 14 via wires or optical fibers. It should also be noted that, in this embodiment, after receiving the contact force signal and the angle change signal, the signal processing module 15 will also perform preprocessing operations on the contact force signal and the angle change signal, wherein the preprocessing includes filtering, noise reduction, amplification, and AD conversion.

[0040] Please continue reading. Figures 2 to 3The pliers 11 includes an upper pliers 111 and a lower pliers 112, which are connected by a pivot. Both the upper pliers 111 and the lower pliers 112 include a housing. The tactile sensing module 13 includes a tactile sensing membrane 131 and a contact body structure 132, which is housed within the housing. The tactile sensing membrane 131 is disposed between the housing and the contact body structure 132. It should be noted that the contact body structure 132 also has a mounting shaft, and the housing has a mounting hole adapted to the mounting shaft. When the tactile sensing membrane 131 is attached to the housing, the contact body structure 132 is installed and housed within the housing by mounting the mounting shaft into the mounting hole.

[0041] Please continue reading. Figures 3 to 7 The tactile sensing module 13 further includes a plurality of first contact units 133, the first contact units 133 being partially disposed on the upper surface of the contact main structure 132, the tactile sensing film 131 including a main body 1311, the main body 1311 being disposed at the bottom of the contact main structure 132, and the main body 1311 being provided with the same number of first tactile sensing units 1312 as the first contact units 133. Specifically, the tactile sensing module 13 includes 12 first contact units 133. Each first contact unit 133 is a first rectangular block with two arc-shaped corners. When the first rectangular block is partially installed on the upper surface of the contact main structure 132, the rectangular surfaces where the two arc-shaped corners are located are exposed on the upper surface of the contact main structure 132. Understandably, the main body 1311 is provided with 12 first tactile sensing units 1312. The first rectangular block is connected to the first tactile sensing unit 1312. When the clamping head 11 clamps human tissue, the first contact unit 133 can squeeze the first tactile sensing unit 1312. Moreover, the first contact unit 133 can concentrate and increase the pressure on the first tactile sensing unit 1312 to facilitate the first tactile sensing unit 1312's perception. It should be noted that in other embodiments, the number of the first contact unit 133 and the first tactile sensing unit 1312 is not specifically limited, as long as the number of the first contact unit 133 is equal to the number of the first tactile sensing unit 1312. It should also be noted that both the upper jaw 111 and the lower jaw 112 include a cover, which is a hollow design. When the cover is placed on the housing, the rectangular surfaces containing the two arcuate angles of the first contact unit 133 are exposed outside the cover.

[0042] Please continue reading. Figures 3 to 7The tactile sensing module 13 further includes multiple second contact units 134, which are disposed on the side of the contact main structure 132. The tactile sensing membrane 131 also includes a folding portion 1313, which protrudes outward along the main body 1311 and can be folded toward the main body 1311. The folding portion 1313 is disposed on the side of the contact main structure 132, and the folding portion 1313 has the same number of second tactile sensing units 1314 as the second contact units 134. Specifically, the tactile sensing module 13 includes five second contact units 134, each of which is a second rectangular block with a rectangular cross-section. It can be understood that the folding portion 1313 has five second tactile sensing units 1314, which are used to acquire the pressure exerted on the side of the clamp head 11 when the clamp head 11 clamps human tissue. It should be noted that, in this embodiment, both the first tactile sensing unit 1312 and the second tactile sensing unit 1314 are used to convert pressure into electrical signals. It should also be noted that, in other embodiments, the number of the second contact unit 134 and the second tactile sensing unit 1314 is not specifically limited, as long as the number of the second contact unit 134 is equal to the number of the second tactile sensing unit 1314.

