Negative pressure rotary cutting device and system and control method

Abstract

The invention provides a negative pressure rotary cutting device, system and method, and the device comprises a motor module which comprises a rotary cutting motor and a stroke motor; the rotary cutting motor is used for controlling the rotary cutting puncture needle to rotate, and the stroke motor is used for controlling the rotary cutting puncture needle to advance and retreat; the motor driving module is used for driving the rotary cutting motor and the stroke motor, monitoring the real-time current of the rotary cutting motor and feeding back the monitored real-time current to the main control module; the main control module is connected with the motor driving module; and the control module is used for controlling the rotary cutting motor and the stroke motor through the motor driving module based on the set rotating speed and adjusting the set rotating speed according to the real-time current. According to the technical scheme, in the working process, the real-time current of the rotary cutting motor is dynamically detected, the control parameters are reasonably adjusted according to the real-time current, and the optimal sampling effect is achieved.

Description

Technical Field

[0001] The present invention relates to the field of negative pressure peeling technology, and in particular to a negative pressure peeling device, system and control method. Background Art

[0002] Endoscopic ultrasound-guided transbronchial needle aspiration biopsy is a minimally invasive examination technique for puncture biopsy of the lung, peripulmonary tissues and lymph nodes under real-time ultrasound guidance. Its advantages are that it can avoid important parts such as large blood vessels and nerves as much as possible under real-time ultrasound monitoring, while reducing the risk of heavy bleeding and improving the accuracy of sampling, and it is less invasive, simple to operate and relatively safe.

[0003] The traditional ultrasonic endoscopic biopsy needle consists of three parts: the puncture needle, the outer sheath, and the handle. The biopsy needle is used in conjunction with the endoscope, passing through the working channel of the endoscope and entering the predetermined position for puncture biopsy sampling. When sampling, the doctor operates the handle and repeatedly punctures and samples 10 to 30 times to obtain tissue samples.

[0004] In order to better obtain tissue samples, rotary cutting is also used in the prior art. For example, the Chinese patent application number: 201980017865 discloses a rotary cutting biopsy needle, which is driven by a motor to control the rotary cutting blade to rotate and cut. However, it does not have a host and a negative pressure system, and cannot finely control the motor. It is difficult to adapt to various situations of different organs and lesion locations when sampling. Summary of the invention

[0005] The present invention provides a negative pressure rotary cutting device, system and control method to solve the problem in the prior art that the motor cannot be finely controlled and it is difficult to adapt to various conditions of different organs and lesion locations during sampling.

[0006] In order to solve the above technical problems, the present invention is achieved through the following technical solutions:

[0007] According to a first aspect of the present invention, there is provided a negative pressure peeling device, comprising:

[0008] The motor module includes: a rotary cutting motor and a stroke motor; the rotary cutting motor is used to control the rotation of the rotary cutting puncture needle, and the stroke motor is used to control the forward and backward movement of the rotary cutting puncture needle;

[0009] A motor driving module, used for driving the rotary cutting motor and the travel motor, and also for monitoring the real-time current of the rotary cutting motor and feeding back the monitored real-time current of the rotary cutting motor to the main control module;

[0010] A main control module is connected to the motor drive module; it is used to control the rotary cutting motor and the stroke motor respectively through the motor drive module based on the set speed, and is also used to adjust the set speed according to the real-time current of the rotary cutting motor.

[0011] Optionally, the motor driving module is further used to monitor the real-time current of the stroke motor, and feed back the monitored real-time current of the stroke motor to the main control module;

[0012] The main control module is also used to adjust the set speed according to the real-time current of the travel motor.

[0013] Optionally, the adjusting the set speed according to the real-time current of the rotary cutting motor specifically includes:

[0014] When the real-time current of the peeling motor changes from the initial operation state value to the second operation state value, the peeling speed of the peeling motor is increased;

[0015] Entering the second operating state value from the initial operating state value specifically means that: the real-time current increase value of the rotary cutting motor exceeds the preset change value or the real-time current of the rotary cutting motor exceeds the preset current value;

[0016] Among them, the real-time current increase value refers to the difference between the real-time current and the current reference value in the initial operating state; in the initial operating state, the real-time current of the rotary cutting motor fluctuates around the current reference value within the preset change value range.

[0017] Optionally, the adjusting the set speed according to the real-time current of the rotary cutting motor specifically includes:

[0018] When the real-time current of the rotary cutting motor enters the second operating state from the initial operating state, the stroke speed of the stroke motor is adjusted.

[0019] Optionally, the main control module is further used to adjust the rotation direction of the rotary cutting motor and the travel motor through the motor driving module according to the real-time current of the rotary cutting motor.

