Soft tissue intelligent identification method and device and soft tissue cutting and sealing device

Abstract

The invention discloses an intelligent soft tissue identification method and device and a soft tissue cutting and sealing device. An ultrasonic knife trigger controls a jaw to clamp soft tissue and releases an initial current I0 at the same time; in the process that the jaw clamps the tissue and the soft tissue is extruded and deformed, trigger strokes at different moments and currents passing through the soft tissue are collected respectively; according to a Kelvin model, the elastic modulus E and the viscosity coefficient eta of the soft tissue are inversely solved. Structurally, a travel sensor is mounted on the trigger to capture the rotation angle of the trigger. A monitoring button is designed to be used for opening micro current immediately through manual control after an operation is started, and the micro current can be automatically opened once a handle trigger is started. According to the linear relation between the soft tissue current and the stress, the elasticity modulus and the viscosity coefficient are inversely solved based on the Darwin model, then the tissue type is recognized, the ultrasonic knife operation gear does not need to be manually selected, and the operation safety and efficiency are improved.

Description

Technical Field

[0001] The present invention relates to the field of ultrasonic scalpels, and in particular to a soft tissue intelligent identification method and device, and a soft tissue cutting and sealing device. Background Art

[0002] At present, the cutting and coagulation of soft tissues rely on the doctor's active identification of whether it is a blood vessel. For example, if the soft tissue of the object is a blood vessel, the ultrasonic knife uses the third gear; if it is cutting other soft tissues, the ultrasonic knife uses the fifth gear. The existing technology mainly relies on the doctor's visual recognition to perform selective work, but in some environments, blood vessels and other tissues are obscured and not easy to be identified. If the doctor uses the fifth gear ultrasonic knife to cut the blood vessel, it will cause bleeding or even blood loss to the patient. In the case of intelligent working of medical robots, an intelligent method without the need to select gears is needed to meet the needs of unmanned operation. Summary of the invention

[0003] The purpose of the present invention is to provide a soft tissue intelligent identification method, device and soft tissue cutting and sealing device, which can identify the elastic modulus and viscosity coefficient of the tissue according to the Kelvin model to know what kind of tissue it is, and then intelligently select the cutting or coagulation gear according to the tissue type to meet the needs of unmanned operation.

[0004] The technical solution of the present invention is:

[0005] The soft tissue intelligent identification method comprises the following steps:

[0006] (1) The ultrasonic scalpel trigger controls the jaws to clamp the soft tissue and releases the initial current I0 at the same time;

[0007] (2) The jaws clamp the tissue. During the process of squeezing and deforming the soft tissue, the time t1, t2, ..., t n The trigger travel at the moment S1, S2, ... S n , and the currents I1, I2, ... I passing through the soft tissue n ;

[0008] (3) Let σ = mI Δ =m(I t -I t-1 ), γ=nS Δ =n(S t -S t-1 ), according to the Kelvin model:

[0009]

[0010] The elastic modulus E and viscosity coefficient η of the soft tissue are inversely solved, where σ is stress, γ is strain, t is time, and m and n are constants determined by the mechanical system;

[0011] (4) Identify the tissue type based on the elastic modulus E and viscosity coefficient η of the soft tissue.

[0012] Preferably, the method for inversely solving the elastic modulus E and viscosity coefficient η of the soft tissue in step (3) is:

[0013] (3-1) According to γ ​​= nS Δ =n(S t -S t-1 ), at any time t i have:

[0014]

[0015] (3-2) According to σ=mI Δ =m(I t -I t-1 ) and Kelvin model, at any time t in the whole process i have:

[0016]

[0017] (3-3) During the entire process of soft tissue compression and deformation, t n There are n-1 equations at each moment, and any two of them can be combined to solve E and η.

