A quantitative injury forceps for medical use

Abstract

The present invention relates to the technical field of medical devices, and particularly to a quantitatively damaging forceps for medical use. The present invention is provided with a base platform, a forceps 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 through the FBG strain sensor, and a unique mapping relationship 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 is determined through the clamping analysis module. Any cam rotation mechanism is controlled by the pre-compensation unit to rotate a preset angle in the pre-compensation direction, and the operation adjustment mode for the two cam rotation mechanisms is determined through the compensation execution module. Furthermore, the abnormal phenomenon of the forceps causing damage is timely detected according to the real-time data feedback situation, and the clamping state is timely adjusted according to scientific analysis, thereby improving the stability of the construction of the traumatic lesion model.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and particularly to a quantitative injury forceps for medical use. Background Art

[0002] In the field of medical research, the construction of traumatic lesion models plays a crucial role in deeply understanding the trauma mechanism and developing treatment methods. Among them, the clamping model, as a commonly used means, aims to simulate the injury process experienced by tissues when the human body suffers trauma. When constructing the traditional clamping model, researchers face many challenges in using ordinary clamping tools. In terms of operation accuracy, relying on manual operation of ordinary pliers to apply clamping force, there are huge differences in the force application habits and force control of different operators, and it is impossible to effectively simulate the situation where the intima of blood vessels is damaged under real trauma and subsequent pathological reactions are triggered.

[0003] With the advancement of research towards refinement and quantification, the need for precise control of clamping force has become increasingly significant. In the construction of nerve injury models, subtle 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 a precise force feedback system, and researchers cannot know the exact clamping force value in real time during the experiment. In view of these deficiencies, there is an urgent need for a professional clamping tool that can not only accurately and quantitatively control the clamping force, but also has a reliable force feedback and automatic compensation adjustment function. At this time, the fiber Bragg grating (FBG) technology provides an innovative solution for optimizing the clamping model of traumatic lesion models.

[0004] For example, Chinese Patent Application Publication No.: CN104434304A, this invention discloses a bipolar electrocoagulation forceps, which includes a support seat, a handle, a plastic tube, an electrocoagulation wire and a stretching member. One end portions of the first handle and the second handle away from the support seat are received in the plastic tube; the electrocoagulation wire includes a first electrode and a second electrode, both the first electrode and the second electrode are received in the plastic tube, one end is connected to the support seat, and the other end passes through the plastic tube and extends outside the plastic tube; the stretching member is received in the plastic tube, one end of the stretching member is bifurcated, the other end is fixedly connected to the support seat, and the two bifurcated parts of the stretching member are respectively connected to the first electrode and the second electrode. Without changing the handle structure and changing the doctor's hand feeling, the bipolar electrocoagulation has a small opening and closing, and the operation is simple and sensitive.

[0005] However, the following problems still exist in the prior art:

[0006] The prior art does not consider that in the construction of traumatic lesion models, the adhesed tissue parts are easily pulled on each other, resulting in slipping during the process of the forceps clamping the tissue. The prior art cannot timely detect the abnormal phenomenon of the injury effect of the forceps according to the real-time data feedback situation, and cannot timely adjust the clamping state according to scientific analysis, affecting the stability of the construction of traumatic lesion models. Summary of the Invention

[0007] To this end, the present invention provides a medical quantitative injury forceps to overcome the problems in the prior art that it cannot timely detect the abnormal effect of the forceps causing injury according to the real-time data feedback, and cannot timely adjust the clamping state according to scientific analysis.

[0008] To achieve the above object, the present invention provides a medical quantitative injury forceps, including:

[0009] A base platform;

[0010] A forceps body, which is fixedly arranged at the bottom of the base platform and includes two symmetrically arranged forceps arms, a clamping end and a connecting end for clamping tissue samples arranged along the length direction of the forceps arms;

[0011] An FBG strain sensor, which is arranged on the clamping end to obtain the wavelength of the FBG under different clamping states of the clamping end;

[0012] 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 each wavelength of the FBG corresponds to a unique mapped clamping force;

[0013] A clamping control component, which includes two cam rotation mechanisms symmetrically arranged outside the two forceps arms to enable the clamping ends of the two forceps arms to move in the direction of approaching each other;

[0014] 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. The error analysis unit is used to determine the corresponding first mapped clamping force according to the wavelength of the FBG, and determine whether the clamping effect of the clamping end is abnormal based on the comparison between the first mapped clamping force and the actually feedback clamping force;

[0015] The pre-compensation unit is used to control any one of the cam rotation mechanisms to rotate a preset angle in the pre-compensation direction according to the determination result of the abnormal clamping effect, and determine the corresponding second mapped clamping force according to the wavelength of the FBG after rotation;

[0016] A compensation execution module, which is respectively connected to the clamping analysis module and the clamping control component, and is used to determine the operation adjustment mode of the two cam rotation mechanisms according to the re-comparison between the second mapped clamping force and the actually feedback clamping force.

[0017] Further, each cam rotation mechanism includes a cam in contact with the outside of each forceps arm and a rotating shaft for driving the cam to rotate, so as to drive the cam to contact and press the outside of each forceps arm through the rotating shaft, so that the clamping ends of the two forceps arms can move in the direction of approaching each other.

