Control system for exciting steam delivery needle to advance and retreat through double motors and steam ablation pistol

Abstract

The invention discloses a control system for exciting a steam delivery needle to advance and retreat through double motors and a steam ablation pistol, the control system comprises a double-motor driving module, the double-motor driving module comprises a winding motor driving circuit, and the winding motor driving circuit is used for executing winding motor rotation according to a first control instruction and driving the steam delivery needle to move back and forth until the steam delivery needle moves to a target position; the striking motor driving circuit is used for executing rotation of the striking motor according to the second control instruction and controlling locking or instant release of the transmission component through a limiting component arranged on a striking motor shaft; the thrust feedback module is used for detecting the arriving position of the transmission part and feeding back the current arriving limiting information to the main control module; and the main control module is used for sending a first control instruction to the winding motor driving circuit according to the limiting information, and sending a second control instruction to the striking motor driving circuit under the condition that the winding motor driving circuit moves to a target position to control the pre-tightening force, so as to complete the rapid puncture and needle return of the steam delivery needle.

Description

Technical Field

[0001] The invention belongs to the field of medical devices, and in particular relates to a control system for advancing and retreating a steam delivery needle stimulated by dual motors and a steam ablation pistol. Background Art

[0002] At present, steam ablation is widely used to treat prostate hyperplasia. The steam ablation pistol is a device used to control the needle and steam in steam ablation surgery, mainly including a steam generating device, a steam delivery needle and a control device for controlling the advance and retreat of the steam delivery needle. In general steam ablation pistols, the control device for controlling the advance and retreat of the steam delivery needle adopts electromagnetic drive, which has low precision and is not easy to control accurately.

[0003] Patent CN115005967A discloses a steam ablation pistol, a steam ablation device and a control method, the pistol includes a housing and a puncture needle, the housing has a control panel and a motor screw transmission mechanism, the housing has a control button, the motor screw transmission mechanism is connected to the steam delivery needle, and the control button is used to control the operation of the motor screw transmission mechanism to control the advance and retreat of the steam delivery needle, as well as control the steam and water output. The invention controls the motor screw transmission mechanism to drive the puncture needle forward and backward through a button, has a high control accuracy, and improves the accuracy of the steam ablation surgery, but the motor-controlled screw is often slow in speed, and cannot instantly pierce the skin to enter the prostate lesions or abnormal hyperplasia tissue for thermal elimination and repair. Summary of the invention

[0004] The technical purpose of the present invention is to provide a control system and a control method for dual-motor-activated steam delivery needle advance and retreat. Through dual-motor control, the puncture needle can convert the spring into the potential energy of the spring, trigger an instantaneous excitation force, improve the efficiency of the steam delivery needle advance and retreat, and can accurately control the needle length.

[0005] To solve the above problems, the technical solution of the present invention is: The present invention provides a control system for advancing and retreating a steam delivery needle by means of dual motors, which is applicable to a steam ablation pistol and comprises a main control module and a dual motor drive module, an induction heating module and a thrust feedback module connected to the main control module. The dual-motor drive module includes a winding motor drive circuit and a striking generator drive circuit. The winding motor driving circuit is used to execute the winding motor rotation according to the first control instruction, and drive the steam delivery needle to move back and forth through the transmission component of the screw transmission mechanism until the steam delivery needle moves to the target position to control the preload force to the target compression amount; The pulse generator driving circuit is used to execute the rotation of the pulse generator according to the second control instruction, and control the locking or instant release of the transmission component through the limiting component set on the pulse generator shaft to achieve the rapid needle withdrawal and needle return of the steam delivery needle; The induction heating module is connected to the main control module and is used to feed back the temperature signal of the handle end to the main control module, and to control the adjustment of the temperature of the handle end according to the current temperature signal so that the temperature of the output steam is maintained at a preset constant value; The thrust feedback module includes a first Hall switch interface circuit and a second Hall switch interface circuit, which are used to detect the position reached by the transmission component and feed back the currently reached limit information to the main control module; The main control module is used to send a first control instruction to the winding motor drive circuit according to the limit information, and send a second control instruction to the shock generator drive circuit when the winding motor drive circuit moves to the target position to control the preload force, so as to complete the rapid puncture and return of the steam delivery needle.

[0006] Preferably, in the needle retracting mode, the winding motor is controlled to rotate forward to perform the needle retracting operation, and it is determined whether the current operation triggers the lower limit of XW_IO1 to return to the starting position. If the lower limit of XW_IO1 is not triggered, the winding motor is returned to rotate forward to continue to perform the needle retracting operation. If the lower limit of XW_IO1 is triggered, the winding motor is stopped, and the striking generator is controlled to rotate forward to lock the transmission component. It is determined whether the current operation triggers the locking limit of XW_IO4. If the locking limit of XW_IO4 is not triggered, the striking generator is returned to rotate forward to continue to lock the transmission component. If the locking limit of XW_IO4 is triggered, the striking generator is stopped; In the needle-out mode, the winding motor is controlled to reverse and execute the needle-out operation, and it is determined whether the current operation triggers the preset needle-out limit. If the preset needle-out limit is not triggered, the winding motor is returned to reverse and continue to execute the needle-out operation. If the preset needle-out limit is triggered, the winding motor is stopped, and the striking generator is controlled to reverse to release the limit of the transmission component. It is determined whether the current operation triggers the XW_IO5 limit release. If the XW_IO5 limit release is not triggered, the striking generator is returned to reverse and continue to release the limit of the transmission component. If the XW_IO5 limit release is triggered, the striking generator is stopped; Among them, the preset needle output limit includes the XW_IO2 middle limit and the XW_IO3 upper limit, the needle output length of the XW_IO1 lower limit is 0, that is, the starting position, and the needle output length of the XW_IO3 upper limit>the needle output length of the XW_IO2 middle limit>the needle output length of the XW_IO1 lower limit.

