Medical quantitative injury tweezers

Abstract

The invention relates to the technical field of medical instruments, in particular to medical quantitative injury tweezers which are provided with a base platform, a tweezers body, an FBG strain sensor, an information mapping module, a clamping control assembly, a clamping analysis module and a compensation execution module. The unique mapping relation between the wavelength of each FBG and the clamping force of the clamping end is pre-established through the information mapping module, whether the clamping effect of the clamping end is abnormal or not is judged through the clamping analysis module, and any cam rotating mechanism is controlled to rotate by a preset angle in the pre-compensation direction through the pre-compensation unit. The operation adjustment mode of the two cam rotating mechanisms is determined through the compensation execution module, and then the abnormal phenomenon of the tweezers injury effect is found in time according to the real-time data feedback condition, the clamping state is adjusted in time according to scientific analysis, and the stability of traumatic lesion model construction is improved.

Description

Technical Field

[0001] The invention relates to the technical field of medical instruments, in particular to a medical quantitative damage tweezers. Background Art

[0002] In the field of medical research, the construction of traumatic lesion models plays a key role in gaining a deeper understanding of trauma mechanisms and developing treatment methods. Among them, the clamp model is a common method that aims to simulate the damage process that tissues experience when the human body is injured. When constructing the clamp model traditionally, researchers face many challenges in using ordinary clamp tools. From the perspective of operating accuracy, the clamp force is applied by manually operating ordinary pliers. The force application habits and strength control of different operators vary greatly, and it is impossible to effectively simulate the damage of the vascular endothelium under real trauma and cause subsequent pathological reactions.

[0003] As the research progresses towards refinement and quantification, the demand for precise control of clamping force becomes more and more prominent. In the construction of nerve injury models, slight changes in clamping force may have different effects on the degree of damage to nerve axons and myelin sheaths. Existing ordinary clamping tools are basically not equipped with accurate force feedback systems. Researchers cannot know the exact clamping force value in real time during the experiment. In view of these shortcomings, there is an urgent need for a professional clamping tool that can accurately and quantitatively control the clamping force and has reliable force feedback and automatic compensation and adjustment functions. At this time, fiber Bragg grating FBG technology provides an innovative solution for optimizing the clamping model constructed for traumatic lesion models.

[0004] For example, China Patent Application Publication No.: CN104434304A, the invention discloses a bipolar electrocoagulation tweezers, including a support seat, a handle, a plastic tube, an electrocoagulation wire and a stretching piece, the first handle and the second handle are partially accommodated in the plastic tube at one end away from the support seat; the electrocoagulation wire includes a first electrode and a second electrode, the first electrode and the second electrode are both accommodated in the plastic tube, one end is connected to the support seat, and the other end passes through the plastic tube and extends to the outside of the plastic tube; the stretching piece is accommodated in the plastic tube, one end of the stretching piece is forked, and the other end is fixed to the support seat, the two forked parts of the stretching piece are respectively connected to the first electrode and the second electrode, without changing the handle structure and changing the doctor's feel, the bipolar electrocoagulation opening and closing is small, and the operation is simple and sensitive.

[0005] However, the prior art still has the following problems: The existing technology does not take into account that in the construction of traumatic lesion models, the mutual pulling of adhered tissue parts can easily cause slippage when the tweezers clamp the tissue. The existing technology cannot promptly detect abnormal phenomena in the effect of tweezers causing injuries based on real-time data feedback, and cannot promptly adjust the clamping state based on scientific analysis, which affects the stability of the construction of the traumatic lesion model. Summary of the invention

[0006] To this end, the present invention provides a medical quantitative injury forceps to overcome the problems that the prior art cannot timely discover abnormal phenomena in the effect of forceps injury based on real-time data feedback, and cannot timely adjust the clamping state based on scientific analysis.

[0007] To achieve the above object, the present invention provides a medical quantitative injury forceps, comprising: Base platform; A forceps body, which is fixedly arranged at the bottom of the base platform, comprises two forceps arms arranged symmetrically, and a clamping end and a connecting end arranged along the length direction of the forceps arms for clamping tissue samples; An FBG strain sensor is arranged on the clamping end to obtain the wavelength of the FBG of the clamping end in different clamping states; An information mapping module, which is connected to the FBG strain sensor and is used to pre-establish a unique mapping relationship between the wavelength of each FBG and the clamping force of the clamping end, and the wavelength of each FBG corresponds to a unique mapping clamping force; The clamping control assembly includes two cam rotating mechanisms symmetrically arranged on the outside of the two forceps arms to enable the clamping ends of the two forceps arms to move in a direction close to each other; A clamping analysis module, which is respectively connected to the FBG strain sensor, the information mapping module and the clamping control component, and includes an error analysis unit and a pre-compensation unit, wherein the error analysis unit is used to determine the corresponding first mapping clamping force according to the wavelength of the FBG, and to determine whether the clamping effect of the clamping end is abnormal based on the comparison between the first mapping clamping force and the actual feedback clamping force; The pre-compensation unit is used to control any cam rotating mechanism to rotate a preset angle in the pre-compensation direction according to the determination result of abnormal clamping effect, and determine the corresponding second mapping clamping force according to the wavelength of the FBG after rotation; A compensation execution module is connected to the clamping analysis module and the clamping control component respectively, and is used to determine the operation adjustment mode of the two cam rotating mechanisms according to the re-comparison between the second mapped clamping force and the actual feedback clamping force.