[0020] Optionally, adjusting the rotation direction of the peeling motor and the stroke motor through the motor driving module according to the real-time current of the peeling motor specifically includes:

[0021] When the real-time current of the rotary cutting motor reaches a critical state value, the rotation of the rotary cutting motor and the travel motor is reversed;

[0022] The entering critical state value is specifically: the real-time current increase value of the rotary cutting motor exceeds the critical change value or the real-time current of the rotary cutting motor exceeds the critical current value;

[0023] Among them, the real-time current increase value refers to the difference between the real-time current and the current reference value in the initial operating state; in the initial operating state, the real-time current of the rotary cutting motor fluctuates around the current reference value within a preset change value range; the preset change value is less than the critical change value.

[0024] Optionally, the main control module is further used to calculate the real-time torque according to the set rotation speed and the real-time current, so as to determine the type of cutting tissue and / or the cutting state according to the set rotation speed and the real-time torque.

[0025] Optionally, also include:

[0026] A negative pressure module, used for providing negative pressure for the rotary cutting puncture needle;

[0027] A negative pressure monitoring module, used to monitor the actual negative pressure value of the negative pressure module, and also used to feed back the monitored actual negative pressure value to the main control module;

[0028] The main control module is also used to trigger an alarm when the actual negative pressure value is lower than the set negative pressure value and the falling speed exceeds a preset value.

[0029] Optionally, the preset value includes: a first preset value and a second preset value, and the second preset value is greater than the first preset value;

[0030] When the decreasing speed of the actual negative pressure value exceeds the first preset value, a first alarm mode is triggered;

[0031] When the decreasing speed of the actual negative pressure value exceeds the second preset value, the second alarm mode is triggered.

[0032] Optionally, the negative pressure module is connected to the main control module, and the main control module is also used to adjust the negative pressure value of the negative pressure module.

[0033] Optionally, adjusting the negative pressure value of the negative pressure module specifically includes:

[0034] When the actual current of the rotary cutting motor enters the second operating state from the initial operating state, the negative pressure value of the negative pressure module is increased;

[0035] Entering the second operating state from the initial operating state specifically means that: the real-time current increase value of the rotary cutting motor exceeds the first preset change value or the real-time current of the rotary cutting motor exceeds the first preset current value;

[0036] Among them, the real-time current increase value refers to the difference between the real-time current and the current reference value in the initial operating state; in the initial operating state, the real-time current of the rotary cutting motor fluctuates around the current reference value within a first preset change value range.

[0037] Optionally, also include:

[0038] A solenoid valve, which is arranged on the negative pressure suction pipeline of the negative pressure module;

[0039] The solenoid valve driving module, the main control module is connected to the solenoid valve through the solenoid valve driving module, and is used to drive the opening and closing of the solenoid valve through the solenoid valve driving module.

[0040] Optionally, the main control module includes:

[0041] The peeling depth acquisition module is used to calculate the stroke depth of the stroke motor according to the negative feedback signal of the stroke motor.

[0042] According to a second aspect of the present invention, there is provided a negative pressure peeling system, comprising:

[0043] Rotary cutting needle;

[0044] A negative pressure peeling device, wherein the negative pressure peeling device is any of the negative pressure peeling devices described above.

[0045] According to a third aspect of the present invention, a negative pressure peeling control method is provided, comprising:

[0046] Adjusting the set speed of the rotary cutting motor according to the real-time current of the rotary cutting motor;

[0047] Adjusting the rotation direction of the peeling motor and the travel motor according to the real-time current of the peeling motor;

[0048] The negative pressure value is adjusted according to the real-time current of the rotary cutting motor.

[0049] The negative pressure peeling device, system and control method provided by the present invention dynamically detect the real-time current of the peeling motor during the movement of the peeling puncture needle driven by the motor, and reasonably adjust the control parameters based on this to achieve the best sampling effect.

[0050] In an optional scheme of the present invention, the motor speed is slow in the initial operating state (initial state), and the real-time current runs at the initial operating state value, that is, it fluctuates around the current reference value within a preset change value range; when entering the second operating state value from the initial operating state value, that is, the increase in the real-time current exceeds the preset change value or the real-time current exceeds the preset current value, it is highly likely that the diseased tissue position is entered. At this time, the speed of the rotary cutting motor is increased to improve the rotary cutting efficiency.

[0051] In an optional scheme of the present invention, a braking detection mechanism is provided. When the critical state is reached, that is, the real-time current of the rotary cutting motor increases by more than the critical increase value or the real-time current exceeds the critical value, it indicates that the resistance is too large at this time, and the rotary cutter may be strangled with the tough tissue (such as fibrous tissue) in the tissue. At this time, the rotating motor and the stroke motor are controlled in the reverse direction, that is, the rotary cutter is controlled to rotate in the reverse direction, and the cutter is retracted to resolve the strangulation.