[0007] Preferably, when the winding motor reverses and triggers the middle limit of XW_IO2, the needle length is 11 mm; when the winding motor reverses and triggers the upper limit of XW_IO3, the needle length is 23 mm.

[0008] Preferably, in the needle-extraction mode, Determine the relationship between the movement distance driven by the corresponding motor and the running time of the winding motor; Configure the needle out length, obtain the time t1 from the starting position to the middle limit and the time t2 to the upper limit for one needle out operation, and calculate the movement time per millimeter T = (t2-t1) / 12; The target length of the needle is controlled according to the real-time calculated movement time T per millimeter. If the needle needs to be L1mm, the winding motor is driven to reverse until the middle limit is triggered to achieve the needle length L2mm. Control the corresponding motor drive to continue running for L times T time, and continue to produce needles Lmm to reach the target needle length, thereby accurately controlling the running time of the winding motor; Among them, L=L1-L2, L is the multiple of the continued running time after the middle limit is triggered, that is, the length of the needle continuing to be output after the middle limit is triggered, and L2 is the length of the needle reaching the middle limit.

[0009] Preferably, the steam delivery needle is instantly ejected to the position of the transmission component under the action of the spring preload force, completing the rapid puncture of the steam delivery needle, wherein the compression range under the action of the spring preload force is 23mm to 52mm; Before the needle is removed, the spring compression is set to 35 mm and the spring force is set to 42.7 N, which can ensure that the steam delivery needle can penetrate the urethra wall and enter the prostate tissue smoothly; After the needle is removed, the current spring compression is at least 10 mm, and the spring force is at least 12.2 N, which can maintain the stability of the steam delivery needle reaching the target position after puncture; During the needle withdrawal process, the spring is compressed from the maximum compression length to the minimum compression length, and the elastic force changes from the second target elastic force to the first target elastic force, ensuring that during the needle withdrawal process, the steam delivery needle can be subjected to sufficient force to remain stable without damaging the tissue; During the needle withdrawal process, the spring extends from the minimum compression length to the maximum compression length, and the elastic force changes from the first target elastic force to the second target elastic force, ensuring that the steam delivery needle can maintain its position after the needle is withdrawn, thereby avoiding positional deviation or puncture failure caused by insufficient force; The first target elastic force is the maximum elastic force of 45N when the spring is fully compressed, and the second target elastic force is the minimum elastic force of 9.8N that the steam delivery needle is subjected to and maintains the puncture position.

[0010] Preferably, the winding motor drive circuit includes a motor drive chip U6, a resistor R18, a resistor R19, a resistor R20 and a capacitor C10, the first port of the motor drive chip U6 is grounded, the second port of the motor drive chip U6 receives the M_IN2 motor signal, the third port of the motor drive chip U6 receives the M_IN1 motor signal, the fourth port of the motor drive chip U6 is connected to the resistor R18 and connected to the power supply, the fifth port of the motor drive chip U6 is connected to the capacitor C10 and grounded, and the fifth port of the motor drive chip U6 is connected to the 24V power supply, the sixth port of the motor drive chip U6 is connected to the second port of the connector, the seventh port of the motor drive chip U6 is connected to the resistor R20 and grounded, the eighth port of the motor drive chip U6 is connected to the second port of the connector, and the ninth port of the motor drive chip U6 is connected to the fourth port of the motor drive chip U6.

[0011] Preferably, the motor drive circuit includes a motor drive chip U7, a resistor R21, a resistor R22 and a resistor R23, the first port of the motor drive chip U7 is grounded, the second port of the motor drive chip U7 receives the M2_IN2 motor signal, the third port of the motor drive chip U7 receives the M2_IN1 motor signal, the fourth port of the motor drive chip U7 is connected to the resistor R21 and connected to a 5V power supply, the fifth port of the motor drive chip U7 is connected to a 12V power supply, the sixth port of the motor drive chip U7 is connected to the second port of the connector, the seventh port of the motor drive chip U7 is connected to the resistor R23 and grounded, the eighth port of the motor drive chip U7 is connected to the first port of the connector, and the ninth port of the motor drive chip U6 is connected to the fourth port of the motor drive chip U7.

[0012] Preferably, the first Hall switch interface circuit includes a resistor R7, a resistor R8 and a resistor R9, one end of the resistor R7, one end of the resistor R8 and one end of the resistor R9 receive the XW_IO3 upper limit control signal, the XW_IO2 middle limit control signal and the XW_IO1 lower limit control signal respectively, the other end of the resistor R7, the other end of the resistor R8 and the other end of the resistor R9 are connected to a power supply, the first port of the connector CON-4PB is connected to the power supply, and the third port of the connector CON-4PB receives the XW_IO1 lower limit control signal, and the fourth port of the connector CON-4PB receives the XW_IO2 middle limit control signal; The second Hall switch interface circuit includes resistor R24, resistor R25 and resistor R26, one end of the resistor R24, one end of the resistor R25 and one end of the resistor R26 respectively receive the XW_IO6 control signal, the XW_IO5 release limit control signal and the XW_IO4 lock limit control signal, the other end of the resistor R24, the other end of the resistor R25 and the other end of the resistor R26 are all connected to the power supply, the first port of the connector CON-5PB is connected to the power supply, and the third port of the connector CON-5PB receives the XW_IO4 lock limit control signal, the fourth port of the connector CON-5PB receives the XW_IO5 release limit control signal, and the fifth port of the connector CON-5PB receives the XW_IO6 control signal.