[0008] Furthermore, each cam rotating mechanism includes a cam in contact with the outer side of each tweezer arm and a rotating shaft driving the cam to rotate, so that the cam is driven by the rotating shaft to contact and squeeze the outer side of each tweezer arm, so that the clamping ends of the two tweezer arms can move in a direction approaching each other.

[0009] Furthermore, a first bracket, a second bracket and a third bracket are fixedly arranged on the base platform; Among them, a transmission mechanism is arranged between the first bracket and the second bracket, and the transmission mechanism includes a main transmission shaft and two auxiliary transmission shafts connected to the main transmission shaft and symmetrically arranged on both sides of the main transmission shaft, and each auxiliary transmission shaft is connected to the rotating shaft of the cam rotation, so that the main transmission shaft transmits the rotational power to each auxiliary transmission shaft, and each auxiliary transmission shaft drives the rotating shaft to rotate.

[0010] Furthermore, the third bracket is connected to a control handle, a drive motor is arranged inside the control handle, and the drive motor provides rotational power to the main transmission shaft through a coupling between the second bracket and the third bracket.

[0011] Further, the error analysis unit is further used to calculate a first difference, and if the first difference does not meet the error comparison condition, the error analysis unit determines that the clamping effect of the clamping end is abnormal; The error comparison condition is that the difference does not exceed a preset difference threshold, and the first difference is the difference between the first mapped clamping force and the actual feedback clamping force.

[0012] Furthermore, the pre-compensation direction is a cam rotation direction of the cam rotation mechanism in a direction that enables the clamping ends of the two forceps arms to move toward each other.

[0013] Furthermore, the compensation execution module is also used to calculate a second difference; If the second difference meets the error control condition, the compensation execution module determines that the pre-compensation method of the clamping end is effective; If the second difference does not meet the error control condition, the compensation execution module determines that the pre-compensation mode of the clamping end is invalid; The error control condition is that the second difference does not exceed the first difference, and the second difference is the difference between the second mapped clamping force and the actual feedback clamping force.

[0014] Further, the compensation execution module determines the cam rotating mechanism rotating in the pre-compensation direction as the compensation cam rotating mechanism according to the determination result that the pre-compensation mode is effective, and performs compensation rotation on the compensation cam rotating mechanism in the first compensation direction; The rotation angle of the compensating rotation toward the first compensation direction is determined according to the second difference, the rotation angle is positively correlated with the second difference, and the first compensation direction is consistent with the pre-compensation direction.

[0015] Further, the compensation execution module obtains the wavelength change and the actual feedback clamping force change of the FBG before and after the pre-compensation according to the determination result that the pre-compensation mode is invalid, and calculates the compensation effect factor according to the wavelength change and the actual feedback clamping force change; If the compensation effect factor is greater than a preset compensation effect factor reference value, the compensation execution module determines to issue a clamping damage abnormality alarm; If the compensation effect factor is less than or equal to a preset compensation effect factor reference value, the compensation execution module determines that it is not necessary to issue a clamping damage abnormality alarm; The compensation effect factor is a numerical ratio of the wavelength change to the actual feedback clamping force change.

[0016] Furthermore, the compensation execution module performs compensation rotation on the two cam rotating mechanisms in the second compensation direction according to the determination result that the pre-compensation mode is invalid and there is no need to issue a clamping damage abnormal alarm; The rotation angle of the compensating rotation toward the second compensation direction is determined according to the second difference, the rotation angle is positively correlated with the second difference, and the second compensation direction is opposite to the pre-compensation direction.

[0017] Compared with the prior art, the beneficial effect of the present invention lies in that the present invention is provided with a base platform, a tweezer body, an FBG strain sensor, an information mapping module, a clamping control component, a clamping analysis module and a compensation execution module, the wavelength of the FBG is obtained by the FBG strain sensor, a unique mapping relationship between the wavelength of each FBG and the clamping force of the clamping end is pre-established by the information mapping module, whether the clamping effect of the clamping end is abnormal is determined by the clamping analysis module, any cam rotating mechanism is controlled to rotate a preset angle in the pre-compensation direction by the pre-compensation unit, and the operation adjustment mode of the two cam rotating mechanisms is determined by the compensation execution module, thereby realizing timely discovery of abnormal phenomena in the effect of tweezer injury according to real-time data feedback, and timely adjustment of the clamping state according to scientific analysis, thereby improving the stability of the construction of the traumatic lesion model.