[0043] Please see Figure 5 The contact body structure 132 includes a hollowed-out bracket 1321 and a pressing part 1322 protruding outward along the hollowed-out bracket 1321. The hollowed-out bracket 1321 has multiple hollowed-out mounting areas arranged in an array. The first contact unit 133 is partially mounted within the hollowed-out mounting area, and its bottom is connected to the first tactile sensing unit 1312. The second contact unit 134 is located between the second tactile sensing unit 1314 and the pressing part 1322. It should be noted that in this embodiment, the first contact unit 133 is embedded within the hollowed-out mounting area. Therefore, when the clamping head 11 clamps the human tissue and presses the first contact unit 133, the lateral movement of the first contact unit 133 is restricted, and only longitudinal movement is possible, specifically a slight upward or downward movement. Each first tactile sensing unit 1312 can independently measure the pressure applied by the first contact unit 133.

[0044] Please continue reading. Figures 8 to 9The signal processing module 15 is a signal box, which integrates a functional module that can process and transmit the contact force signal and the angle change signal. It should be noted that when the clamp head 11 clamps a blood vessel in the human tissue, the first contact unit 133 is in direct contact with the blood vessel, and the first tactile sensing unit 1312 and the second tactile sensing unit 1314 will acquire the contact force between the first contact unit 133 and the second contact unit 134 and the human tissue to form the contact force signal.

[0045] Please see Figure 10 , Figure 10 This is a flowchart illustrating a signal processing method for intelligent surgical forceps provided in an embodiment of the present invention. The above signal processing method is applied in a main control unit, which is a host computer. The signal processing method for intelligent surgical forceps will be described in detail below. Figure 10 As shown, the method includes the following steps S110-S140.

[0046] S110. If the contact force signal and angle change signal sent by the signal processing module are received, the pressure distribution diagram of the pliers head and the multi-axis gripping force information are calculated based on the contact force signal.

[0047] In this embodiment, the main control unit is communicatively connected to the signal processing module in the aforementioned intelligent surgical forceps. Specifically, the main control unit and the communication processing module can be electrically connected via a wire harness or wirelessly. When the main control unit receives the contact force signal and angle change signal sent by the signal processing module, the main control unit calculates the pressure distribution map of the forceps head and multi-axis grasping force information based on the contact force signal. The contact force signal includes a main contact force signal and a side contact force signal. It should be noted that the main contact force signal is the signal sent by the first tactile sensing unit, and the side contact force signal is the signal sent by the second tactile sensing unit.

[0048] In some embodiments, such as this embodiment, as Figure 11 As shown, step S110 may include steps S111-S112.

[0049] S111. Calculate the pressure distribution diagram of the pliers head based on the main contact force signal and the side contact force signal;

[0050] S112. Calculate the three-dimensional gripping force information and three-dimensional torque information of the pliers head based on the main contact force, the side contact force signal and the pressure distribution map, and use the three-dimensional gripping force information and the three-dimensional torque information as the multi-axis gripping force information.

[0051] In this embodiment, a pressure distribution map of the pliers head is calculated based on the main contact force signal and the side contact force signal. The pressure distribution map refers to a distribution map obtained by analyzing the pressure magnitude at the corresponding positions of each first contact unit and second contact unit after multiple first contact units and multiple second contact units squeeze their corresponding first tactile sensing units and second tactile sensing units. After obtaining the pressure distribution map, the x-axis gripping force, y-axis gripping force, and z-axis torque of the pliers head are calculated based on the side contact force signal. The z-axis gripping force, x-axis torque, and y-axis torque of the pliers head are calculated based on the pressure distribution map and the main contact force. The x-axis gripping force, y-axis gripping force, and z-axis gripping force are used as the three-dimensional gripping force information of the pliers head, and the x-axis torque, y-axis torque, and z-axis torque are used as the three-dimensional torque information of the pliers head.