[0018] Soft tissue intelligent identification device, comprising:

[0019] The ultrasonic scalpel trigger controls the jaws to clamp the soft tissue and releases the initial current I0 at the same time;

[0020] Travel sensor, during the process of soft tissue being squeezed and deformed by the jaws, the time periods of t1, t2, ..., t n The trigger travel at the moment S1, S2, ... S n ;

[0021] The current acquisition module collects the currents of t1, t2, ..., t respectively during the process of soft tissue being squeezed and deformed by the jaws. n The current I1, I2, ... I passing through the soft tissue at any time n ;

[0022] Calculation unit, let σ=mI Δ =m(I t -I t-1 ), γ=nS Δ =n(S t -S t-1 ), according to the Kelvin model:

[0023]

[0024] The elastic modulus E and viscosity coefficient η of the soft tissue are inversely solved, where σ is stress, γ is strain, t is time, and m and n are constants determined by the mechanical system;

[0025] The recognition module identifies the tissue type according to the elastic modulus E and viscosity coefficient η of the soft tissue.

[0026] Preferably, the calculation unit inversely solves the elastic modulus E and viscosity coefficient η of the soft tissue as follows:

[0027] According to γ=nS Δ =n(S t -S t-1 ), at any time ti:

[0028]

[0029] According to σ=mI Δ =m(I t -I t-1 ) and Kelvin model, at any time ti in the whole process:

[0030]

[0031] During the entire process of soft tissue being squeezed and deformed, t n There are n-1 equations at each moment, and any two of them can be combined to solve E and η.

[0032] Preferably, the t1, t2, ... t n The time interval between moments is one unit, or in the case of evolutionary algorithms, an arbitrary number of units.

[0033] Preferably, the initial current I0 is set by a program, and I1~I n Captured by circuit feedback.

[0034] A computer readable medium stores a computer program, which implements the steps of the soft tissue intelligent identification method when executed by a processor.

[0035] A soft tissue cutting and sealing device, comprising:

[0036] A monitoring button is turned on when the host device enters the operation state, thereby turning on the initial current;

[0037] A soft tissue intelligent identification device is used to identify the soft tissue type;

[0038] Ultrasonic scalpel, select cutting or coagulation gear according to the type of soft tissue.

[0039] Preferably, when the monitoring button is turned on, the monitoring button is turned on by an independent button, or is turned on when the ultrasonic scalpel trigger is closed.

[0040] Preferably, the monitoring button is a physical object or a signal in a control system.

[0041] Preferably, during the closing process of the ultrasonic scalpel trigger of the soft tissue intelligent identification device, three states appear:

[0042] Stage 1: The jaws do not clamp the tissue, the tissue is not strained, and the current does not change;

[0043] Stage 2: The jaws begin to clamp the tissue, the tissue is squeezed and deformed, and the current becomes larger and larger;

[0044] Stage 3: After the tissue is squeezed and deformed, the trigger continues to move for a certain distance to completely clamp the tissue, and the current increases slightly;

[0045] The process of identifying soft tissue type is the second stage of ultrasonic scalpel trigger closure.

[0046] The advantages of the present invention are:

[0047] The soft tissue intelligent identification method, device and soft tissue cutting and sealing device of the present invention, based on the linear relationship between soft tissue current and stress and based on the Kelvin model, inversely solve the elastic modulus and viscosity coefficient, and then identify the tissue type. There is no need to manually select the ultrasonic scalpel operation gear, thereby improving the safety and efficiency of the operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] The present invention will be further described below in conjunction with the accompanying drawings and embodiments:

[0049] Figure 1 This is a schematic diagram of the Kelvin model;

[0050] Figure 2 is a flow chart of the soft tissue intelligent identification method;

[0051] Figure 3 This is a schematic diagram of the three states of soft tissue during the closing process of the ultrasonic scalpel trigger:

[0052] Figure 4 A block diagram of a soft tissue intelligent identification device;

[0053] Figure 5 A block diagram of a soft tissue cutting and sealing device. DETAILED DESCRIPTION

[0054] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are 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 those skilled in the art without creative work are within the scope of protection of the present invention.