[0018] In particular, the present invention drives the cam to contact and squeeze the outer sides of each forceps arm by arranging a rotating shaft, so that the clamping ends of the two forceps arms can move in a direction close to each other. This method makes the adjustment of the clamping force of the tweezers more precise, and the rotation angle of the cam is accurately controlled by the rotating shaft, so as to accurately change the squeezing force of the forceps arms, thereby achieving delicate regulation of the clamping force. In the long-term repetitive experimental operation of constructing a traumatic lesion model, the tweezers can continuously provide a stable clamping force.

[0019] In particular, the present invention provides a main transmission shaft and two auxiliary transmission shafts connected to the main transmission shaft. Through the synchronous control of the two auxiliary transmission shafts by the main transmission shaft, it can ensure that the power transmitted to the two cam rotating mechanisms is output at the same time and in the same state. Since the two auxiliary transmission shafts are respectively associated with the cam rotating mechanisms on the outer sides of the two forceps arms, the clamping ends of the two forceps arms can move synchronously in the direction of approaching each other, thereby ensuring that when clamping the tissue sample, the clamping force on both sides of the tissue is uniform. Sometimes, due to adhesion, irregular shape or local special conditions of the tissue, it may be necessary to differentially adjust the clamping force of the two forceps arms. The main transmission shaft has the ability to independently control the two auxiliary transmission shafts, and can specifically adjust the rotation of a certain auxiliary transmission shaft according to the specific situation, thereby changing the clamping force of the corresponding forceps arm, thereby improving the adjustment ability of the tweezers to control the clamping force and ensuring the stability of the tissue sample clamping operation.

[0020] In particular, the present invention can compare the first mapping clamping force theoretically obtained according to the FBG wavelength mapping with the actual feedback clamping force by calculating the first difference. This comparison provides a quantitative basis for evaluating the actual working state of the clamping end of the tweezers, so that the judgment of the clamping effect no longer depends on subjective feelings, but is based on precise numerical comparison. When the first difference does not meet the error comparison condition, it can be determined that the clamping effect is abnormal. Once the clamping force effect exceeds the preset error range, it can be discovered in time to avoid irreversible damage to the tissue due to improper clamping force. Furthermore, it is achieved that the abnormal effect of tweezers causing injury is discovered in time according to real-time data feedback, thereby improving the stability of the construction of the traumatic lesion model.

[0021] In particular, the present invention calculates the second difference through the compensation execution module, so that the system can clearly determine whether the pre-compensation measures have truly improved the clamping effect. It can be understood that if the second difference after pre-compensation meets the error control condition, it means that the pre-compensation method has effectively reduced the deviation of the clamping force to a certain extent, and verified the feasibility of the pre-compensation strategy. According to whether the pre-compensation method is effective, the compensation execution module can make intelligent decisions. If the pre-compensation method is effective, the system can continue to make further fine adjustments in the effective compensation direction to consolidate and optimize the compensation effect; if the pre-compensation method is invalid, the tissue sample situation can be re-evaluated and the compensation strategy can be changed. Furthermore, by continuously verifying and adjusting the compensation strategy, the clamping state can be adjusted in time according to scientific analysis, which improves the stability and safety of the system in long-term and complex operations, and improves the stability of the construction of the traumatic lesion model.

[0022] In particular, the present invention determines the cam rotation mechanism that rotates in the pre-compensation direction as the compensation cam rotation mechanism, which can clarify the execution object of the subsequent compensation action, determine the compensation rotation angle according to the second difference, and make the rotation angle positively correlated with the second difference, so that the determination of the compensation rotation angle is more scientific and accurate. The larger the second difference, the more compensation is required. Then, the rotation angle of the cam rotation mechanism is increased accordingly, which can more accurately adjust the clamping force and avoid over-compensation or under-compensation. Furthermore, it realizes timely adjustment of the clamping state according to scientific analysis, improves the stability and safety of the system in long-term and complex operations, and improves the stability of the construction of the traumatic lesion model.