[0052] For ease of understanding, the five second tactile sensing units will now calculate the x-axis gripping force, y-axis gripping force, z-axis gripping force, x-axis torque, y-axis torque, and z-axis torque of the pliers head based on the collected side contact force signals and the pressure distribution map, as follows: Figure 12 As shown, let's set them as V respectively. 12 V 13 V 14 V 15 and V 16 The force applied to the x-axis of the pliers, i.e., the x-axis gripping force (Fx), is transmitted through V. 13 V 14 V 15 and V 16 The calculation is shown in formula (1), where k x To be with V 13 V 14 V 15 and V 16 The corresponding coefficient for converting the tactile sensing signal into a pressure signal can be calculated through a force calibration process. In practical applications, applying force in the positive x-axis direction will increase V. 15 and V 16 Decrease V 13 and V 14 .

[0053] ((V 15 +V 16 )- (V 13 +V 14 ))*k x =Fx (1)

[0054] The force applied to the y-axis of the jaws, i.e., the y-axis gripping force (Fy), can be transmitted through V. 12The calculation is shown in formula (2), where k in formula (2) is... z To be with V 12 The coefficient corresponding to the conversion of the tactile sensing signal into a force signal can be calculated from the force calibration process:

[0055] V 12 *k z =F y (2)

[0056] The force applied to the z-axis of the jaws, i.e., the z-axis gripping force (Fz), can be calculated from the pressure distribution diagram on the jaws. The calculation formula is shown in formula (3). In formula (3), A is the area of ​​the pressure distribution region, which can be calculated from the pressure distribution diagram. The average pressure within the pressure distribution area:

[0057]

[0058] The torques Mx and My applied along the x-axis and y-axis can also be calculated from the pressure distribution diagram. The specific calculation process is as follows:

[0059] When calculating the x-axis torque (Mx), as follows Figure 12 As shown, with the x-direction at the center of the contact plane as the axis, the pressure on the contact units on both sides of the axis is calculated, and then multiplied by the distance of the contact unit from the central axis to calculate the x-axis torque. It should be noted that in this embodiment, when calculating the x-axis torque, the four first contact units in the positive y-axis direction and the four first contact units in the negative y-axis direction are used, and the pressure signals of the four first contact units on the central axis are not used.

[0060] When calculating the y-axis torque (My), as follows Figure 12 As shown, with the y-direction at the center of the contact plane as the axis, the pressure on the contact units on both sides of the axis is calculated, and then multiplied by the position of the contact unit from the central axis to calculate the y-axis torque. It should be noted that in this embodiment, 6 first contact units in the positive x-axis direction and 6 first contact units in the negative x-axis direction are used when calculating the y-axis torque.

[0061] The torque (Mz) applied on the z-axis can be obtained from V 13 V 14 V 15 and V 16 Calculations show that, specifically, when the positive direction of Mz is applied, V 14 and V 15 Decrease, V 13 and V 16 Increase; when the negative direction of Mz is applied, the above and V 13 V 14 V15 and V 16 Correspondingly, the second tactile sensing unit generates the opposite signal change, and the value of Mz can be obtained by calibrating its signal.

[0062] S120. By monitoring the pressure distribution map, detect whether there are blood vessels in the human tissue clamped by the clamp head to obtain blood vessel detection results.

[0063] In this embodiment, the presence of blood vessels in the human tissue clamped by the clamps can be detected by monitoring pressure changes in local areas of the pressure distribution map. Specifically, if there is a significant pressure change in a local area of ​​the pressure distribution map, it is determined that blood vessels are present in the human tissue clamped by the clamps, and the blood vessel detection result is set to "blood vessels present." If there is no significant pressure change in a local area of ​​the pressure distribution map, it is determined that blood vessels are not present in the human tissue clamped by the clamps, and the blood vessel detection result is set to "blood vessels absent." In practical applications, such as... Figure 13 As shown, the diagrams marked with "20" and "27" indicate that the clamp head is not subjected to any contact force, meaning that the clamp head is not clamping any human tissue. When the human tissue clamped by the clamp head contains blood vessels, the pulse inside the blood vessels can cause a large pressure change in a local area when the clamp head stably clamps the blood vessels. Specifically, the diagrams marked with "21", "22", and "23" represent the pressure distribution when blood vessels are present in the human tissue clamped by the clamp head. The area marked with "24" in the diagram marked with "21" has the highest pressure and is also the brightest. Similarly, the area marked with "25" in the diagram marked with "22" has the highest pressure and is also the brightest; and the area marked with "26" in the diagram marked with "23" has the highest pressure and is also the brightest. Understandably, the locations of the areas with the largest pressure changes, "24" to "26", are obtained by observing the pressure distribution diagrams.