[0013] Preferably, the needle length ranges from 11 mm to 23 mm.

[0014] The present invention also provides a steam ablation pistol, comprising a control system for advancing and retreating a steam delivery needle driven by dual motors as described in the above embodiment.

[0015] Due to the adoption of the above technical solution, the present invention has the following advantages and positive effects compared with the prior art: 1. Precise control of needle length: Through the coordinated work of the dual motor drive module and the thrust feedback module, the precise needle withdrawal and needle return operations of the steam delivery needle can be achieved, allowing doctors to adjust the needle length according to actual needs, thereby improving the accuracy and safety of the operation.

[0016] 2. Improve surgical efficiency: Due to the use of a dual-motor drive system, the needle withdrawal and removal operations can be completed quickly, greatly shortening the operation time and improving surgical efficiency.

[0017] 3. Ensure puncture stability: During the needle removal process, the spring stretches from the minimum compression length to the maximum compression length, and the elastic force changes from the first target elastic force to the second target elastic force, ensuring that the steam delivery needle can maintain its position after removal, avoiding position deviation or puncture failure due to insufficient force, and helping to ensure the stability and accuracy of the puncture.

[0018] 4. Reduce tissue damage: During the needle withdrawal process, the spring is compressed from the maximum compression length to the minimum compression length, and the elastic force changes from the second target elastic force to the first target elastic force, ensuring that during the needle withdrawal process, the steam delivery needle can be subjected to sufficient force to remain stable without damaging the tissue. This helps reduce damage to surrounding tissues during surgery.

[0019] 5. Temperature control: The induction heating module can control the temperature of the handle end according to the current temperature signal, so that the temperature of the output steam remains at a preset constant value, which helps to ensure temperature stability during the operation and improve the safety and comfort of the operation.

[0020] 6. Modular design: The entire system adopts a modular design, including the main control module, dual motor drive module, induction heating module and thrust feedback module, making the system more flexible and easy to maintain and upgrade. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the following detailed description of the preferred embodiment.The drawings are only for the purpose of illustrating the preferred embodiments and are not to be construed as limiting the invention.

[0022] Figure 1 This is a schematic diagram of the structure of a steam ablation pistol in an embodiment of the present invention; Figure 2 It is an overall control schematic diagram of a control system including dual motors to stimulate the advancement and retreat of a steam delivery needle in an embodiment of the present invention; Figure 3 This is a schematic diagram of the structure of an induction heating module in an embodiment of the present invention; Figure 4 Schematic diagram of the circuit structure of the dual-motor drive module in an embodiment of the present invention; Figure 5 This is a schematic diagram of the structure of the driving circuit of the electric generator in the embodiment of the present invention; Figure 6 It is a logical diagram of needle withdrawal and needle removal in an embodiment of the present invention. DETAILED DESCRIPTION

[0023] The following is an explanation of the embodiments of the present invention by specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the orientation or position relationship indicated by the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc. is based on the orientation or position relationship shown in the drawings, which 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 of the present invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, the meaning of "multiple" is two or more.

[0024] It should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected" and "connected" 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 or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood by specific circumstances.