[0052] In an optional solution of the present invention, the negative pressure system is dynamically monitored and the control parameters are reasonably adjusted. When the real-time current of the rotary cutting motor increases by more than the preset change value or the real-time current exceeds the preset current value, it is highly likely that the diseased tissue position is entered. At this time, the negative pressure value is increased to achieve a better sampling effect.

[0053] Furthermore, at the pulling-off stage after the sampling is completed, when the rotary cutting motor and the stroke motor stop, the negative pressure value is further increased, and then the stroke motor reverses to drive the rotary cutting puncture needle to retract. The suction force of the negative pressure and the friction force are superimposed to pull the sample tissue off, which can ensure that the sample tissue is completely separated and achieve a better sampling effect.

[0054] In an optional solution of the present invention, the real-time torque is also calculated based on the set speed and real-time current of the motor, and the tissue type and the cutting state of the diseased tissue can be identified based on the set speed and real-time torque.

[0055] In an optional solution of the present invention, by setting a solenoid valve on the negative pressure pipeline, the connection between the negative pressure module and the rotary cutting puncture needle can be quickly cut off, so that it can be stopped quickly when an abnormality occurs to reduce damage, and it can be stopped quickly when sampling is completed to better ensure that the sample tissue in the rotary cutting puncture needle remains inside the rotary cutting puncture needle. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0057] Figure 1 A schematic diagram of a negative pressure peeling device according to an embodiment of the present invention;

[0058] Figure 2 is a circuit schematic diagram of a motor drive module according to an embodiment of the present invention;

[0059] Figure 3 A circuit schematic diagram of a motor driving chip of a motor driving module according to an embodiment of the present invention;

[0060] Figure 4 This is a schematic diagram of a motor driving module according to an embodiment of the present invention driving a motor to rotate clockwise;

[0061] Figure 5 This is a schematic diagram of a motor driving module according to an embodiment of the present invention driving a motor to rotate counterclockwise;

[0062] Figure 6 A schematic diagram of a negative pressure peeling device according to a preferred embodiment of the present invention;

[0063] Figure 7 A schematic diagram of a negative pressure peeling device according to a preferred embodiment of the present invention;

[0064] Figure 8 A schematic diagram of a negative pressure peeling device according to a preferred embodiment of the present invention;

[0065] Fig. 9 A circuit schematic diagram of motor peeling depth acquisition according to an embodiment of the present invention;

[0066] Fig.10 A schematic diagram of a negative pressure peeling device according to a preferred embodiment of the present invention;

[0067] Fig.11 A schematic diagram of a change process of the real-time current of a rotary cutting motor according to an embodiment of the present invention;

[0068] Fig.12 A schematic diagram of a negative pressure peeling system according to an embodiment of the present invention;

[0069] Fig.13 It is a flow chart of a negative pressure peeling control method according to an embodiment of the present invention;

[0070] Description of reference numerals:

[0071] 101- Main control module,

[0072] 102-Motor drive module,

[0073] 103-Motor module,

[0074] 1031-Rotary cutting motor,

[0075] 1032-travel motor;

[0076] 104-negative pressure module,

[0077] 1041-Negative pressure pump,

[0078] 1042-negative pressure drive module,

[0079] 105-negative pressure monitoring module;

[0080] 106-Solenoid valve,

[0081] 107- solenoid valve drive module;

[0082] 108- display screen module;

[0083] 109- alarm module;

[0084] 110-button module;

[0085] 111- foot pedal module;

[0086] 201-Rotary cutting puncture needle. DETAILED DESCRIPTION

[0087] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0088] In the description of the specification of the present invention, it is necessary to understand that the orientation or position relationship indicated by the terms "upper part", "lower part", "upper end", "lower end", "lower surface", "upper surface", etc. is based on the orientation or position relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0089] In the description of the present specification, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features.

[0090] In the description of the present invention, "plurality" means a plurality, such as two, three, four, etc., unless otherwise clearly and specifically defined.

[0091] In the description of the present invention, unless otherwise clearly specified and limited, the term "connection" and other terms should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or mutual communication; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0092] The technical solution of the present invention is described in detail with specific embodiments below. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

[0093] In one embodiment, a negative pressure peeling device is provided, please refer to Figure 1 , which includes: a motor module 103, a motor drive module 102, and a main control module 101. Among them, the motor module 103 includes: a rotary cutting motor 1031 and a stroke motor 1032; the rotary cutting motor 1031 is used to control the rotation of the rotary cutting puncture needle, and the stroke motor 1032 is used to control the forward and backward movement of the rotary cutting puncture needle. The motor drive module 102 is used to drive the rotary cutting motor 1031 and the stroke motor 1032, and is also used to monitor the actual speed and / or actual current of the rotary cutting motor and the stroke motor, and feed back the monitored actual speed and / or actual current to the main control module 101. The main control module 101 is connected to the motor drive module 102; it is used to control the rotary cutting motor and the stroke motor through the motor drive module 102 based on the set speed, and is also used to adjust the set speed according to the real-time current of the rotary cutting motor. Because the motor controls the movement of the rotary cutting puncture needle, at the same set speed, when the resistance is different, the current of the motor is different; based on the real-time current, the size of the resistance can be preliminarily determined, and the movement position of the rotary cutting puncture needle can be determined based on the resistance size, and different speeds can be set according to different movement positions.

