Control method, device and computer readable medium for tissue organ disconnection cues

Abstract

The application discloses a kind of tissue organ disconnection prompt control method, device and computer readable medium, tissue organ disconnection prompt control method includes the following steps: in the working process of ultrasonic knife, the impedance value of tissue organ in several time points is acquired;The change rate of impedance value is calculated;Whether tissue organ is disconnected is judged according to the change rate of impedance value;Prompt tissue organ disconnection is completed.The application judges whether tissue organ is disconnected by calculating the change of the impedance slope of tissue organ, can judge different tissues, and the adaptation range is wide.The application simultaneously based on the change of the impedance slope of tissue organ, dynamically adjusts the output of energy, so that the temperature of cutter head can not be too high, improves the service life of cutter head.The application is also based on deep learning, judges whether tissue is disconnected according to impedance curve slope, frequency, impedance, voltage, and subsequent host program only needs to call the model, whether tissue is disconnected can be identified.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of ultrasonic knives, in particular to a control method and device for tissue organ disconnection prompting and a computer readable medium. BACKGROUND

[0002] An ultrasonic knife can replace a common surgical knife to cut and separate diseased tissues or organs, coagulate blood vessels or bleeding points, so as to achieve the purpose of surgical treatment. In the process of cutting and coagulation of the ultrasonic knife, if the tissue or blood vessel is not disconnected in time after disconnection, the knife head will be in contact with the tissue pad, accelerating the wear of the tissue pad, shortening the service life of the ultrasonic knife, and a large amount of heat will also be generated by the friction between the tissue pad and the knife head, causing the temperature of the knife head to rise sharply, affecting the subsequent operation.

[0003] In the prior art, whether the tissue organ is disconnected is determined by setting the impedance of the tissue organ in a fixed range. As long as the value of the impedance falls within the range, it is considered that the tissue has reached disconnection. The disconnection value range is set as [a1, a2], and the current tissue disconnection needs to satisfy the impedance value a0∈[a1, a2], that is, the tissue disconnection is determined.

[0004] The above method has great limitations and high requirements for materials. For different tissues, there may be no tissue disconnection range, and the matching range is too many, and the practicality range is limited. Moreover, the prior art has no disconnection prompting function. SUMMARY

[0005] The purpose of the present application is to provide a control method and device for tissue organ disconnection prompting and a computer readable medium, which solves the problem that there is no prompting function after the tissue organ is disconnected, and the continued excitation will affect the service life of the tissue pad and the heating of the knife head.

[0006] The technical solution of the present application is:

[0007] The control method for tissue organ disconnection prompting comprises the following steps:

[0008] S1. In the working process of the ultrasonic knife, impedance values of the tissue organ at a plurality of time points are obtained;

[0009] S2. The change rate of the impedance values is calculated;

[0010] S3. Whether the tissue organ is disconnected is determined according to the change rate of the impedance values;

[0011] S4. The completion of the tissue organ disconnection is prompted.

[0012] Preferably, the impedance values obtained in step S1 are 4n, n>1, and specifically include:

[0013] impedance values at the first 2n time points , , ,... and the impedance values ​​at the next 2n time points , , ,... ;

[0014] Step S2 involves calculating the rate of change of impedance, including:

[0015] Calculate the slope corresponding to the median impedance value at the first 2n time points, i.e.:

[0016] k1 = ( - );

[0017] Calculate the slope corresponding to the median impedance value at the last 2n time points, i.e.:

[0018] k2 = ( - );

[0019] Calculate the included angle Φ corresponding to the two slopes k1 and k2, i.e.:

[0020] Φ = arctan[|(k1+k2) / (1-k1*k2)|].

[0021] Preferably, step S3, determining whether the tissue or organ has been completely severed, specifically includes:

[0022] Set a threshold for the included angle Φ corresponding to the slopes k1 and k2. If the included angle Φ exceeds the set threshold, the tissue or organ is considered to have been severed.

[0023] Preferably, the calculation of the rate of change of impedance value in step S2 includes:

[0024] Based on the least squares method, a quadratic polynomial is fitted to all the obtained impedance values ​​to obtain the corresponding quadratic term curve y = +bx+c;

[0025] Calculate the slopes at two time points x1 and x2:

[0026] k1 = ax1 + b;

[0027] k2 = ax2 + b;

[0028] The included angle Φ between the two slopes:

[0029] Φ = arctan[|(k1+k2) / (1-k1*k2)|].