[0023] In particular, the present invention determines whether to issue a clamping damage abnormality alarm by obtaining the ratio of the wavelength change of the FBG before and after pre-compensation to the actual feedback clamping force change. It can be understood that when the pre-compensation method is invalid and the ratio of the wavelength change of the FBG before and after pre-compensation to the actual feedback clamping force change is large, it is characterized that the clamping state of the tweezers itself has changed significantly, but the effect of the actual feedback force is not obvious, that is, the change in the clamping state of the tweezers cannot effectively improve the clamping force of the clamping end of the tweezers. Under this condition, it is necessary to issue a clamping damage abnormality alarm and promptly eliminate the abnormal construction. For the traumatic lesion model, when the pre-compensation method is ineffective and the ratio of the wavelength change of FBG before and after pre-compensation to the actual feedback clamping force change is small, the change in the clamping state of the tweezers can effectively improve the clamping force of the clamping end of the tweezers. Without triggering an alarm, the two cam rotating mechanisms are rotated in the second compensation direction opposite to the pre-compensation direction to correct the clamping force to an appropriate range. Furthermore, the clamping state is adjusted in time according to scientific analysis, which improves the stability and safety of the system in long-term and complex operations and improves the stability of the traumatic lesion model. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a front view of the medical quantitative injury forceps according to an embodiment of the present invention; Figure 2 This is a bottom view of the medical quantitative injury forceps according to an embodiment of the present invention; Figure 3 A fitting curve for the mapping relationship between the wavelength of the FBG and the clamping force of the clamping end in the information mapping module of the embodiment of the present invention; Figure 4 A logic flow chart of an error analysis unit in an embodiment of the present invention determining that the clamping effect of the clamping end is abnormal; Figure 5 A logic flow chart of a compensation execution module in an embodiment of the present invention determining whether a pre-compensation mode of a clamping end is effective; In the figure: 1-base platform, 2-tweezers arm, 3-clamping end, 4-connecting end, 5-FBG strain sensor, 6-cam, 7-rotating shaft, 8-first bracket, 9-second bracket, 10-third bracket, 11-main transmission shaft, 12-secondary transmission shaft, 13-control handle, 14-coupling, 15-pressure sensor. DETAILED DESCRIPTION

[0025] In order to make the objects and advantages of the present invention more clearly understood, the present invention is further described below in conjunction with embodiments; it should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0026] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the protection scope of the present invention.

[0027] It should be noted that, in the description of the present invention, terms such as "upper", "lower", "inside" and "outside" indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings. This is only for the convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the present invention.

[0028] In addition, it should be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "installation" and "connection" 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 it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0029] See also Figure 1 as well as Figure 2 As shown, Figure 1 This is a front view of the medical quantitative injury forceps according to an embodiment of the present invention. Figure 2 This is a bottom view of a medical quantitative injury forceps according to an embodiment of the present invention. The medical quantitative injury forceps according to the present invention include: Base platform 1; The forceps body is fixedly arranged at the bottom of the base platform 1, and comprises two forceps arms 2 arranged symmetrically, and a clamping end 3 and a connecting end 4 arranged along the length direction of the forceps arms for clamping tissue samples; An FBG strain sensor 5, which is arranged on the clamping end 3 to obtain the wavelength of the FBG of the clamping end in different clamping states; In practice, the FBG strain sensors are respectively installed in the grooves of the two clamping arms. When the clamping force of the clamping part on the tweezers body changes, the strain on the FBG on the sensor will also change accordingly, causing the central wavelength to change, thereby obtaining different FBG wavelengths. The wavelength of FBG obtained by FBG strain sensor 5 is between 1520-1570nm.

[0030] An information mapping module, which is connected to the FBG strain sensor and is used to pre-establish a unique mapping relationship between the wavelength of each FBG and the clamping force of the clamping end; Specifically, see Figure 3 As shown, it is a fitting curve of the mapping relationship between the wavelength of FBG and the clamping force of the clamping end in the information mapping module of an embodiment of the present invention. In implementation, the mapping relationship between the wavelength of 1520nm-1570nm and the clamping force in several experiments is pre-stored in the information mapping module, and several data points are determined according to the average value of the clamping force corresponding to each wavelength obtained from several experiments. The mapping relationship fitting curve between the wavelength of FBG and the clamping force of the clamping end 3 is fitted according to the several data points, so as to facilitate the subsequent determination of the clamping force of the clamping end 3 according to the wavelength output by the FBG strain sensor 5 in real time.

[0031] The following is a mapping relationship table of the wavelength of the FBG and the clamping force of the clamping end 3, from 0.7N to 1.3N, the wavelength of the FBG of the FBG strain sensor is recorded every 0.05N;

[0032] It can be seen from the above table that when the clamping force changes regularly, the wavelength of the FBG will also change accordingly, showing a positive correlation, and can be used for strain measurement.

[0033] Specifically, the present invention does not limit the information mapping module, which may be a data storage device for storing the mapping relationship between the wavelength of the FBG and the clamping force of the clamping end 3, and will not be described in detail here.