[0094] During the forward rotation process, when affected by resistance, the current change of the rotary cutting motor is more sensitive than the current change of the stroke motor. Therefore, the real-time current of the rotary cutting motor is mainly monitored.

[0095] Of course, the real-time current of the stroke motor can also be monitored, and the real-time current of the stroke motor can be used to assist in judgment, so that the judgment is more accurate.

[0096] As an implementation method, adjusting the set speed according to the real-time current of the rotary cutting motor includes adjusting the rotary cutting speed of the rotary cutting motor. Further, it specifically includes: when the real-time current of the rotary cutting motor enters the second operating state value from the initial operating state value, the rotary cutting speed of the rotary cutting motor is increased. The initial operating state is the initial state of the rotary cutting motor. At this time, it runs in normal tissue, the resistance is relatively small, and the real-time current value is also relatively small; as the rotary cutting proceeds, it will enter the diseased tissue, and at this time it runs in the second operating state, the resistance will increase, and the real-time current will also increase. The operating state can be judged by the real-time current. Assuming that the current reference value in the initial operating state is recorded as A1, in the initial operating state, the real-time current value will fluctuate around A1 within the preset change value ΔA range, that is, when the monitored real-time current value is in the range of (A1-ΔA) to (A1+ΔA), it represents that it is in the initial operating state value, indicating that it is in the initial operating state. Assuming that the real-time current in the second operating state is recorded as A2, when the monitored real-time current increase value exceeds ΔA, that is, (A2-A1)>ΔA; or when the monitored real-time current is greater than the preset current value, that is, A2>(A1+ΔA); it represents that it enters the second operating state value, indicating that it enters the second operating state.

[0097] Practically, the current reference value A1 in the initial operating state may be a value obtained by averaging the real-time current in the initial operating state; or may be a value preset based on experience.

[0098] The preset change value and the preset current value can be reasonably set according to the parameters of the motor. The above two values ​​may be different for different motors.

[0099] As another embodiment, adjusting the set speed according to the real-time current of the rotary cutting motor includes adjusting the stroke speed of the stroke motor. Further, specifically, when the real-time current of the rotary cutting motor enters the second operation state value from the initial operation state value, the stroke speed of the stroke motor is adjusted, which can be increased or decreased.

[0100] In practice, the stroke speed can be adjusted to determine whether to increase or decrease it according to the operating load of the stroke motor. If the operating load is large and difficult-to-cut tissues may be encountered, the stroke speed can be reduced to allow the rotary cutting puncture needle more time to cut and separate the tissues; if the operating load is small and easy-to-cut tissues may be encountered, the stroke speed can be increased to quickly store the tissues into the cavity of the rotary cutting puncture needle to prevent the tissues from being scattered.

[0101] In one embodiment, adjusting the set rotation speed according to the real-time current of the peeling motor may include adjusting the peeling speed of the peeling motor, and may also include adjusting the stroke speed of the stroke motor.

[0102] In the initial operation state, the set speeds of the rotary cutting motor and the stroke motor are relatively low. When the real-time current of the rotary cutting motor changes from the initial operation state value to the second operation state value, it indicates that the rotary cutting puncture needle may reach the lesion position and enter the second operation state. At this time, the rotary cutting motor speed is increased to make the rotary cutting puncture needle rotate faster, so that the tissue can be cut better, which can improve the rotary cutting efficiency; in addition, due to the increase in speed, the inertia can be used to increase the sampling volume.

[0103] In one embodiment, the main control module is also used to adjust the rotation direction of the rotary cutting motor and the stroke motor through the motor drive module according to the real-time current of the rotary cutting motor. It has been pointed out above that the resistance size can be preliminarily judged according to the real-time current of the motor. According to actual working experience, the range of resistance size during normal rotary cutting movement (including the initial operation state and the second operation state) can be obtained. When it is not within this range, an abnormal situation may occur. Here, the rotary cutting motor and the stroke motor can be adjusted in the opposite direction.