[0030] Preferably, in step S3, if it is determined that the tissue or organ has not been completely severed, impedance values ​​at 2n time points are continuously acquired. , , ,... ;

[0031] The impedance values ​​at the next 2n time points selected in the first step , , ,... The impedance values ​​at the 2n time points selected subsequently. , , ,... These are the 4n impedance values ​​selected in step S1;

[0032] If it is still determined that the tissue or organ has not been completely severed, the values ​​will continue to be taken according to the above rules until it is determined that the tissue or organ has been completely severed.

[0033] Preferably, in step S3, when it is determined that the tissue or organ is about to be severed, that is, when the included angle Φ exceeds 90% of the set threshold, the ultrasonic scalpel controls the energy output in a stepped distribution.

[0034] Preferably, in step S3, when determining that the tissue or organ has been severed, the slope, impedance value, voltage value, and frequency at different tissue or organ severance times are also collected, these values ​​are labeled, and a tissue or organ severance model is trained based on deep learning. After the model is trained, the host program calls the model to identify whether the tissue or organ has been severed. If the tissue or organ has been severed, the host will receive the signal and perform the actions after severance.

[0035] The present invention also proposes a control device for indicating tissue / organ detachment, comprising: connected in sequence:

[0036] The acquisition module obtains the impedance values ​​of tissues and organs at several time points;

[0037] The calculation unit calculates the rate of change of the impedance value;

[0038] The judgment module determines whether the severance of the tissue or organ has been completed based on the rate of change of the impedance value.

[0039] The prompt module indicates that the severance of the tissue or organ is complete.

[0040] Preferably, it also includes a model training module;

[0041] The acquisition module also collects the slope, impedance value, voltage value, and frequency of different tissues and organs at the time of severance, and labels these values. The model training module trains a model of tissue and organ severance based on deep learning. Subsequently, the host program calls the model to identify whether the tissue or organ has been severed. If the tissue or organ has been severed, the host will receive the signal and perform the actions after severance.

[0042] The present invention also proposes a computer-readable medium storing at least one computer program, which is loaded and executed by a processor to enable an electronic device to implement a control method for prompting the termination of the tissue or organ.

[0043] The advantages of this invention are:

[0044] 1. This invention determines whether a tissue or organ has been severed by calculating the change in the impedance slope of the tissue or organ. It can identify different tissues and has a wide range of applications.

[0045] 2. This invention also dynamically adjusts the energy output based on the change in the impedance slope of tissues and organs, thereby ensuring that the temperature of the blade does not get too high and improving the service life of the blade.

[0046] 3. The present invention also uses a deep learning-trained judgment model to determine whether tissue has been severed based on the slope of the impedance curve, frequency, impedance, and voltage. The host program only needs to call this model to identify whether the tissue has been severed. Attached Figure Description

[0047] The present invention will be further described below with reference to the accompanying drawings and embodiments:

[0048] Figure 1 This is the main flowchart of the control method for prompting organ detachment according to the present invention;

[0049] Figure 2 This is a flowchart of the control method for prompting organ detachment in Example 1;

[0050] Figure 3 This is a flowchart of the control method for prompting organ detachment in Example 2;

[0051] Figure 4 This is a flowchart of the control method for prompting organ detachment in Example 3;

[0052] Figure 5 This is a structural block diagram of the organ and tissue separation prompting device in Example 4. Detailed Implementation

[0053] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, 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 embodiments of the present invention, not all embodiments. 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.

[0054] Example 1

[0055] like Figure 1 As shown, the control method for tissue / organ amputation prompts proposed in this invention specifically includes the following steps:

[0056] S1. During the operation of the ultrasonic scalpel, acquire the impedance values ​​of the tissues and organs at several time points; the impedance values ​​are 4n, where n>1, including the impedance values ​​at the first 2n time points. , , ,... and the impedance values ​​at the next 2n time points , , ,... ;

[0057] S2. Calculate the rate of change of the impedance value;

[0058] First, calculate the slope corresponding to the median impedance value at the first 2n time points, that is:

[0059] k1= ( - );

[0060] Calculate the slope corresponding to the median impedance value at the last 2n time points, i.e.:

[0061] k2 = ( - );

[0062] Calculate the included angle Φ corresponding to the two slopes k1 and k2, i.e.:

[0063] Φ = arctan[|(k1+k2) / (1-k1*k2)|].

[0064] S3. Determine whether the severance of the tissue or organ is complete based on the rate of change of the impedance value;

[0065] Set a threshold for the included angle Φ corresponding to the slopes k1 and k2. If the included angle Φ exceeds the set threshold, the tissue or organ is considered to have been severed.