[0034] The clamping control assembly includes two cam rotating mechanisms symmetrically arranged on the outside of the two forceps arms to enable the clamping ends of the two forceps arms 2 to move in a direction close to each other; A clamping analysis module, which is respectively connected to the FBG strain sensor, the information mapping module and the clamping control component, and includes an error analysis unit and a pre-compensation unit, wherein the error analysis unit is used to determine the corresponding first mapping clamping force according to the wavelength of the FBG, and to determine whether the clamping effect of the clamping end 3 is abnormal based on the comparison between the first mapping clamping force and the actual feedback clamping force; The pre-compensation unit is used to control any cam rotating mechanism to rotate a preset angle in the pre-compensation direction according to the determination result of abnormal clamping effect, and determine the corresponding second mapping clamping force according to the wavelength of the FBG after rotation; Specifically, the present invention does not limit the clamping analysis module, which itself or each unit therein can be constructed using logic components. The logic components can be a microprocessor or a processor used in a computer, etc., which will not be described in detail here.

[0035] A compensation execution module is connected to the clamping analysis module and the clamping control component respectively, and is used to determine the operation adjustment mode of the two cam rotating mechanisms according to the re-comparison between the second mapped clamping force and the actual feedback clamping force.

[0036] Specifically, the present invention does not limit the compensation execution module, which can be a programmable logic controller for sending corresponding operation adjustment control signals according to the signal comparison situation, which will not be described in detail here.

[0037] Specifically, the clamping end 3 of the forceps body is also provided with a pressure sensor 15 for obtaining the actual feedback clamping force of the clamping end 3. In implementation, the pressure sensor 15 can be a piezoelectric pressure sensor respectively arranged on the two forceps arms on the forceps body. In the process of the clamping end clamping the tissue, the piezoelectric pressure sensor on the forceps arm is subjected to the squeezing force and outputs a feedback clamping force. The two feedback clamping forces output by the two piezoelectric pressure sensors on the forceps arm are obtained, and the average value of the two calculated feedback clamping forces is determined as the actual feedback clamping force of the clamping end 3. Piezoelectric pressure sensors are widely used in the field of pressure monitoring and will not be repeated here.

[0038] For more details, please refer to Figure 2 As shown, each cam rotating mechanism includes a cam 6 in contact with the outer side of each tweezer arm and a rotating shaft 7 that drives the cam to rotate, so that the cam 6 is driven by the rotating shaft 7 to contact and squeeze the outer side of each tweezer arm, so that the clamping ends of the two tweezer arms 2 can move in a direction approaching each other.

[0039] Specifically, the present invention drives the cam 6 to contact and squeeze the outer sides of each forceps arm by setting a rotating shaft 7, so that the clamping ends of the two forceps arms 2 can move in a direction close to each other. This method makes the adjustment of the clamping force of the tweezers more precise, and the rotation angle of the cam 6 is accurately controlled by the rotating shaft 7, so as to accurately change the squeezing force on the forceps arm 2, thereby achieving delicate regulation of the clamping force, and continuously providing a stable clamping force for the tweezers in long-term repetitive experimental operations of constructing traumatic lesion models.

[0040] Specifically, a first bracket 8, a second bracket 9 and a third bracket 10 are fixedly arranged on the base platform 1; Among them, a transmission mechanism is arranged between the first bracket 8 and the second bracket 9, and the transmission mechanism includes a main transmission shaft 11 and two auxiliary transmission shafts connected to the main transmission shaft 11 and symmetrically arranged on both sides of the main transmission shaft 11, and each auxiliary transmission shaft 12 is connected to the rotating shaft 7 of the cam rotation, so that the main transmission shaft 11 transmits the rotational power to each auxiliary transmission shaft 12, and each auxiliary transmission shaft 12 drives the rotating shaft 7 to rotate.

[0041] In implementation, a planetary gear system structure can be adopted, with the main drive shaft 11 serving as the sun gear and each auxiliary drive shaft 12 serving as the shaft of the planetary gear. When synchronous transmission is required, the main drive shaft 11 drives the two auxiliary drive shafts 12 to run synchronously; when it is necessary to control one auxiliary drive shaft 12 separately, the other auxiliary drive shafts 12 are braked or separated through control elements such as clutches and brakes in the planetary gear system, so that the main drive shaft 11 can drive one of the auxiliary drive shafts 12 to run separately. This is a prior art and will not be repeated here.

[0042] Specifically, the present invention provides a main transmission shaft 11 and two auxiliary transmission shafts connected to the main transmission shaft 11. Through the synchronous control of the two auxiliary transmission shafts by the main transmission shaft 11, it can ensure that the power transmitted to the two cam rotating mechanisms is output at the same time and in the same state. Since the two auxiliary transmission shafts are respectively associated with the cam rotating mechanisms on the outer sides of the two forceps arms, the clamping ends of the two forceps arms 2 can move synchronously in the direction of approaching each other, thereby ensuring that when clamping the tissue sample, the clamping force on both sides of the tissue is uniform. Sometimes, due to adhesion, irregular shape or local special conditions of the tissue, it may be necessary to differentially adjust the clamping force of the two forceps arms 2. The main transmission shaft 11 has the ability to independently control the two auxiliary transmission shafts, and can specifically adjust the rotation of a certain auxiliary transmission shaft 12 according to the specific situation, thereby changing the clamping force of the corresponding forceps arm 2, thereby improving the adjustment ability of the forceps to control the clamping force and ensuring the stability of the tissue sample clamping operation.