[0104] It is feasible to adjust the rotation direction of the rotary cutting motor and the stroke motor through the motor driving module according to the real-time current of the rotary cutting motor, specifically including: when the real-time current of the rotary cutting motor exceeds the critical current value (limit current value) or the real-time current increase value exceeds the critical increase value (limit increase value), the rotary cutting motor and the stroke motor are controlled to rotate in the opposite direction. The critical current value is greater than the preset current value described above, and the critical change value is greater than the preset change value described above. When the real-time current of the rotary cutting motor exceeds the critical current value or the real-time current increase value exceeds the critical increase value, the rotary cutting puncture needle may be strangled with the tough tissue (such as fibrous tissue, etc.) in the tissue. At this time, controlling the rotary cutting motor in the opposite direction can release the strangulation, and controlling the stroke motor to reverse and gradually retract the knife.

[0105] When the real-time current of the stroke motor is also monitored and used for auxiliary judgment, the initial operating state value of the real-time current of the stroke motor, the preset change value corresponding to the second operating state value, and the preset current value may be different from the initial operating state value of the real-time current of the rotary cutting motor, the preset change value corresponding to the second operating state value, and the preset current value, and can be set according to the parameters of the stroke motor.

[0106] Preferably, when the above-mentioned rotation direction adjustment occurs, the main control module can also give a prompt to prompt the operator to change the sampling position.

[0107] In one embodiment, the main control module 101 is further used to control the rotary cutting motor to start first in the initial operation state, and then start the travel motor after the preset conditions are met.

[0108] As an implementation mode, the preset condition may be a lag preset time, that is, the rotary cutting motor is controlled to start first, and then the travel motor is started after the lag preset time.

[0109] As another implementation, the preset condition may be that the peeling motor reaches a preset speed, that is, the peeling motor is controlled to start first, and when the peeling motor completes acceleration and the speed reaches the preset speed, the travel motor is started.

[0110] In one embodiment, the motor module 103 can be integrated in the motor handle, and the rotating gear corresponding to the rotating motor and the travel gear corresponding to the travel motor are also integrated in the motor handle. The motor handle can be connected to the motor drive module in the form of a data line.

[0111] In one embodiment, the motor drive module can be used as follows Figure 2 The circuit shown is implemented. Two BTN7971B integrated high current half-bridge motor driver chips are used to form an H-bridge for DC motor drive, and the two ends of the motor are connected to M1A and M1B. The chip is powered by 24V, and the EN pin controls the chip input high level to make the chip enter the normal working mode. When PWM1 and PWM2 input complementary PWM drive signals, the current enters the motor through M1A and flows out of the motor from M1B to realize the motor rotation.

[0112] The simple working principle of H-bridge motor drive is as follows Figure 3 As shown, Figure 2 The internal components of the chip on the left are as follows Figure 3 Left (Q1 / Q2), Figure 3 The internal components of the chip on the right are as follows Figure 3 Right (Q3 / Q4).

[0113] To make the motor run, a pair of transistors on the diagonal must be turned on. Depending on the conduction of different transistor pairs, current may flow through the motor from left to right or from right to left, thereby controlling the direction of the motor.

[0114] When Q1 and Q4 are turned on, the current flows from the positive pole of the power supply through Q1 from left to right through the motor, and then returns to the negative pole of the power supply through Q4. As shown by the current arrow in the figure, the current in this direction will drive the motor to rotate clockwise. Figure 4 shown.

[0115] When the other pair of transistors Q2 and Q3 are turned on, the current will flow through the motor from right to left, and the H-bridge circuit will drive the motor to rotate counterclockwise. Figure 5 shown.

[0116] In one embodiment, the main control module is also used to calculate the actual torque according to the real-time current and the set speed of the rotary cutting motor, so as to judge the type of cutting tissue and / or cutting state according to the set speed and the real-time torque. The main control module can pre-store the set speed and cutting torque corresponding to different types of cutting tissue and / or cutting states obtained based on experimental tests; during operation, the type of cutting tissue and / or cutting state can be roughly judged according to the set speed and the real-time torque, which can provide a basis for the intelligent control of the rotary cutting motor and the stroke motor.

[0117] In one embodiment, the main control module 101 and the motor drive module 102 can be integrated in the same structure as the host, please refer to Figure 1 Shown by the dashed line.

[0118] In one embodiment, the negative pressure peeling device further includes: a negative pressure module 104, which is connected to the main control module 101, please refer to Figure 6 . The negative pressure module 104 is used to provide negative pressure for the rotary cutting puncture needle. Under the negative pressure environment, the sampled tissue can be sucked into the rotary cutting puncture needle. Under the same conditions, more samples can be taken with negative pressure than without negative pressure. It also includes: a negative pressure monitoring module 105, which is used to monitor the actual negative pressure value of the negative pressure module 104 and to feed back the monitored actual negative pressure value to the main control module 101. The main control module 101 is also used to: trigger an alarm when the actual negative pressure value is lower than the set negative pressure value and the falling speed exceeds the preset value.