[0064] S130. Calculate the hardness of the human tissue clamped by the clamp head based on the angle change signal, and identify the human tissue type based on the human tissue hardness.

[0065] In this embodiment, the intelligent surgical forceps includes an angle detection module, which can detect the opening / closing angle of the forceps head. The hardness of the clamped tissue can be calculated by formula (4), where S is a variable representing the hardness of the tissue in vivo, and Δθ is the angle change signal. Given the average pressure within the pressure distribution area, after the main control unit calculates the hardness of the human tissue clamped by the clamp head, it can classify the human tissue clamped by the clamp head according to S and the preset tissue hardness value for each tissue. For example, it can be classified into nerves, fat, muscles, veins, arteries, tumors, etc.

[0066]

[0067] S140. Display the human tissue type and the blood vessel detection results.

[0068] In this embodiment, after obtaining the human tissue type and the blood vessel detection results, the main control unit will display them to the doctor so that the doctor can perform the surgery better based on the human tissue type and the blood vessel detection results. For example, when the blood vessel detection results show that blood vessels are present, the doctor can slowly increase or decrease the force of the forceps, which can improve the convenience and efficiency of the surgery, and thus improve the safety of the surgery.

[0069] Figure 14 This is a schematic block diagram of a signal processing device 200 applied to intelligent surgical forceps according to an embodiment of the present invention. Figure 14 As shown, corresponding to the signal processing method applied to intelligent surgical forceps described above, the present invention also provides a signal processing device 200 for intelligent surgical forceps. This signal processing device 200 for intelligent surgical forceps includes a unit for executing the aforementioned signal processing method for intelligent surgical forceps, and the device can be configured in intelligent surgical forceps. Specifically, please refer to... Figure 14 The signal processing device 200 applied to intelligent surgical forceps includes a first computing unit 201, a detection unit 202, a second computing unit 203, and a display unit.

[0070] The first calculation unit 201 is used to calculate the pressure distribution map and multi-axis gripping force information of the clamp head based on the contact force signal if it receives the contact force signal and angle change signal sent by the signal processing module; the detection unit 202 is used to detect whether there are blood vessels in the human tissue clamped by the clamp head by monitoring the pressure distribution map to obtain blood vessel detection results; the second calculation unit 203 is used to calculate the hardness of the human tissue clamped by the clamp head based on the angle change signal, and identify the human tissue type based on the human tissue hardness; the display unit 204 is used to display the human tissue type and the blood vessel detection results.

[0071] In some embodiments, such as this embodiment, the first computing unit 201 includes a first computing subunit and a second computing subunit.

[0072] The first calculation subunit is used to calculate the pressure distribution map of the pliers head based on the main contact force signal and the side contact force signal; the second calculation subunit is used to calculate the three-dimensional gripping force information and three-dimensional torque information of the pliers head based on the main contact force, the side contact force signal and the pressure distribution map, and use the three-dimensional gripping force information and the three-dimensional torque information as the multi-axis gripping force information.

[0073] In some embodiments, such as this embodiment, the second computing subunit includes a third computing subunit, a fourth computing subunit, and a unit.

[0074] The third calculation subunit is used to calculate the x-axis gripping force, y-axis gripping force, and z-axis torque of the pliers head based on the side contact force signal; the fourth calculation subunit is used to calculate the z-axis gripping force, x-axis torque, and y-axis torque of the pliers head based on the pressure distribution diagram and the main contact force; the processing unit is used to use the x-axis gripping force, y-axis gripping force, and z-axis gripping force as the three-dimensional gripping force information of the pliers head, and to use the x-axis torque, y-axis torque, and z-axis torque as the three-dimensional torque information of the pliers head.