[0025] The present invention provides a control system for dual-motor-activated steam delivery needle advance and retreat, which is suitable for a steam ablation pistol. The steam ablation pistol includes a shell 1 and a puncture needle 2 connected to the shell 1. The shell 1 has a pipeline interface 11 at the bottom for connecting cooling water and steam water. The shell 1 has a heating component 3 inside. One end of the puncture needle 2 is connected to the shell 1, and the other end has a delivery head 22, which can be inserted into the human body. The puncture needle 2 has two chambers, which are respectively used to pass through the steam delivery needle 21 and a cooling water conduit (not shown in the figure). The steam water is input from the pipeline interface 11, heated by the heating component 3, and then input into the steam delivery needle 21. The cooling water is input from the pipeline interface 11 into the cooling water conduit, and flows out from the delivery head 22 to cool the tissue around the lesion. The housing 1 includes a control panel 4 and a needle-exiting device 5. The housing 1 is provided with a control button 9. The control button 9 and the needle-exiting device 5 are electrically connected to the control panel 4. The needle-exiting device 5 is connected to the steam delivery needle 21. The control button 9 is used to control the operation of the needle-exiting device 5, thereby controlling the advance and retreat of the steam delivery needle 21, and controlling the steam and cooling water discharge. The needle-exiting device 5 includes a screw transmission mechanism, an ejection mechanism, and an excitation mechanism. The screw transmission mechanism is used to control the needle-exiting distance of the steam delivery needle 21, the ejection mechanism is used to instantly eject the steam delivery needle 21 to achieve rapid puncture, and the excitation mechanism is used to excite the ejection mechanism. The screw transmission mechanism includes a first motor 51, a first motor fixing bracket 52, a transmission screw 53 and a lower slider 54. The first motor 51 is fixedly connected to the housing 1 through the first motor fixing bracket 52. The motor shaft of the first motor 51 is fixedly connected to the transmission screw 53. The lower slider 54 is threadedly connected to the transmission screw 53. The first motor 51 is electrically connected to the control board 4. The control board 4 controls the rotation of the first motor 51 through the control button 9, driving the transmission screw 53 to rotate, thereby driving the lower slider 54 to move back and forth. When the lower slider 54 moves back, the lower slider 54 abuts against the ejection mechanism, which can drive the ejection mechanism to move back. When the lower slider 54 moves forward, the ejection mechanism can be separated from the lower slider 54. A Hall switch plate 7 is fixed to the periphery of the transmission screw 53 in the housing 1. The Hall switch plate 7 has a travel switch for limiting the movement distance of the lower slider 54. The ejection mechanism includes an upper slider 55 and an elastic member, one end of the elastic member is fixed to the housing 1, and the other end is fixedly connected to the upper slider 55, and the steam delivery needle 21 is fixedly connected to the upper slider 55. When the lower slider 54 moves back, the upper slider 55 abuts against the lower slider 54 and moves back with the lower slider 54. When the lower slider 54 moves forward, the upper slider 55 separates from the lower slider 54.The excitation mechanism includes a second motor 59, a second motor fixing bracket 60 and a limit swing arm 61. The second motor 59 is fixedly connected to the housing 1 through the second motor fixing bracket 60. The motor shaft of the second motor 59 is provided with a limit swing arm 61. The second motor 59 is electrically connected to the control board 4. The second motor 59 controls the limit swing arm 61 to swing. The limit swing arm 61 is used for springing. When the lower slider 54 moves back, it drives the upper slider 55 to move back together, compressing the elastic member. When it returns to the ejection reference position, the second motor 59 controls the limit swing arm 61 to swing. The limit swing arm 61 resists the upper slider 55, limits the movement of the elastic member, and realizes the springing of the elastic member. When the lower slider 54 moves to the set puncture distance, the control board 4 controls the second motor 59 to rotate, drives the limit swing arm 61 to move, releases the upper slider 55, and realizes the instant ejection of the upper slider 55. The elastic member includes a spring fixing block 56, a spring fixing shaft 57 and a spring 58. The spring fixing block 56 is arranged on the first motor fixing bracket 52, away from the connection between the puncture needle 2 and the shell 1. One end of the spring fixing shaft 57 is located in the spring fixing block 56, and the other end passes through the upper slider 55 and is fixedly connected to the inner wall of the shell 1. The spring 58 is sleeved on the spring fixing shaft 57 and is limitedly fixed between the spring fixing block 56 and the upper slider 55, see. Figure 1 Based on the above existing structure, see Figure 2 As shown, the improvement of its control system is that it includes a main control module and a dual-motor drive module, an induction heating module and a thrust feedback module connected to the main control module. The dual-motor drive module includes a winding motor drive circuit and a striking generator drive circuit. The winding motor driving circuit is used to execute the winding motor rotation according to the first control instruction, and drive the steam delivery needle to move back and forth through the transmission component of the screw transmission mechanism until the steam delivery needle moves to the target position to control the preload force to the target compression amount; wherein the transmission component is the above-mentioned lower slider.

[0026] The pulse generator driving circuit is used to execute the rotation of the pulse generator according to the second control instruction, and control the locking or instant release of the transmission component through the limiting component set on the pulse generator shaft to achieve the rapid needle withdrawal and needle return of the steam delivery needle; The induction heating module is connected to the main control module and is used to feed back the temperature signal of the handle end to the main control module, and to control the temperature adjustment of the handle end according to the current temperature signal so that the temperature of the output steam is kept at a preset constant value; Figure 3As shown, the induction heating module provided in this embodiment, namely the above-mentioned heating component 3, is composed of an induction coil 31, an upper induction heating fixing seat 32, a lower induction heating fixing seat 33 and a coil 34. The coil 34 is coaxially sleeved in the induction coil 31, and then fixed and limited in the shell by the upper induction heating fixing seat 32 and the lower induction heating fixing seat 33, so as to minimize the direct contact between the induction heating module 3 and the shell, thereby effectively reducing the heat diffusion to the shell and preventing the operator from being scalded.

[0027] The thrust feedback module includes a first Hall switch interface circuit and a second Hall switch interface circuit, which are used to detect the position reached by the transmission component and feed back the currently reached limit information to the main control module; in this embodiment, a thrust feedback module is fixed on the peripheral side of the screw transmission mechanism, and the thrust feedback module has a travel switch for limiting the movement distance of the lower slider.

[0028] The main control module is used to send a first control instruction to the winding motor drive circuit according to the limit information, and send a second control instruction to the shock generator drive circuit when the winding motor drive circuit moves to the target position to control the preload force, so as to complete the rapid puncture and return of the steam delivery needle.

[0029] See also Figure 4 As shown, the winding motor drive circuit includes a motor drive chip U6, a resistor R18, a resistor R19, a resistor R20 and a capacitor C10, the first port of the motor drive chip U6 is grounded, the second port of the motor drive chip U6 receives the M_IN2 motor signal, the third port of the motor drive chip U6 receives the M_IN1 motor signal, the fourth port of the motor drive chip U6 is connected to the resistor R18 and connected to the power supply, the fifth port of the motor drive chip U6 is connected to the capacitor C10 and grounded, and the fifth port of the motor drive chip U6 is connected to the 24V power supply, the sixth port of the motor drive chip U6 is connected to the second port of the connector, the seventh port of the motor drive chip U6 is connected to the resistor R20 and grounded, the eighth port of the motor drive chip U6 is connected to the second port of the connector, and the ninth port of the motor drive chip U6 is connected to the fourth port of the motor drive chip U6.

[0030] The motor drive circuit includes a motor drive chip U7, a resistor R21, a resistor R22 and a resistor R23. The first port of the motor drive chip U7 is grounded, the second port of the motor drive chip U7 receives the M2_IN2 motor signal, the third port of the motor drive chip U7 receives the M2_IN1 motor signal, the fourth port of the motor drive chip U7 is connected to the resistor R21 and connected to a 5V power supply, the fifth port of the motor drive chip U7 is connected to a 12V power supply, the sixth port of the motor drive chip U7 is connected to the second port of the connector, the seventh port of the motor drive chip U7 is connected to the resistor R23 and grounded, the eighth port of the motor drive chip U7 is connected to the first port of the connector, and the ninth port of the motor drive chip U6 is connected to the fourth port of the motor drive chip U7.