[0119] Practically, the alarm can be given through an alarm module, such as a sound alarm; or can be displayed on a display screen, such as using a warning color display, a flashing alarm, etc.

[0120] Practically, the negative pressure monitoring module can be implemented by a negative pressure sensor.

[0121] In one embodiment, the preset values ​​of the falling speed of the actual negative pressure value may include two: a first preset value and a second preset value, and the second preset value is greater than the first preset value. When the falling speed of the actual negative pressure value exceeds the first preset value, the first alarm mode is triggered; when the falling speed of the actual negative pressure value exceeds the second preset value, the second alarm mode is triggered. When the falling speed is relatively slow, that is, it exceeds the first preset value, it may be that the negative pressure pipeline is leaking, or it may be that liquid (such as blood, etc.) enters the negative pressure pipeline. At this time, the first alarm mode is triggered, and the staff can exclude the corresponding conditions according to the alarm mode. When the falling speed is relatively fast, that is, it exceeds the second preset value, the possibility of leakage of the negative pressure pipeline is the greatest, and the staff can exclude the corresponding conditions according to the alarm mode. According to the different falling speeds, two modes of alarm are performed, which can help the staff to judge the possible conditions, and then take corresponding measures in time.

[0122] Practically, the first alarm mode and the second alarm mode can be distinguished by the difference in alarm sounds, such as: they can be distinguished by emitting alarms with different sounds, or they can be divided into different areas by using alarms with different numbers of sounds; they can also be distinguished by the difference in alarm displays, such as: they can be distinguished by displaying different contents, or they can be distinguished by displaying different colors, or they can be distinguished by different numbers of flashes.

[0123] In one embodiment, the main control module 101 is further used to respond when the actual negative pressure value is zero. When the actual negative pressure value is zero, it means that the rotary cutting puncture needle has not penetrated into the tissue or there is leakage in the internal pipeline of the rotary cutting puncture needle, resulting in air leakage. At this time, the response can prompt the operator to check what is going on and then take corresponding measures to eliminate the situation.

[0124] In one embodiment, the negative pressure of the negative pressure module is controlled by the main control module, and the main control module is also used to adjust the negative pressure value of the negative pressure module.

[0125] In practice, the negative pressure module 104 may include: a negative pressure pump 1041, a negative pressure driving module 1042, please refer to Figure 7 The main control module 11 controls the negative pressure pump 1041 through the negative pressure driving module 1042 .

[0126] In practice, adjusting the negative pressure value of the negative pressure module specifically includes: when the real-time current of the rotary cutting motor enters the second operating state value from the initial operating state value, the negative pressure value of the negative pressure module is increased, and the negative pressure value can be gradually increased. The negative pressure value corresponds to the flow rate of the negative pressure module. Under the set flow rate, the negative pressure value is the negative pressure value corresponding to the set flow rate. Therefore, the increase in the negative pressure value can be achieved by adjusting the flow rate.

[0127] In one embodiment, the negative pressure peeling device further includes: a solenoid valve 106, a solenoid valve driving module 107, please refer to Figure 8 The main control module 101 is connected to the solenoid valve 106 through the solenoid valve driving module 107, and the solenoid valve 106 is set on the negative pressure suction pipeline. The main control module is used to control the opening and closing of the solenoid valve. The setting of the solenoid valve 106 can quickly cut off the negative pressure conduction. For example, when it is found that blood is being continuously sucked, the negative pressure conduction can be cut off immediately to reduce damage; when the sampling is completed, the negative pressure conduction can be quickly cut off, which can better ensure that the tissue in the rotary cutting puncture needle remains in the rotary cutting puncture needle.

[0128] In one embodiment, the main control module further includes: a peeling depth acquisition module, whose circuit schematic diagram is as follows: Fig. 9In the figure, FA is the negative feedback signal of the motor, which is output to the driving transistor Q through the 6N138 optocoupler chip, thereby obtaining the FAI pulse signal which is input to the timer capture interface of the main control chip. The software captures the pulse count, which corresponds to the motor rotation angle. Through the gear transmission, the corresponding stroke depth, i.e. the peeling depth, can be indirectly obtained.

[0129] In one embodiment, the negative pressure peeling device further includes: a display screen 108, which is connected to the main control module, please refer to Fig.10 The display module can realize alarm in abnormal situations; various valid parameters in the main control module can also be displayed on the display screen, and the obtained peeling depth can also be displayed on the display screen, so that the position of the peeling puncture needle can be known in real time. In addition, the peeling depth obtained can be used to determine whether it has reached the set sampling depth. When the set sampling depth is reached, sampling can be stopped.

[0130] In one embodiment, the negative pressure peeling device further includes: an alarm module 109, which is connected to the main control module. Fig.10 . The alarm module can realize alarm in abnormal situations.