[0075] In some embodiments, such as this one, the detection unit 202 includes a first determination unit and a second determination unit.

[0076] The first determination unit is used to determine that there are blood vessels in the human tissue clamped by the clamp if there is a large pressure change in a local area of ​​the pressure distribution map, and to set the blood vessel detection result as having blood vessels; the second determination unit is used to determine that there are no blood vessels in the human tissue clamped by the clamp if there is no large pressure change in a local area of ​​the pressure distribution map, and to set the blood vessel detection result as not having blood vessels.

[0077] The aforementioned signal processing device for intelligent surgical forceps can be implemented as a computer program, which can, for example... Figure 15 The signal processing device shown operates on the intelligent surgical forceps.

[0078] Please see Figure 15 , Figure 15 This is a schematic block diagram of a signal processing device applied to intelligent surgical forceps, provided by an embodiment of the present invention. The signal processing device 300 applied to intelligent surgical forceps is a device with signal processing capabilities.

[0079] See Figure 15The signal processing device 300 applied to intelligent surgical forceps includes a processor 302, a memory, and a network interface 305 connected via a system bus 301. The memory may include a non-volatile storage medium 303 and internal memory 304.

[0080] The non-volatile storage medium 303 can store an operating system 3031 and a computer program 3032. When the computer program 3032 is executed, it causes the processor 302 to execute a signal processing method applied to intelligent surgical forceps.

[0081] The processor 302 provides computing and control capabilities to support the operation of the entire signal processing device 300 applied to the intelligent surgical forceps.

[0082] The internal memory 304 provides an environment for the operation of the computer program 3032 in the non-volatile storage medium 303. When the computer program 3032 is executed by the processor 302, the processor 302 can execute a signal processing method applied to intelligent surgical forceps.

[0083] This network interface 305 is used for network communication with other devices. Those skilled in the art will understand that... Figure 15 The structure shown is merely a block diagram of a portion of the structure related to the present invention and does not constitute a limitation on the signal processing device 300 applied to the intelligent surgical forceps. The specific signal processing device 300 applied to the intelligent surgical forceps may include more or fewer components than shown in the figure, or combine certain components, or have different component arrangements.

[0084] The processor 302 is used to run a computer program 3032 stored in a memory to implement any embodiment of the signal processing method applied to the intelligent surgical forceps described above.

[0085] It should be understood that, in this embodiment of the invention, the processor 302 may be a Central Processing Unit (CPU), or it may be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor.

[0086] It will be understood by those skilled in the art that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program may be stored in a storage medium, which is a computer-readable storage medium. The computer program is executed by at least one processor in the computer system to implement the process steps of the embodiments of the above methods.

[0087] Therefore, the present invention also provides a storage medium. This storage medium can be a computer-readable storage medium. The storage medium stores a computer program. When executed by a processor, the computer program causes the processor to perform any of the above-described embodiments of the signal processing method applied to intelligent surgical forceps.

[0088] The storage medium can be any computer-readable storage medium capable of storing program code, such as a USB flash drive, portable hard drive, read-only memory (ROM), magnetic disk, or optical disk.

[0089] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0090] In the several embodiments provided by this invention, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative. For example, the division of each unit is merely a logical functional division, and there may be other division methods in actual implementation. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed.

[0091] The steps in the method of this invention can be adjusted, merged, or reduced in order according to actual needs. The units in the device of this invention can be merged, divided, or reduced according to actual needs. Furthermore, the functional units in the various embodiments of this invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0092] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a signal processing device applied to an intelligent surgical forceps to execute all or part of the steps of the methods described in the various embodiments of the present invention.

[0093] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0094] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Since these modifications and variations fall within the scope of the claims and their equivalents, this invention also intends to include these modifications and variations.