[0043] Specifically, the third bracket 10 is connected to a control handle 13 , a driving motor is disposed in the control handle 13 , and the driving motor provides rotational power to the main transmission shaft 11 through a coupling 14 between the second bracket 9 and the third bracket 10 .

[0044] In implementation, the information mapping module, the clamping analysis module and the compensation execution module can all be disposed in the control handle 13 .

[0045] Specifically, see Figure 4 As shown, it is a logic flow chart of the error analysis unit of the embodiment of the present invention for determining that the clamping effect of the clamping end 3 is abnormal, and the error analysis unit is also used to calculate the first difference; If the first difference meets the error comparison condition, the error analysis unit determines that the clamping effect of the clamping end 3 is normal; If the first difference does not meet the error comparison condition, the error analysis unit determines that the clamping effect of the clamping end 3 is abnormal; The error comparison condition is that the difference does not exceed a preset difference threshold, and the first difference is the difference between the first mapped clamping force and the actual feedback clamping force.

[0046] In implementation, the value of the preset difference threshold can be set according to the stable accuracy of the construction of the traumatic lesion model. The higher the stable accuracy requirement of the model construction, the smaller the value of the difference threshold. Here, a higher-precision difference threshold value is provided, and the difference threshold is 0.2N.

[0047] Specifically, the present invention can compare the first mapping clamping force theoretically obtained according to the FBG wavelength mapping with the actual feedback clamping force by calculating the first difference. This comparison provides a quantitative basis for evaluating the actual working state of the tweezers clamping end 3, so that the judgment of the clamping effect no longer depends on subjective feelings, but is based on precise numerical comparison. When the first difference does not meet the error comparison condition, it can be determined that the clamping effect is abnormal. Once the clamping force effect exceeds the preset error range, it can be discovered in time to avoid irreversible damage to the tissue due to improper clamping force. Furthermore, it is achieved that the abnormal effect of tweezers causing injury is discovered in time according to real-time data feedback, thereby improving the stability of the construction of the traumatic lesion model.

[0048] Specifically, the pre-compensation direction is the cam rotation direction of the cam rotation mechanism in a direction that enables the clamping ends of the two forceps arms to move toward each other.

[0049] Specifically, see Figure 5 As shown, it is a logic flow chart of the compensation execution module of the embodiment of the present invention determining whether the pre-compensation mode of the clamping end 3 is effective, and the compensation execution module is also used to calculate the second difference; If the second difference meets the error control condition, the compensation execution module determines that the pre-compensation method of the clamping end 3 is effective; If the second difference does not meet the error control condition, the compensation execution module determines that the pre-compensation mode of the clamping end 3 is invalid; The error control condition is that the second difference does not exceed the first difference, and the second difference is the difference between the second mapped clamping force and the actual feedback clamping force.

[0050] Specifically, the present invention calculates the second difference through the compensation execution module, so that the system can clearly determine whether the pre-compensation measures have truly improved the clamping effect. It can be understood that if the second difference after pre-compensation meets the error control condition, it means that the pre-compensation method has effectively reduced the deviation of the clamping force to a certain extent, and verified the feasibility of the pre-compensation strategy. According to whether the pre-compensation method is effective, the compensation execution module can make intelligent decisions. If the pre-compensation method is effective, the system can continue to make further fine adjustments in the effective compensation direction to consolidate and optimize the compensation effect; if the pre-compensation method is invalid, the tissue sample situation can be re-evaluated and the compensation strategy can be changed. Furthermore, by continuously verifying and adjusting the compensation strategy, the clamping state can be adjusted in time according to scientific analysis, which improves the stability and safety of the system in long-term and complex operations, and improves the stability of the traumatic lesion model construction.

[0051] Specifically, the compensation execution module determines the cam rotating mechanism rotating in the pre-compensation direction as the compensation cam rotating mechanism according to the determination result that the pre-compensation mode is effective, and performs compensation rotation on the compensation cam rotating mechanism in the first compensation direction; The rotation angle of the compensating rotation toward the first compensation direction is determined according to the second difference, the rotation angle is positively correlated with the second difference, and the first compensation direction is consistent with the pre-compensation direction.

[0052] Specifically, the present invention determines the cam rotation mechanism that rotates in the pre-compensation direction as the compensation cam rotation mechanism, which can clarify the execution object of the subsequent compensation action, determine the compensation rotation angle according to the second difference, and make the rotation angle positively correlated with the second difference, so that the determination of the compensation rotation angle is more scientific and accurate. The larger the second difference, the more compensation is required. Then the rotation angle of the cam rotation mechanism is increased accordingly, which can more accurately adjust the clamping force and avoid over-compensation or under-compensation. Furthermore, it realizes timely adjustment of the clamping state according to scientific analysis, improves the stability and safety of the system in long-term and complex operations, and improves the stability of the construction of the traumatic lesion model.