[0131] In one embodiment, the main control module can also be used to determine whether the sampling of the lesion position is completed and the normal tissue has entered based on the real-time current of the rotary cutting motor. In this case, the sampling can be stopped. Specifically, when the real-time current of the rotary cutting motor returns to the initial operating state value from the second operating state value, it indicates that the normal tissue may be re-entered. The rotary cutting motor and the travel motor can be controlled to stop or reverse exit and stop sampling. Please refer to Fig.11 During the peeling process, the real-time current of the peeling motor fluctuates around a relatively low value A1 at the initial operating state value when the normal tissue is first entered; then the real-time current of the peeling motor enters the second operating state value when the diseased tissue is entered, and the real-time current increases, fluctuating around a relatively high value A2; then the real-time current of the peeling motor decreases again when the diseased tissue is passed and the normal tissue is entered again, and the real-time current of the peeling motor decreases again, fluctuating around a relatively low value. According to the above-mentioned change process of the real-time current, it can be judged when the diseased tissue is entered and when the sampling is completed and the normal tissue is entered again.

[0132] In one embodiment, the negative pressure peeling device may further include: a button 110 and a foot pedal 111 connected to the main control module, please refer to Fig.10 . The parameters can be set by pressing buttons, and the main control module can be controlled by pedals.

[0133] In one embodiment, a negative pressure peeling system is also provided, please refer to Fig.12 , which includes:

[0134] Peeling needle 201 and negative pressure peeling device. The negative pressure peeling device is the negative pressure peeling device described in any of the above embodiments. For the negative pressure peeling device, only the motor 103 is shown in the figure, and the main control module is not shown.

[0135] In one embodiment, a negative pressure peeling control method is also provided, please refer to Fig.13 , which includes:

[0136] S11: adjusting the set speed of the rotary cutting motor according to the real-time current of the rotary cutting motor;

[0137] S12: adjusting the rotation direction of the rotary cutting motor and the travel motor according to the real-time current of the rotary cutting motor;

[0138] S13: adjusting the negative pressure value according to the real-time current of the rotary cutting motor.

[0139] It should be noted that the above S11 to S13 are not necessarily performed in the order shown in the figure, and S11, S12, and S13 are performed in no particular order.

[0140] In one embodiment, S11 specifically includes: adjusting the set speed of the peeling motor according to the real-time current of the peeling motor. Further, specifically includes: when the real-time current of the peeling motor enters the second operating state value from the initial operating state value, increasing the set speed of the peeling motor.

[0141] In one embodiment, S11 further includes: adjusting the set speed of the stroke motor according to the real-time current of the peeling motor. Further, it specifically includes: when the real-time current of the peeling motor enters the second operating state value from the initial operating state value, adjusting the set speed of the stroke motor.

[0142] In one embodiment, S12 specifically includes: when the real-time current of the rotary cutting motor exceeds the critical current value (limit current value) or the real-time current increase value exceeds the critical increase value (limit increase value), controlling the rotation of the rotary cutting motor and the stroke motor to reverse.

[0143] In one embodiment, S13 specifically includes: when the real-time current of the rotary cutting motor enters the second operating state value from the initial operating state value, increasing the negative pressure value of the negative pressure module.

[0144] In one embodiment, S13 further includes: when the peeling motor and the stroke motor stop at the end of the sampling and the pulling stage, the negative pressure value is further increased. In this way, when the stroke motor reverses and drives the peeling puncture needle to withdraw, the suction force of the negative pressure and the friction force are superimposed to pull the sample tissue apart, thereby ensuring that the sample tissue is completely separated.

[0145] The above describes specific embodiments of the present invention. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0146] In the description of this specification, the description with reference to the terms "an implementation", "an example", "a specific implementation process", "an example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0147] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A negative pressure peeling device, characterized in that: include: The motor module includes: a rotary cutting motor and a stroke motor; the rotary cutting motor is used to control the rotation of the rotary cutting puncture needle, and the stroke motor is used to control the forward and backward movement of the rotary cutting puncture needle; A motor driving module, used for driving the rotary cutting motor and the travel motor, and also for monitoring the real-time current of the rotary cutting motor and feeding back the monitored real-time current of the rotary cutting motor to the main control module; A main control module is connected to the motor drive module; it is used to control the rotary cutting motor and the stroke motor respectively through the motor drive module based on the set speed, and is also used to adjust the set speed according to the real-time current of the rotary cutting motor.

2. The negative pressure peeling device according to claim 1, characterized in that: The motor driving module is also used to monitor the real-time current of the travel motor and feed back the monitored real-time current of the travel motor to the main control module; The main control module is also used to adjust the set speed according to the real-time current of the travel motor.