[0066] If it is determined that the tissue or organ has not been completely severed, continue to acquire impedance values ​​at 2n time points. , , ,... ;

[0067] The impedance values ​​at the next 2n time points selected in the first step , , ,... The impedance values ​​at the 2n time points selected subsequently. , , ,... These are the 4n impedance values ​​selected in step S1;

[0068] If it is still determined that the tissue or organ has not been completely severed, the values ​​will continue to be taken according to the above rules until it is determined that the tissue or organ has been completely severed.

[0069] In step S3, when it is determined that the tissue or organ is about to be severed, that is, when the included angle Φ exceeds 90% of the set threshold, the ultrasonic scalpel controls the energy output in a stepped distribution.

[0070] S4 indicates that the severance of the tissue or organ has been completed.

[0071] like Figure 2 The image shows an embodiment of the control method for prompting organ severance according to the present invention. This embodiment is implemented when the working frequency of the ultrasonic scalpel is above the lower limit of severance.

[0072] First, save the impedance data at 8 time points. Calculate the slope k1 of the line connecting the first four points and the slope k2 of the line connecting the last four points. Calculate the angle Φ between the two lines based on the slopes k1 and k2. If the angle Φ exceeds a set threshold, the tissue / organ is considered to have been severed. If the ultrasonic scalpel operation time exceeds 1 second, a severance warning sound is issued, ultrasonic scalpel excitation is stopped, and then the severance warning sound is turned off.

[0073] Example 2

[0074] like Figure 3 As shown, this is another embodiment of the control method for prompting organ severance according to the present invention. In this embodiment, the operation begins when the working frequency of the ultrasonic scalpel is above the lower limit of severance.

[0075] First, impedance data at 50 time points are saved. Then, using the least squares method, a quadratic polynomial is fitted to all the acquired impedance values ​​to obtain the corresponding quadratic curve y = +bx+c;

[0076] Calculate the slopes at two time points x1 and x2:

[0077] k1 = ax1 + b;

[0078] k2 = ax2 + b;

[0079] The included angle Φ between the two slopes:

[0080] Φ = arctan[|(k1+k2) / (1-k1*k2)|].

[0081] If the included angle Φ exceeds the set threshold, the tissue / organ severance is considered complete. If the ultrasonic scalpel operation time exceeds 1 second, a severance warning sound is emitted, ultrasonic scalpel excitation is stopped, and then the severance warning sound is turned off.

[0082] The impedance value is selected from 50 points. After the equipment is working normally, the first 50 points are used for calculation. Subsequent 50 points are calculated using the last 25 points of the first 50 points and another 25 points.

[0083] Data[1] ={ , , ,…… , , ... , },

[0084] Data[2] ={ , , ,……… , ,…… , },

[0085] Data[3] ={ , , ,…… , ,…… , },

[0086] Data[n] ={ ……, , ,……, , }, (n>=1);

[0087] The values ​​will then be determined according to this pattern.

[0088] Example 3

[0089] This embodiment is another embodiment of the control method for prompting organ severance according to the present invention. This embodiment is implemented when the working frequency of the ultrasonic scalpel is above the lower limit of severance.

[0090] In embodiment 1 or 2, when determining that the severance of a tissue or organ is complete, the present invention also collects the slope, impedance value, voltage value, and frequency of different tissues and organs at the time of severance, labels these values, and trains a model of tissue and organ severance based on deep learning. After the model is trained, the host program calls the model to identify whether the tissue or organ is severed. If the tissue or organ is severed, the host will receive the signal and perform the actions after severance.

[0091] like Figure 4 As shown, in specific implementation, the trained disconnection prompt model is first loaded, and the collected voltage, frequency, impedance parameters, and slope are imported. The disconnection prompt model calculates whether disconnection has occurred, and the host computer obtains the disconnection prompt result. If the ultrasonic scalpel running time exceeds 1 second, a disconnection prompt sound is emitted, ultrasonic scalpel excitation is stopped, and then the disconnection prompt sound is turned off.

[0092] Example 4

[0093] like Figure 5 As shown, this embodiment proposes a control device for prompting organ or tissue detachment, comprising the following components connected in sequence:

[0094] The acquisition module obtains the impedance values ​​of tissues and organs at several time points;

[0095] The calculation unit calculates the rate of change of the impedance value;

[0096] The judgment module determines whether the severance of the tissue or organ has been completed based on the rate of change of the impedance value.

[0097] The prompt module indicates that the severance of the tissue or organ is complete.