[0053] Specifically, the compensation execution module obtains the wavelength change C and the actual feedback clamping force change F of the FBG before and after pre-compensation according to the determination result that the pre-compensation mode is invalid, and calculates the compensation effect factor P according to the wavelength change and the actual feedback clamping force change; If the compensation effect factor P is greater than a preset compensation effect factor reference value P0, the compensation execution module determines to issue a clamping damage abnormality alarm; If the compensation effect factor P is less than or equal to a preset compensation effect factor reference value P0, the compensation execution module determines that it is not necessary to issue a clamping damage abnormality alarm; The compensation effect factor P is a numerical ratio of the wavelength change to the actual feedback clamping force change.

[0054] Specifically, the value of the preset compensation effect factor reference value P0 is obtained based on several experiments, and the wavelength change C of the FBG before and after pre-compensation and the actual feedback clamping force change F of several experiments are calculated. The average value of the compensation effect factor calculated several times is calculated, and the average value is determined as the compensation effect factor reference value P0. Preferably, the compensation effect factor reference value P0=70.

[0055] In implementation, if the wavelength C1=1530nm of the FBG before pre-compensation and the wavelength C2=1538nm of the FBG after pre-compensation are obtained, the wavelength change C=8nm of the FBG before and after pre-compensation, the actual feedback clamping force F1=0.8N before pre-compensation and the actual feedback clamping force F2=0.9N after pre-compensation, the actual feedback clamping force F=0.1N before and after pre-compensation, and the compensation effect factor P=8 / 0.1=80 can be calculated. Since the compensation effect factor P is greater than the preset compensation effect factor reference value P0, the compensation execution module determines to issue an abnormal clamping damage alarm.

[0056] If the wavelength C1 of the FBG before pre-compensation is 1535nm, and the wavelength C2 of the FBG after pre-compensation is 1539nm, then the wavelength change C of the FBG before and after pre-compensation is 4nm, the actual feedback clamping force F1 before pre-compensation is 0.85N, and the actual feedback clamping force F2 after pre-compensation is 0.93N, then the actual feedback clamping force F before and after pre-compensation is 0.08N, and the compensation effect factor P=4 / 0.08=50 can be calculated. Since the compensation effect factor P is less than the preset compensation effect factor reference value P0, the compensation execution module determines that there is no need to issue a clamping damage abnormal alarm.

[0057] Specifically, the compensation execution module performs compensation rotation of the two cam rotating mechanisms in the second compensation direction according to the determination result that the pre-compensation mode is invalid and there is no need to issue a clamping damage abnormal alarm; The rotation angle of the compensating rotation toward the second compensation direction is determined according to the second difference, the rotation angle is positively correlated with the second difference, and the second compensation direction is opposite to the pre-compensation direction.

[0058] Specifically, the present invention determines whether to issue a clamping damage abnormality alarm by obtaining the ratio of the wavelength change of the FBG before and after pre-compensation to the actual feedback clamping force change. It can be understood that when the pre-compensation method is invalid and the ratio of the wavelength change of the FBG before and after pre-compensation to the actual feedback clamping force change is large, it indicates that the clamping state of the tweezers itself has changed significantly, but the effect of the actual feedback force is not obvious, that is, the change in the clamping state of the tweezers cannot effectively improve the clamping force of the clamping end 3 of the tweezers. Under this condition, it is necessary to issue a clamping damage abnormality alarm and promptly remove the abnormal construction. For a common traumatic lesion model, when the pre-compensation method is ineffective and the ratio of the wavelength change of the FBG before and after the pre-compensation to the actual feedback clamping force change is small, the change in the clamping state of the tweezers can effectively improve the clamping force of the tweezers clamping end 3, and without triggering an alarm, the two cam rotating mechanisms are rotated in a second compensation direction opposite to the pre-compensation direction to correct the clamping force to an appropriate range. Furthermore, the clamping state is adjusted in time according to scientific analysis, which improves the stability and safety of the system in long-term and complex operations, and improves the stability of the construction of the traumatic lesion model.