3. The negative pressure peeling device according to claim 1, characterized in that: The adjusting the set speed according to the real-time current of the rotary cutting motor specifically includes: When the real-time current of the peeling motor changes from the initial operation state value to the second operation state value, the peeling speed of the peeling motor is increased; Entering the second operating state value from the initial operating state value specifically means that: the real-time current increase value of the rotary cutting motor exceeds the preset change value or the real-time current of the rotary cutting motor exceeds the preset current value; Among them, the real-time current increase value refers to the difference between the real-time current and the current reference value in the initial operating state; in the initial operating state, the real-time current of the rotary cutting motor fluctuates around the current reference value within a preset change value range.

4. The negative pressure peeling device according to claim 3, characterized in that: The adjusting the set speed according to the real-time current of the rotary cutting motor specifically includes: When the real-time current of the rotary cutting motor enters the second operating state value from the initial operating state value, the stroke speed of the stroke motor is adjusted.

5. The negative pressure peeling device according to claim 1, characterized in that: The main control module is also used to adjust the rotation direction of the rotary cutting motor and the travel motor through the motor driving module according to the real-time current of the rotary cutting motor.

6. The negative pressure peeling device according to claim 5, characterized in that: The adjusting the rotation direction of the peeling motor and the stroke motor through the motor driving module according to the real-time current of the peeling motor specifically includes: When the real-time current increase value of the peeling motor exceeds the critical change value or the real-time current of the peeling motor exceeds the critical current value, the rotation of the peeling motor and the stroke motor are controlled to be reversed; Among them, the real-time current increase value refers to the difference between the real-time current and the current reference value in the initial operating state; in the initial operating state, the real-time current of the rotary cutting motor fluctuates around the current reference value within a preset change value range; the preset change value is less than the critical change value.

7. The negative pressure peeling device according to claim 1, characterized in that: The main control module is further used to calculate the real-time torque according to the set rotation speed and the real-time current, so as to determine the type of cut tissue and / or the cutting state according to the set rotation speed and the real-time torque.

8. The negative pressure peeling device according to any one of claims 1 to 7, characterized in that: Also includes: Negative pressure module, the main control module is used to provide negative pressure for the rotary cutting puncture needle; A negative pressure monitoring module, used to monitor the actual negative pressure value of the negative pressure module, and also used to feed back the monitored actual negative pressure value to the main control module; The main control module is also used to trigger an alarm when the actual negative pressure value is lower than the set negative pressure value and the falling speed exceeds a preset value.

9. The negative pressure peeling device according to claim 8, characterized in that: The preset value includes: a first preset value and a second preset value, wherein the second preset value is greater than the first preset value; When the decreasing speed of the actual negative pressure value exceeds the first preset value, a first alarm mode is triggered; When the decreasing speed of the actual negative pressure value exceeds the second preset value, the second alarm mode is triggered.

10. The negative pressure peeling device according to claim 8, characterized in that: The negative pressure module is connected to the main control module, and the main control module is also used to adjust the negative pressure value of the negative pressure module.

11. The negative pressure peeling device according to claim 10, characterized in that: The negative pressure value of the negative pressure module is adjusted, specifically including: When the actual current of the rotary cutting motor changes from the initial operating state value to the second operating state value, the negative pressure value of the negative pressure module is increased; Entering the second operating state value from the initial operating state value specifically means that: the real-time current increase value of the rotary cutting motor exceeds the preset change value or the real-time current of the rotary cutting motor exceeds the preset current value; Among them, the real-time current increase value refers to the difference between the real-time current and the current reference value in the initial operating state; in the initial operating state, the real-time current of the rotary cutting motor fluctuates around the current reference value within the preset change value range.

12. The negative pressure peeling device according to claim 8, characterized in that: Also includes: A solenoid valve, which is arranged on the negative pressure suction pipeline of the negative pressure module; The solenoid valve driving module, the main control module is connected to the solenoid valve through the solenoid valve driving module, and is used to drive the opening and closing of the solenoid valve through the solenoid valve driving module.

13. The negative pressure peeling device according to any one of claims 1 to 7, characterized in that: The main control module comprises: The peeling depth acquisition module is used to calculate the stroke depth of the stroke motor according to the negative feedback signal of the stroke motor.

14. A negative pressure peeling system, characterized in that: include: Rotary cutting needle; A negative pressure peeling device, wherein the negative pressure peeling device is the negative pressure peeling device according to any one of claims 1 to 13.

15. A negative pressure peeling control method, characterized in that: include: Adjusting the set speed of the rotary cutting motor according to the real-time current of the rotary cutting motor; Adjusting the rotation direction of the peeling motor and the travel motor according to the real-time current of the peeling motor; The negative pressure value is adjusted according to the real-time current of the rotary cutting motor.

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