[0095] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and these modifications or substitutions should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A smart surgical forceps, comprising a forceps head and a handle for controlling the gripping action of the forceps head, characterized in that, include: A tactile sensing module is connected to the forceps head, and the tactile sensing module is used to acquire the contact force signal when the forceps head comes into contact with human tissue; An angle detection module is connected to the handle, and the angle detection module is used to acquire the angle change signal of the opening and closing of the handle; A signal processing module is connected to the tactile sensing module and the angle detection module. The signal processing module is used to process and transmit the contact force signal and the angle change signal. The pliers include an upper pliers and a lower pliers, both of which include a housing. The tactile sensing module includes a tactile sensing membrane and a contact body structure, which is housed within the housing. The tactile sensing membrane is disposed between the housing and the contact body structure. The tactile sensing module further includes a plurality of first contact units, the first contact units extending out of the upper surface of the contact body structure. The tactile sensing film includes a main body, the main body being disposed at the bottom of the contact body structure, and the main body having the same number of first tactile sensing units as the first contact units. The contact body structure includes a hollow bracket, on which multiple hollow mounting areas are arranged in an array. The first contact unit is partially installed in the hollow mounting area and connected to the first tactile sensing unit.

2. The intelligent surgical forceps according to claim 1, characterized in that, The tactile sensing module further includes a plurality of second contact units, which are disposed on the side of the contact main structure. The tactile sensing film also includes a folded portion, which protrudes outward along the main body and can be folded toward the main body. The folded portion is disposed on the side of the contact main structure, and the folded portion is provided with the same number of second tactile sensing units as the second contact units.

3. The intelligent surgical forceps according to claim 2, characterized in that, The contact body structure also includes a pressing part that protrudes outward along the hollowed-out bracket, and the second contact unit is disposed between the second tactile sensing unit and the pressing part.

4. A signal processing device for use with intelligent surgical forceps, characterized in that, include: The first calculation unit is used to calculate the pressure distribution map of the pliers head and the multi-axis gripping force information based on the contact force signal if it receives the contact force signal and angle change signal sent by the signal processing module. The contact force signal includes the main contact force signal and the side contact force signal. The detection unit is used to detect whether there are blood vessels in the human tissue clamped by the forceps by monitoring the pressure distribution map in order to obtain blood vessel detection results; The second calculation unit is used to calculate the hardness of the human tissue clamped by the clamp head according to the angle change signal, and to identify the type of human tissue according to the hardness of the human tissue. The display unit is used to display the human tissue type and the blood vessel detection results; The first computing unit includes: The first calculation subunit is used to calculate the pressure distribution map of the pliers head based on the main contact force signal and the side contact force signal; The second calculation subunit is used to calculate the three-dimensional gripping force information and three-dimensional torque information of the pliers head based on the main contact force signal, the side contact force signal and the pressure distribution map, and to use the three-dimensional gripping force information and the three-dimensional torque information as the multi-axis gripping force information.

5. The signal processing device for intelligent surgical forceps according to claim 4, characterized in that, The second computing subunit includes: The third calculation subunit is used to calculate the x-axis gripping force, y-axis gripping force and z-axis torque of the pliers head based on the side contact force signal; The fourth calculation subunit is used to calculate the z-axis gripping force, x-axis torque, and y-axis torque of the pliers head based on the pressure distribution diagram and the main contact force signal. As a unit, it is used to use the x-axis gripping force, the y-axis gripping force, and the z-axis gripping force as the three-dimensional gripping force information of the pliers head, and to use the x-axis torque, the y-axis torque, and the z-axis torque as the three-dimensional torque information of the pliers head.

6. The signal processing device for intelligent surgical forceps according to claim 4, characterized in that, The detection unit includes: The first determination unit is used to determine that there are blood vessels in the human tissue clamped by the clamp head if there is a large pressure change in a local area of ​​the pressure distribution map, and to set the blood vessel detection result as having blood vessels. The second determination unit is used to determine that there are no blood vessels in the human tissue clamped by the clamp head if there is no large pressure change in a local area of ​​the pressure distribution map, and to set the blood vessel detection result as no blood vessels.

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