[0055] Any soft tissue has its own specific characteristics. As a viscoelastic material, the characteristics of soft tissue are determined by the elastic modulus E and the viscosity coefficient n. Figure 1 As shown, according to the Kelvin model, under external force clamping, its mathematical relationship is

[0056]

[0057] Where σ is stress, E is elastic modulus, η is viscosity coefficient, γ is strain, and t is time.

[0058] According to the Kelvin model, we only need to identify the elastic modulus E and viscosity coefficient η of the tissue to know what kind of tissue it is.

[0059] Example 1

[0060] like Figure 2 As shown, based on the Kelvin model, the present invention proposes a soft tissue intelligent identification method, comprising the steps of:

[0061] (1) The ultrasonic scalpel trigger controls the jaws to clamp the soft tissue and releases the initial current I0 at the same time;

[0062] (2) During the closing process of the ultrasonic scalpel trigger, the jaws are driven by the handle to rotate, such as Figure 3 As shown, there are three states:

[0063] Stage 1: The jaws do not clamp the tissue, the tissue is not strained, and the current does not change;

[0064] Stage 2: The jaws begin to clamp the tissue, the tissue is squeezed and deformed, and the current becomes larger and larger;

[0065] Stage 3: After the tissue is squeezed and deformed, the trigger continues to move for a certain distance to completely clamp the tissue, and the current increases slightly;

[0066] Figure 3 The current curve in the diagram is replaced by a straight line and may be jittery in the display.

[0067] The process of identifying the soft tissue type is in the second stage of the ultrasonic scalpel trigger closure. During the soft tissue being squeezed and deformed, t1, t2, ... t n The trigger travel at the moment S1, S2, ... Sn , and the currents I1, I2, ... I passing through the soft tissue n ;

[0068] (3) Let σ = mI Δ =m(I t -I t-1 ), γ=nS Δ =n(S t -S t-1 ), according to the Kelvin model:

[0069]

[0070] The elastic modulus E and viscosity coefficient η of the soft tissue are inversely solved, where σ is stress, γ is strain, t is time, and m and n are constants determined by the mechanical system; the specific inverse solution methods include:

[0071] (3-1) According to γ ​​= nS Δ =n(S t -S1), at any time ti:

[0072]

[0073] (3-2) According to σ=mI Δ =m(I t -I t-1 ) and Kelvin model, at any time ti in the whole process:

[0074]

[0075] (3-3) During the entire process of soft tissue compression and deformation, t n There are n-1 equations at each moment, and any two of them can be combined to solve E and η; for example:

[0076]

[0077] In this system of equations, the only unknown variables are E and η; n-1 equations can form n-2 systems of equations, which can be inversely solved to obtain n-2 sets of E and η. They cannot be exactly the same, but this is more conducive to analyzing what kind of organization this is;

[0078] (4) Identify the tissue type based on the elastic modulus E and viscosity coefficient η of the soft tissue.

[0079] In this embodiment, the t1, t2, ..., t n The time interval between moments is one unit, or in the case of evolutionary algorithms, an arbitrary number of units.

[0080] Example 2

[0081] This embodiment provides a soft tissue intelligent identification device, such as Figure 4 As shown, including:

[0082] The ultrasonic scalpel trigger controls the jaws to clamp the soft tissue and releases the initial current I0 at the same time;

[0083] The travel sensor is set on the ultrasonic scalpel trigger. During the process of soft tissue being squeezed and deformed by the jaws, t1, t2, ..., t n The trigger travel at the moment S1, S2, ... S n ;

[0084] The current acquisition module collects the currents of t1, t2, ..., t respectively during the process of soft tissue being squeezed and deformed by the jaws. n The current I1, I2, ... I passing through the soft tissue at any time n The initial current I0 is set by the program, I1~I n Captured by circuit feedback from the current acquisition module;

[0085] Calculation unit, let σ=mI Δ =m(I t -I t-1 ), γ=nS Δ =n(S t -S t-1 ), according to the Kelvin model:

[0086]

[0087] The elastic modulus E and viscosity coefficient η of the soft tissue are inversely solved, where σ is stress, γ is strain, t is time, and m and n are constants determined by the mechanical system;

[0088] The recognition module identifies the tissue type according to the elastic modulus E and viscosity coefficient η of the soft tissue.