[0031] See also Figure 5 As shown, the first Hall switch interface circuit includes a resistor R7, a resistor R8 and a resistor R9, one end of the resistor R7, one end of the resistor R8 and one end of the resistor R9 receive the upper limit control signal XW_IO3, the middle limit control signal XW_IO2 and the lower limit control signal XW_IO1 respectively, the other end of the resistor R7, the other end of the resistor R8 and the other end of the resistor R9 are connected to the power supply, the first port of the connector CON-4PB is connected to the power supply, and the third port of the connector CON-4PB receives the lower limit control signal XW_IO1, and the fourth port of the connector CON-4PB receives the middle limit control signal XW_IO2; The second Hall switch interface circuit includes resistor R24, resistor R25 and resistor R26, one end of the resistor R24, one end of the resistor R25 and one end of the resistor R26 respectively receive the XW_IO6 control signal, the XW_IO5 release limit control signal and the XW_IO4 lock limit control signal, the other end of the resistor R24, the other end of the resistor R25 and the other end of the resistor R26 are all connected to the power supply, the first port of the connector CON-5PB is connected to the power supply, and the third port of the connector CON-5PB receives the XW_IO4 lock limit control signal, the fourth port of the connector CON-5PB receives the XW_IO5 release limit control signal, and the fifth port of the connector CON-5PB receives the XW_IO6 control signal.

[0032] See also Figure 4 As shown, the interface J1 is connected to the winding motor, and the winding motor is powered by 24V. When the winding motor rotates and drives the lower slider on the screw rod to compress the spring, the driving torque can be calculated by the following formula: Drive torque: , M: motor output torque; T: axial thrust (>45N); h: lead (6mm); η: transmission efficiency; Among them, the elastic force of the spring when it is fully compressed is 45N, and the transmission efficiency is 95%; the required motor torque is 3 times the driving torque, which is about 1.35kg·cm.

[0033] Interface J2 is connected to the striking generator, which is powered by 12V. When the winding motor rotates and drives the lower slider on the screw rod to compress the spring to the specified position, the striking generator is triggered to rotate, and the firing swing arm clamps the upper slider, completing the needle retraction action; when the needle removal signal is triggered, the striking generator rotates in the opposite direction, and the firing swing arm releases the upper slider, and under the action of the compression spring, the puncture needle is quickly removed.

[0034] The following is a description of the motor operating status control and the corresponding Hall switch limit.

[0035] Table 1 Pin configuration corresponding to the motor running status Motor operating status Glide, sleep Forward Reversal brake Winding motor: M_IN1 0 1 0 1 Winding motor: M_IN2 0 0 1 1 Stimulator:M2_IN1 0 1 0 1 Strike generator: M2_IN2 0 0 1 1 (Note: 0 is low level, 1 is high level) Table 2 Description of motor and corresponding Hall switch limit In this embodiment, the needle length range is 11mm~23mm, which can meet the anatomical structure and treatment needs of the prostate. The prostate can be divided into the peripheral zone, transition zone and central zone, of which the peripheral zone accounts for about 70% of the male prostate volume, and most prostate cancers originate from this area. The needle length range can accurately puncture the peripheral zone tissue to achieve effective treatment. At the same time, it avoids unnecessary damage to surrounding healthy tissues.

[0036] In this embodiment, in the needle retracting mode, the winding motor is controlled to rotate forward to perform the needle retracting operation, and it is determined whether the current operation triggers the lower limit of XW_IO1 to return to the starting position. If the lower limit of XW_IO1 is not triggered, the winding motor returns to the forward rotation to continue to perform the needle retracting operation. If the lower limit of XW_IO1 is triggered, the winding motor is stopped, and the striking generator is controlled to rotate forward to lock the transmission component. It is determined whether the current operation triggers the locking limit of XW_IO4. If the locking limit of XW_IO4 is not triggered, the striking generator returns to the forward rotation to continue to lock the transmission component. If the locking limit of XW_IO4 is triggered, the striking generator is stopped; In the needle-out mode, the winding motor is controlled to reverse and execute the needle-out operation, and it is determined whether the current operation triggers the preset needle-out limit. If the preset needle-out limit is not triggered, the winding motor is returned to reverse and continue to execute the needle-out operation. If the preset needle-out limit is triggered, the winding motor is stopped, and the striking generator is controlled to reverse to release the limit of the transmission component. It is determined whether the current operation triggers the XW_IO5 limit release. If the XW_IO5 limit release is not triggered, the striking generator is returned to reverse and continue to release the limit of the transmission component. If the XW_IO5 limit release is triggered, the striking generator is stopped; Among them, the preset needle output limit includes the XW_IO2 middle limit and the XW_IO3 upper limit, the needle output length of the XW_IO1 lower limit is 0, that is, the starting position, and the needle output length of the XW_IO3 upper limit>the needle output length of the XW_IO2 middle limit>the needle output length of the XW_IO1 lower limit.

[0037] Specifically, when the winding motor reverses and triggers the middle limit of XW_IO2, the needle length is 11mm; when the winding motor reverses and triggers the upper limit of XW_IO3, the needle length is 23mm.