[0098] It also includes a model training module; the acquisition module also collects the slope, impedance value, voltage value and frequency of different tissues and organs when the severance is completed, and labels these values. The model training module trains a model of tissue and organ severance based on deep learning; the host program then calls the model to identify whether the tissue or organ has been severed. If the tissue or organ has been severed, the host will receive the signal and perform the actions after the severance.

[0099] Example 5

[0100] The present invention also proposes a computer-readable medium storing at least one computer program, which is loaded and executed by a processor to enable an electronic device to implement a control method for prompting the termination of the tissue or organ.

[0101] The above embodiments are only for illustrating the technical concept and features of the present invention, and are intended to enable those skilled in the art to understand the content of the present invention and implement it accordingly. They should not be construed as limiting the scope of protection of the present invention. All modifications made according to the spirit and essence of the main technical solution of the present invention should be covered within the scope of protection of the present invention.

Claims

1. Control device for the presentation of a tissue organ disconnection prompt, characterized in that Comprise sequentially connected: The acquisition module acquires impedance values of the tissue organ at several time points, and the acquired impedance values are 4n, n>1, specifically comprising: impedance values of the first 2n time points , , ... impedance values of the last 2n time points , , ... ; The calculation unit calculates the rate of change of the impedance values, specifically comprising: The slope corresponding to the middle value of the impedance values at the first 2n time points is calculated, that is: k1 = ( - )； The slope corresponding to the middle value of the impedance values at the last 2n time points is calculated, that is: k2 = ( - )； The included angle Φ corresponding to the two slopes k1 and k2 is calculated, that is: Φ = arctan[|(k1+k2) / (1-k1*k2)|]; The judgment module judges whether the tissue organ is complete according to the rate of change of the impedance values, specifically comprising: Set the threshold value of the included angle Φ corresponding to the slopes k1 and k2, if the included angle Φ exceeds the set threshold value, it is considered that the tissue organ is complete; The prompt module prompts that the tissue organ is complete.

2. The control device for prompting of tissue organ disconnection according to claim 1, wherein, Also including a model training module; The acquisition module also collects different slopes, impedance values, voltage values and frequencies when the tissue organ is complete, labels these values, and the model training module trains a model for the tissue organ complete based on deep learning; The host program calls the model to identify whether the tissue organ is complete, and if the tissue organ is complete, the host will receive the signal and perform the action after the complete.

3. A computer readable medium characterized by The computer readable medium stores at least one computer program, which is loaded and executed by the processor to enable the electronic device to control the tissue organ complete prompt; The control method of the tissue organ complete prompt, comprising the steps of: S1, acquiring impedance values of the tissue organ at several time points during the operation of the ultrasonic knife; S2, calculating the rate of change of the impedance values; S3, judging whether the tissue organ is complete according to the rate of change of the impedance values; S4, prompting that the tissue organ is complete; The impedance values acquired in step S1 are 4n, n>1, specifically comprising: impedance values of the preceding 2n time points , , ... and impedance values of the following 2n time points , , ... ; The calculation of the rate of change of the impedance values in step S2 comprises: The slope corresponding to the middle value of the impedance values at the first 2n time points is calculated, that is: k1 = ( - )； The slope corresponding to the middle value of the impedance values at the last 2n time points is calculated, that is: k2 = ( - )； The included angle Φ corresponding to the two slopes k1 and k2 is calculated, that is: Φ = arctan[|(k1+k2) / (1-k1*k2)|]; In step S3, whether the tissue organ is complete is judged, specifically comprising: Set the threshold value of the included angle Φ corresponding to the slopes k1 and k2, if the included angle Φ exceeds the set threshold value, it is considered that the tissue organ is complete.

4. The computer-readable medium of claim 3, wherein, When it is determined in step S3 that the disconnection of the tissue organ is not completed, the impedance values at 2n time points are continuously acquired , , ... ; the impedance values of the first 2n time points selected , , ... , and the impedance values of the subsequent 2n time points selected , , ... , as the 4n impedance values selected in step S1; If it is still judged that the tissue organ is not complete, subsequent values are taken according to the above rule until it is judged that the tissue organ is complete.

5. The computer readable medium of claim 4, wherein, When it is judged that the tissue organ is about to be complete in step S3, that is, when the included angle Φ exceeds 90% of the set threshold value, the ultrasonic knife controls the output of energy in a stepped distribution.

6. The computer-readable medium of claim 3, wherein, In step S3, when it is judged that the organ is completely separated, the slope, impedance value, voltage value and frequency at the time of separation of the different organs are collected, these values are labeled, and a model for separation of the organs is trained based on deep learning. After the model is trained, the host program calls the model to identify whether the organ is separated. If the organ is separated, the host will receive the signal and perform the action after separation.

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