[0089] The calculation unit inversely solves the elastic modulus E and viscosity coefficient η of the soft tissue as follows:

[0090] According to γ=nS Δ =n(S t -S t-1 ), at any time t i have:

[0091]

[0092] According to σ=mI Δ =m(I t -I t-1 ) and Kelvin model, at any time t in the whole process i have:

[0093]

[0094] During the entire process of soft tissue being squeezed and deformed, t n There are n-1 equations at each moment, and any two of them can be combined to solve E and η.

[0095] In this embodiment, the t1, t2, ..., t n The time interval between moments is one unit, or in the case of evolutionary algorithms, an arbitrary number of units.

[0096] Example 3

[0097] The present invention also provides a computer-readable medium on which a computer program is stored. When the computer program is executed by a processor, the steps of the soft tissue intelligent identification method described in Example 1 are implemented.

[0098] Example 4

[0099] like Figure 4 As shown, the present invention also provides a soft tissue cutting and sealing device, comprising:

[0100] The monitoring button is turned on when the host device enters the surgical state, thereby turning on the initial current; when the monitoring button is turned on, the monitoring button is turned on by an independent button, or is completed when the ultrasonic knife trigger is closed; after the monitoring button is turned on, the system will release a small current to monitor the entire clamping process. Since the current and stress σ are linearly related, σ, that is, the current, is a numerical curve of stress over time, thereby fitting the function of stress over time. The Darwin model can solve the functional relationship between strain and stress based on linear differential equations; the monitoring button is a physical object, or a signal in the control system.

[0101] The soft tissue intelligent identification device uses the soft tissue intelligent identification device described in Example 2 to identify the soft tissue type.

[0102] During the closing process of the ultrasonic scalpel trigger of the soft tissue intelligent identification device, three states appear:

[0103] Stage 1: The jaws do not clamp the tissue, the tissue is not strained, and the current does not change;

[0104] Stage 2: The jaws begin to clamp the tissue, the tissue is squeezed and deformed, and the current becomes larger and larger;

[0105] Stage 3: After the tissue is squeezed and deformed, the trigger continues to move for a certain distance to completely clamp the tissue, and the current increases slightly;

[0106] The second stage is directly related to tissue strain. The stroke of the ultrasonic scalpel trigger is linearly related to the deformation of the tissue. Therefore, such a relationship can be used to determine the relationship between strain and time, thereby fitting the function of strain over time. Therefore, the process of identifying soft tissue type is in the second stage of the ultrasonic scalpel trigger closure.

[0107] Ultrasonic scalpel, select cutting or coagulation gear according to the type of soft tissue.

[0108] The whole surgical procedure is as follows:

[0109] (1) The operation begins and a small electric current is turned on;

[0110] (2) During the ultrasonic scalpel trigger closing process, three-stage current and trigger travel are collected;

[0111] (3) identifying the tissue according to the second current segment and the corresponding stroke;

[0112] (4) Press the high current excitation button;

[0113] (5) The system automatically identifies cutting or freezing;

[0114] (6) Complete the operation.

[0115] The above embodiments are only for illustrating the technical concept and features of the present invention, and their purpose is to enable people familiar with the technology to understand the content of the present invention and implement it accordingly, and they cannot be used to limit the protection scope of the present invention. Any modifications made according to the spirit of the main technical solution of the present invention should be included in the protection scope of the present invention.

Claims

1. A soft tissue intelligent identification method, characterized in that: Includes steps: (1) The ultrasonic scalpel trigger controls the jaws to clamp the soft tissue and releases the initial current I0 at the same time; (2) The jaws clamp the tissue. During the process of squeezing and deforming the soft tissue, the time t1, t2, ..., t n The trigger travel at the moment S1, S2, ... S n , and the currents I1, I2, ... I passing through the soft tissue n ; (3) Let σ = mI Δ =m(I t -I t-1 ), γ=nS Δ =n(S t -S t-1 ), according to the Kelvin model: The elastic modulus E and viscosity coefficient η of the soft tissue are inversely solved, where σ is stress, γ is strain, t is time, and m and n are constants determined by the mechanical system; (4) Identify the tissue type based on the elastic modulus E and viscosity coefficient η of the soft tissue.