[0038] In this embodiment, in the needle removal mode, Determine the relationship between the movement distance driven by the corresponding motor and the running time of the winding motor; Configure the needle out length, obtain the time t1 from the starting position to the middle limit and the time t2 to the upper limit for one needle out operation, and calculate the movement time per millimeter T = (t2-t1) / 12; The target length of the needle is controlled according to the real-time calculated movement time T per millimeter. If the needle needs to be L1mm, the winding motor is driven to reverse until the middle limit is triggered to achieve the needle length L2mm. Control the corresponding motor drive to continue running for L times T time, and continue to produce needles Lmm to reach the target needle length, thereby accurately controlling the running time of the winding motor; Among them, L=L1-L2, L is the multiple of the continued running time after the middle limit is triggered, that is, the length of the needle continuing to be pulled out after the middle limit is triggered, and L2 is the length of the needle reaching the middle limit. By precisely controlling the running time of the winding motor, the steam delivery needle can be ensured to reach the target position accurately during the puncture process. Precise control helps to improve the accuracy and safety of the operation and improve the efficiency of the operation.

[0039] Those skilled in the art can understand that the control logic is as follows: The goals to be achieved are: 1. Needle withdrawal 2. Needle extraction, and accurate needle extraction control can be achieved, that is, the needle extraction length can be controlled between 11mm and 23mm, see Figure 6 As shown, 1. Needle withdrawal According to the actual installation method, the winding motor rotates forward to retract the needle; the striking generator rotates forward to lock the slider.

[0040] To achieve needle retraction, the winding motor needs to be controlled to rotate forward until the lower limit is triggered, and then the winding motor stops, and the striker rotates forward to lock the slider, thus completing the needle retraction action.

[0041] 2. Remove the needle The needle length of 11mm is controlled by the middle limit. When the winding motor reverses and triggers the middle limit, the needle length is 11mm. Similarly, the needle length of 23mm is controlled by the upper limit. When the winding motor reverses and triggers the upper limit, the needle length is 23mm.

[0042] The position between 11mm and 23mm can be obtained by specific calculation.

[0043] Since the movement distance of the screw slider is in millimeters, and in the range of 11mm~23mm, the elastic force of the spring is obviously less than 45N when fully compressed, it can be considered that the torque output of the motor is constant, that is, in the range of 11mm~23mm, the slider moves at a uniform speed.

[0044] Set the condition of needle extension to 23mm. After completing one needle extension, we can get the time t1 to reach the middle limit (11mm), and the time t2 to reach the upper limit (23mm). Then we can get the movement time T per millimeter = (t2-t1) / 12.

[0045] For example, if the needle needs to be extended by 19mm, the winding motor needs to be reversed until the middle limit is triggered, and the motor continues to run for 8T.

[0046] In this embodiment, a momentary firing force is required in medicine to penetrate the urethral wall. The urethral wall is elastic, that is, the outer wall of the prostate is elastic, similar to an elastic fiber. The puncture needle needs to convert the spring into the potential energy of the spring, and the length is adjustable. The length of the needle is adjusted according to the location and depth of the medical lesion. The momentary firing force is >30N, and the motor is used to fire to compress the slider. To a preset position / pre-compression amount, the motor transmits the power to the slider through the screw rod, and the slider drives the needle to give instant force.

[0047] The steam delivery needle is instantly ejected to the position of the transmission component under the action of the spring preload force, completing the rapid puncture of the steam delivery needle, wherein the compression range under the action of the spring preload force is 23 mm to 52 mm; Before the needle is removed, the spring compression is set to 35 mm and the spring force is set to 42.7 N, which can ensure that the steam delivery needle can penetrate the urethra wall and enter the prostate tissue smoothly; After the needle is removed, the current spring compression is at least 10 mm, and the spring force is at least 12.2 N, which can maintain the stability of the steam delivery needle reaching the target position after puncture; During the needle withdrawal process, the spring is compressed from the maximum compression length to the minimum compression length, and the elastic force changes from the second target elastic force to the first target elastic force, ensuring that during the needle withdrawal process, the steam delivery needle can be subjected to sufficient force to remain stable without damaging the tissue; During the needle withdrawal process, the spring extends from the minimum compression length to the maximum compression length, and the elastic force changes from the first target elastic force to the second target elastic force, ensuring that the steam delivery needle can maintain its position after the needle is withdrawn, thereby avoiding positional deviation or puncture failure caused by insufficient force; Among them, the first target elastic force is the maximum elastic force of 45N when the spring is fully compressed, and the second target elastic force is the minimum elastic force of 9.8N that the steam delivery needle is subjected to and maintains the puncture position. The precise withdrawal and retraction of the puncture needle are achieved by precisely controlling the compression and release of the spring. During the withdrawal process, the compression of the spring generates sufficient force to maintain stability; and during the withdrawal process, the gradual release of the spring ensures that the force on the puncture needle is always not less than 9.8N, thereby maintaining the position stability of the puncture needle. This design has broad application prospects in the medical field, especially in puncture operations that require high precision and stability.