[0059] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

[0060] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A medical quantitative damage forceps, characterized in that: include: Base platform; A forceps body, which is fixedly arranged at the bottom of the base platform, comprises two forceps arms arranged symmetrically, and a clamping end and a connecting end arranged along the length direction of the forceps arms for clamping tissue samples; An FBG strain sensor is arranged on the clamping end to obtain the wavelength of the FBG of the clamping end in different clamping states; An information mapping module, which is connected to the FBG strain sensor and is used to pre-establish a unique mapping relationship between the wavelength of each FBG and the clamping force of the clamping end; The clamping control assembly includes two cam rotating mechanisms symmetrically arranged on the outside of the two forceps arms to enable the clamping ends of the two forceps arms to move in a direction close to each other; A clamping analysis module, which is respectively connected to the FBG strain sensor, the information mapping module and the clamping control component, and includes an error analysis unit and a pre-compensation unit, wherein the error analysis unit is used to determine the corresponding first mapping clamping force according to the wavelength of the FBG, and to determine whether the clamping effect of the clamping end is abnormal based on the comparison between the first mapping clamping force and the actual feedback clamping force; The pre-compensation unit is used to control any cam rotating mechanism to rotate a preset angle in the pre-compensation direction according to the determination result of abnormal clamping effect, and determine the corresponding second mapping clamping force according to the wavelength of the FBG after rotation; A compensation execution module is connected to the clamping analysis module and the clamping control component respectively, and is used to determine the operation adjustment mode of the two cam rotating mechanisms according to the re-comparison between the second mapped clamping force and the actual feedback clamping force.

2. The medical quantitative injury forceps according to claim 1, characterized in that: Each cam rotating mechanism includes a cam in contact with the outer side of each tweezer arm and a rotating shaft driving the cam to rotate, so as to drive the cam to contact and squeeze the outer side of each tweezer arm through the rotating shaft, so that the clamping ends of the two tweezer arms can move in a direction close to each other.

3. The medical quantitative injury forceps according to claim 2, characterized in that: The base platform is also fixedly provided with a first bracket, a second bracket and a third bracket; Among them, a transmission mechanism is arranged between the first bracket and the second bracket, and the transmission mechanism includes a main transmission shaft and two auxiliary transmission shafts connected to the main transmission shaft and symmetrically arranged on both sides of the main transmission shaft, and each auxiliary transmission shaft is connected to the rotating shaft of the cam rotation, so that the main transmission shaft transmits the rotational power to each auxiliary transmission shaft, and each auxiliary transmission shaft drives the rotating shaft to rotate.

4. The medical quantitative injury forceps according to claim 3, characterized in that: The third bracket is connected to a control handle, a driving motor is arranged inside the control handle, and the driving motor provides rotational power to the main transmission shaft through a coupling between the second bracket and the third bracket.

5. The medical quantitative injury forceps according to claim 4, characterized in that: The error analysis unit is further used to calculate a first difference, and if the first difference does not meet the error comparison condition, the error analysis unit determines that the clamping effect of the clamping end is abnormal; The error comparison condition is that the difference does not exceed a preset difference threshold, and the first difference is the difference between the first mapped clamping force and the actual feedback clamping force.

6. The medical quantitative injury forceps according to claim 5, characterized in that: The pre-compensation direction is the cam rotation direction of the cam rotation mechanism in a direction that enables the clamping ends of the two forceps arms to move toward each other.

7. The medical quantitative injury forceps according to claim 6, characterized in that: The compensation execution module is also used to calculate a second difference; If the second difference meets the error control condition, the compensation execution module determines that the pre-compensation method of the clamping end is effective; If the second difference does not meet the error control condition, the compensation execution module determines that the pre-compensation mode of the clamping end is invalid; The error control condition is that the second difference does not exceed the first difference, and the second difference is the difference between the second mapped clamping force and the actual feedback clamping force.

8. The medical quantitative injury forceps according to claim 7, characterized in that: The compensation execution module determines the cam rotating mechanism rotating in the pre-compensation direction as the compensation cam rotating mechanism according to the determination result that the pre-compensation mode is effective, and performs compensation rotation on the compensation cam rotating mechanism in the first compensation direction; The rotation angle of the compensating rotation toward the first compensation direction is determined according to the second difference, the rotation angle is positively correlated with the second difference, and the first compensation direction is consistent with the pre-compensation direction.

9. The medical quantitative injury forceps according to claim 7, characterized in that: The compensation execution module obtains the wavelength change of the FBG before and after the pre-compensation and the actual feedback clamping force change according to the determination result that the pre-compensation mode is invalid, and calculates the compensation effect factor according to the wavelength change and the actual feedback clamping force change; If the compensation effect factor is greater than a preset compensation effect factor reference value, the compensation execution module determines to issue a clamping damage abnormality alarm; If the compensation effect factor is less than or equal to a preset compensation effect factor reference value, the compensation execution module determines that it is not necessary to issue a clamping damage abnormality alarm; The compensation effect factor is a numerical ratio of the wavelength change to the actual feedback clamping force change.

10. The medical quantitative injury forceps according to claim 9, characterized in that: The compensation execution module performs compensation rotation on the two cam rotating mechanisms in the second compensation direction according to the determination result that the pre-compensation mode is invalid and there is no need to issue a clamping damage abnormal alarm; The rotation angle of the compensating rotation toward the second compensation direction is determined according to the second difference, the rotation angle is positively correlated with the second difference, and the second compensation direction is opposite to the pre-compensation direction.

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