2. The soft tissue intelligent identification method according to claim 1, characterized in that: The method for inversely solving the elastic modulus E and viscosity coefficient η of the soft tissue in step (3) is: (3-1) According to γ ​​= nS Δ =n(S t -S1), at any time ti: (3-2) According to σ=mI Δ =m(I t -I t-1 ) and Kelvin model, at any time ti in the whole process: (3-3) During the entire process of soft tissue compression and deformation, there are n-1 equations at tn moments. Any two of these equations can be combined to solve E and η.

3. A soft tissue intelligent identification device, characterized in that: include: The ultrasonic scalpel trigger controls the jaws to clamp the soft tissue and releases the initial current I0 at the same time; Travel sensor, during the process of soft tissue being squeezed and deformed by the jaws, the time periods of t1, t2, ..., t n The trigger travel at the moment S1, S2, ... S n ; The current acquisition module collects the currents of t1, t2, ..., t respectively during the process of soft tissue being squeezed and deformed by the jaws. n The current I1, I2, ... I passing through the soft tissue at any time n ; Calculation unit, let σ=mI Δ =m(I t -I t-1 ), γ=nS Δ =n(S t -S t-1 ), according to the Kelvin model: The elastic modulus E and viscosity coefficient η of the soft tissue are inversely solved, where σ is stress, γ is strain, t is time, and m and n are constants determined by the mechanical system; The recognition module identifies the tissue type according to the elastic modulus E and viscosity coefficient η of the soft tissue.

4. The soft tissue intelligent identification device according to claim 3, characterized in that: The calculation unit inversely solves the elastic modulus E and viscosity coefficient η of the soft tissue as follows: According to γ=nS Δ =n(S t -S t-1 ), at any time ti: According to σ=mI Δ =m(I t -I t-1 ) and Kelvin model, at any time ti in the whole process: During the entire process of soft tissue being squeezed and deformed, t n There are n-1 equations at each moment, and any two of them can be combined to solve E and η.

5. The soft tissue intelligent identification device according to claim 4, characterized in that: The t1, t2, ..., t n The time interval between moments is one unit, or in the case of evolutionary algorithms, an arbitrary number of units.

6. The soft tissue intelligent identification device according to claim 3, characterized in that: The initial current I0 is set by the program, I1~I n Captured by circuit feedback.

7. A computer readable medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the soft tissue intelligent identification method according to claim 1 or 2 are implemented.

8. A soft tissue cutting and sealing device, characterized in that: include: A monitoring button is turned on when the host device enters the operation state, thereby turning on the initial current; A soft tissue intelligent identification device adopts the soft tissue intelligent identification device described in any one of claims 3-5 to identify the soft tissue type.

9. The soft tissue cutting and sealing device according to claim 8, characterized in that: When the monitoring button is turned on, the monitoring button is turned on by an independent button, or is followed by the ultrasonic scalpel trigger being closed.

10. The soft tissue cutting and sealing device according to claim 9, characterized in that: The monitoring button is a physical object or a signal in a control system.

11. The soft tissue cutting and sealing device according to claim 8, characterized in that: During the closing process of the ultrasonic knife trigger of the soft tissue intelligent identification device, three states appear: Stage 1: The jaws do not clamp the tissue, the tissue is not strained, and the current does not change; Stage 2: The jaws begin to clamp the tissue, the tissue is squeezed and deformed, and the current becomes larger and larger; Stage 3: After the tissue is squeezed and deformed, the trigger continues to move for a certain distance to completely clamp the tissue, and the current increases slightly; The process of identifying soft tissue type is the second stage of ultrasonic scalpel trigger closure.

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