[0048] During implementation, in the initial state, the spring 58 is in a completely relaxed state, its compression amount is minimal, and the upper slider 55 and the lower slider 54 are located near the outlet end of the steam delivery needle 2; When the needle return operation starts, the needle return button 92 is clicked, the winding motor 51 controls the transmission screw 53 to move, and the transmission screw 53 drives the lower slider 54 to move back. At this time, the lower slider 54 drives the upper slider 55 to move back together, and the upper slider 54 compresses the spring 58 to the maximum compression amount; the generator 59 controls the motor limit swing arm 61 to swing and abut against the upper slider 55, blocking the movement of the upper slider 55; When the needle ejection work starts, the needle ejection button 91 is long pressed, and the control panel 4 controls the winding motor 51 to rotate according to the set distance, driving the lower slider 54 to move forward. When the lower slider 54 moves to the set distance, the control panel 4 controls the striking generator 59 to throw off the limit swing arm 61, and the upper slider 55 is instantly ejected to the position of the lower slider 54 under the preload force of the spring 58, completing the rapid puncture of the steam delivery needle 22; The compression range of the entire needle is between 23mm and 52mm. When the needle is withdrawn, the spring is compressed from 52mm to 23mm, and the elastic force changes from 9.8N to 45N. When the needle is removed, the spring extends from 23mm to 52mm, and the elastic force changes from 45N to 9.8N. The force on the puncture needle is always not less than 9.8N, and the position of the puncture needle can be well maintained after the needle is removed. The urethral wall is composed of the mucosal layer, submucosal layer and muscle layer, and has good elasticity. Before the needle is removed, the spring compression amount is 35mm, and the spring force is 42.7N, which can ensure that the puncture needle can smoothly penetrate the urethral wall and enter the prostate tissue. After the needle is removed, the spring compression amount can still be guaranteed to be at least 10mm, and the spring force is at least 12.2N, which can well maintain the stability of the puncture needle's position after puncture, which is conducive to the subsequent precise steam ablation treatment of the prostate.

[0049] Table 3 Comparison of spring compression and needle length before and after needle removal Based on the same inventive concept, the present invention also provides a steam ablation pistol, including a control system for advancing and retreating a steam delivery needle using dual motors as described in the above embodiment. The specific principles are the same as above and will not be described in detail herein.

[0050] The embodiments of the present invention are described in detail above in conjunction with the accompanying drawings, but the present invention is not limited to the above embodiments. Even if various changes are made to the present invention, if these changes fall within the scope of the claims of the present invention and their equivalents, they still fall within the protection scope of the present invention.

Claims

1. A control system for advancing and retreating a steam delivery needle with dual motors, characterized in that: Suitable for steam ablation pistol, including a main control module and a dual motor drive module, an induction heating module and a thrust feedback module connected to the main control module, The dual-motor drive module includes a winding motor drive circuit and a striking generator drive circuit. The winding motor driving circuit is used to execute the winding motor rotation according to the first control instruction, and drive the steam delivery needle to move back and forth through the transmission component of the screw transmission mechanism until the steam delivery needle moves to the target position to control the preload force to the target compression amount; The pulse generator driving circuit is used to execute the rotation of the pulse generator according to the second control instruction, and control the locking or instant release of the transmission component through the limiting component set on the pulse generator shaft to achieve the rapid needle withdrawal and needle return of the steam delivery needle; The induction heating module is connected to the main control module and is used to feed back the temperature signal of the handle end to the main control module, and to control the adjustment of the temperature of the handle end according to the current temperature signal so that the temperature of the output steam is maintained at a preset constant value; The thrust feedback module includes a first Hall switch interface circuit and a second Hall switch interface circuit, which are used to detect the position reached by the transmission component and feed back the currently reached limit information to the main control module; The main control module is used to send a first control instruction to the winding motor drive circuit according to the limit information, and send a second control instruction to the shock generator drive circuit when the winding motor drive circuit moves to the target position to control the preload force, so as to complete the rapid puncture and return of the steam delivery needle.

2. The control system for the dual-motor-activated steam delivery needle advance and retreat as claimed in claim 1, characterized in that: In the needle retracting mode, the winding motor is controlled to rotate forward to perform the needle retracting operation, and it is judged whether the current operation triggers the lower limit of XW_IO1 to return to the starting position. If the lower limit of XW_IO1 is not triggered, the winding motor returns to the forward rotation to continue to perform the needle retracting operation. If the lower limit of XW_IO1 is triggered, the winding motor is stopped, and the striking generator is controlled to rotate forward to lock the transmission component. It is judged whether the current operation triggers the locking limit of XW_IO4. If the locking limit of XW_IO4 is not triggered, the striking generator returns to the forward rotation to continue to lock the transmission component. If the locking limit of XW_IO4 is triggered, the striking generator is stopped; In the needle-out mode, the winding motor is controlled to reverse and execute the needle-out operation, and it is determined whether the current operation triggers the preset needle-out limit. If the preset needle-out limit is not triggered, the winding motor is returned to reverse and continue to execute the needle-out operation. If the preset needle-out limit is triggered, the winding motor is stopped, and the striking generator is controlled to reverse and release the limit of the transmission component. It is determined whether the current operation triggers the XW_IO5 limit release. If the XW_IO5 limit release is not triggered, the striking generator is returned to reverse and continue to release the limit of the transmission component. If the XW_IO5 limit release is triggered, the striking generator is stopped; Among them, the preset needle output limit includes the XW_IO2 middle limit and the XW_IO3 upper limit, the needle output length of the XW_IO1 lower limit is 0, that is, the starting position, and the needle output length of the XW_IO3 upper limit>the needle output length of the XW_IO2 middle limit>the needle output length of the XW_IO1 lower limit.

3. The control system for the dual-motor-activated steam delivery needle advance and retreat as claimed in claim 2, characterized in that: When the winding motor reverses and triggers the middle limit of XW_IO2, the needle length is 11mm; when the winding motor reverses and triggers the upper limit of XW_IO3, the needle length is 23mm.

4. The control system for the dual-motor-activated steam delivery needle advance and retreat as claimed in claim 2, characterized in that: In the needle-extraction mode, Determine the relationship between the movement distance driven by the corresponding motor and the running time of the winding motor; Configure the needle out length, obtain the time t1 from the starting position to the middle limit and the time t2 to the upper limit for one needle out operation, and calculate the movement time per millimeter T = (t2-t1) / 12; The target length of the needle is controlled according to the real-time calculated movement time T per millimeter. If the needle needs to be L1mm, the winding motor is driven to reverse until the middle limit is triggered to achieve the needle length L2mm. Control the corresponding motor drive to continue running for L times T time, and continue to produce needles Lmm to reach the target needle length, thereby accurately controlling the running time of the winding motor; Among them, L=L1-L2, L is the multiple of the continued running time after the middle limit is triggered, that is, the length of the needle continuing to be output after the middle limit is triggered, and L2 is the length of the needle reaching the middle limit.

5. The control system for the dual-motor-activated steam delivery needle advance and retreat as claimed in claim 1, characterized in that: The steam delivery needle is instantly ejected to the position of the transmission component under the action of the spring preload force, completing the rapid puncture of the steam delivery needle, wherein the compression range under the action of the spring preload force is 23 mm to 52 mm; Before the needle is removed, the spring compression is set to 35 mm and the spring force is set to 42.7 N, which can ensure that the steam delivery needle can penetrate the urethra wall and enter the prostate tissue smoothly; After the needle is removed, the current spring compression is at least 10 mm, and the spring force is at least 12.2 N, which can maintain the stability of the steam delivery needle reaching the target position after puncture; During the needle withdrawal process, the spring is compressed from the maximum compression length to the minimum compression length, and the elastic force changes from the second target elastic force to the first target elastic force, ensuring that during the needle withdrawal process, the steam delivery needle can be subjected to sufficient force to remain stable without damaging the tissue; During the needle withdrawal process, the spring extends from the minimum compression length to the maximum compression length, and the elastic force changes from the first target elastic force to the second target elastic force, ensuring that the steam delivery needle can maintain its position after the needle is withdrawn, thereby avoiding positional deviation or puncture failure caused by insufficient force; The first target elastic force is the maximum elastic force of 45N when the spring is fully compressed, and the second target elastic force is the minimum elastic force of 9.8N that the steam delivery needle is subjected to and maintains the puncture position.

6. The control system for the dual-motor-activated steam delivery needle advance and retreat as claimed in claim 1, characterized in that: The winding motor driving circuit includes a motor driving chip U6, a resistor R18, a resistor R19, a resistor R20 and a capacitor C10. The first port of the motor driving chip U6 is grounded, the second port of the motor driving chip U6 receives the M_IN2 motor signal, the third port of the motor driving chip U6 receives the M_IN1 motor signal, the fourth port of the motor driving chip U6 is connected to the resistor R18 and connected to the power supply, the fifth port of the motor driving chip U6 is connected to the capacitor C10 and grounded, and the fifth port of the motor driving chip U6 is connected to the 24V power supply, the sixth port of the motor driving chip U6 is connected to the second port of the connector, the seventh port of the motor driving chip U6 is connected to the resistor R20 and grounded, the eighth port of the motor driving chip U6 is connected to the second port of the connector, and the ninth port of the motor driving chip U6 is connected to the fourth port of the motor driving chip U6.

7. The control system for the dual-motor-driven steam delivery needle advance and retreat as claimed in claim 1, characterized in that: The motor drive circuit includes a motor drive chip U7, a resistor R21, a resistor R22 and a resistor R23. The first port of the motor drive chip U7 is grounded, the second port of the motor drive chip U7 receives the M2_IN2 motor signal, the third port of the motor drive chip U7 receives the M2_IN1 motor signal, the fourth port of the motor drive chip U7 is connected to the resistor R21 and connected to a 5V power supply, the fifth port of the motor drive chip U7 is connected to a 12V power supply, the sixth port of the motor drive chip U7 is connected to the second port of the connector, the seventh port of the motor drive chip U7 is connected to the resistor R23 and grounded, the eighth port of the motor drive chip U7 is connected to the first port of the connector, and the ninth port of the motor drive chip U6 is connected to the fourth port of the motor drive chip U7.

8. The control system for the dual-motor-activated steam delivery needle advance and retreat as claimed in claim 1, characterized in that: The first Hall switch interface circuit includes a resistor R7, a resistor R8 and a resistor R9, one end of the resistor R7, one end of the resistor R8 and one end of the resistor R9 receive the XW_IO3 upper limit control signal, the XW_IO2 middle limit control signal and the XW_IO1 lower limit control signal respectively, the other end of the resistor R7, the other end of the resistor R8 and the other end of the resistor R9 are connected to a power supply, the first port of the connector CON-4PB is connected to the power supply, and the third port of the connector CON-4PB receives the XW_IO1 lower limit control signal, and the fourth port of the connector CON-4PB receives the XW_IO2 middle limit control signal; The second Hall switch interface circuit includes resistor R24, resistor R25 and resistor R26, one end of the resistor R24, one end of the resistor R25 and one end of the resistor R26 respectively receive the XW_IO6 control signal, the XW_IO5 release limit control signal and the XW_IO4 lock limit control signal, the other end of the resistor R24, the other end of the resistor R25 and the other end of the resistor R26 are all connected to the power supply, the first port of the connector CON-5PB is connected to the power supply, and the third port of the connector CON-5PB receives the XW_IO4 lock limit control signal, the fourth port of the connector CON-5PB receives the XW_IO5 release limit control signal, and the fifth port of the connector CON-5PB receives the XW_IO6 control signal.

9. The control system for the dual-motor-activated steam delivery needle advance and retreat as claimed in claim 1, characterized in that: The needle length range is 11mm~23mm.

10. A steam ablation pistol, characterized in that: A control system comprising a dual-motor-activated steam delivery needle advancement and retraction as described in any one of claims 1 to 9.

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