[0018] Furthermore, a first bracket, a second bracket and a third bracket are fixedly arranged on the base platform;

[0019] Wherein, a transmission mechanism is arranged between the first bracket and the second bracket. The transmission mechanism includes a main transmission shaft and two sub-transmission shafts which are connected to the main transmission shaft and symmetrically arranged on both sides of the main transmission shaft. Each sub-transmission shaft is connected to the rotating shaft of the cam rotation, so that the main transmission shaft transmits the rotation power to each sub-transmission shaft, and each sub-transmission shaft drives the rotating shaft to rotate.

[0020] Furthermore, the third bracket is connected to a control handle, and a driving motor is arranged in the control handle. The driving motor provides rotation power to the main transmission shaft through a coupling between the second bracket and the third bracket.

[0021] Furthermore, the error analysis unit is also used to calculate a first difference. 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;

[0022] Wherein, 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.

[0023] Furthermore, the pre-compensation direction is the cam rotation direction in which the cam rotation mechanism enables the clamping ends of the two tweezer arms to move in the direction of approaching each other.

[0024] Furthermore, the compensation execution module is also used to calculate a second difference;

[0025] 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;

[0026] If the second difference does not meet the error control condition, the compensation execution module determines that the pre-compensation method of the clamping end is ineffective;

[0027] Wherein, 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.

[0028] Furthermore, according to the determination result that the pre-compensation method is effective, the compensation execution module determines the cam rotation mechanism that rotates in the pre-compensation direction as the compensation cam rotation mechanism, and performs compensation rotation on the compensation cam rotation mechanism in the first compensation direction;

[0029] Among them, the rotation angle of the compensation rotation in 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.

[0030] Further, the compensation execution module obtains the wavelength change amount of the FBG before and after pre-compensation and the actual feedback clamping force change amount according to the determination result that the pre-compensation method is invalid, and calculates a compensation effect factor according to the wavelength change amount and the actual feedback clamping force change amount.

[0031] If the compensation effect factor is greater than a preset compensation effect factor reference value, the compensation execution module determines to issue an abnormal clamping damage alarm.

[0032] If the compensation effect factor is less than or equal to a preset compensation effect factor reference value, the compensation execution module determines that there is no need to issue an abnormal clamping damage alarm.

[0033] Among them, the compensation effect factor is the numerical ratio of the wavelength change amount to the actual feedback clamping force change amount.

[0034] Further, the compensation execution module performs a compensation rotation on the two cam rotation mechanisms in the second compensation direction according to the determination result that the pre-compensation method is invalid and there is no need to issue an abnormal clamping damage alarm.

[0035] Among them, the rotation angle of the compensation rotation in 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.

[0036] Compared with the prior art, the beneficial effects of the present invention are as follows. The present invention provides 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 through the FBG strain sensor, and a unique mapping relationship between the wavelength of each FBG and the clamping force at the clamping end is established in advance through the information mapping module. The clamping effect at the clamping end is determined whether it is abnormal through the clamping analysis module. The pre-compensation unit controls any one of the cam rotation mechanisms to rotate a preset angle in the pre-compensation direction. The compensation execution module determines the operation adjustment method for the two cam rotation mechanisms. Furthermore, it realizes the timely discovery of the abnormal effect of tweezer damage according to the real-time data feedback situation, and timely adjusts the clamping state according to scientific analysis, improving the stability of the construction of the traumatic lesion model.

[0037] In particular, in the present invention, by arranging a rotating shaft to drive a cam to contact and press the outer sides of each tweezer arm, the clamping ends of the two tweezer arms can move in a direction approaching each other. This method enables more precise adjustment of the clamping force of the tweezers. By precisely controlling the rotation angle of the cam using the rotating shaft, the pressing force on the tweezer arms can be accurately changed, thereby achieving delicate control of the clamping force magnitude. During long-term repetitive experimental operations for constructing a traumatic lesion model, a stable clamping force can be continuously provided for the tweezers.

[0038] In particular, the present invention arranges a main transmission shaft and two sub-transmission shafts connected to the main transmission shaft. Through the synchronous control of the two sub-transmission shafts by the main transmission shaft, it can ensure that the power transmitted to the two cam rotation mechanisms is output at the same time and in the same state. Since the two sub-transmission shafts are respectively associated with the cam rotation mechanisms on the outer sides of the two tweezer arms, the clamping ends of the two tweezer arms can move synchronously in a direction approaching each other. Furthermore, when clamping a tissue sample, the clamping forces on both sides of the tissue are uniform. Sometimes, due to tissue adhesion, irregular shape, or local special conditions, it may be necessary to differentially adjust the clamping forces of the two tweezer arms. The main transmission shaft has the ability to independently control the two sub-transmission shafts, and can specifically adjust the rotation of a certain sub-transmission shaft according to the specific situation, thereby changing the clamping force of the corresponding tweezer arm. Furthermore, the adjustment ability of the tweezers to control the clamping force is improved, ensuring the stability of the clamping operation on the tissue sample.

[0039] In particular, by calculating the first difference in the present invention, the first mapped clamping force theoretically obtained according to the FBG wavelength can be compared with the actual feedback clamping force. This comparison provides a quantitative basis for evaluating the actual working state of the clamping end of the tweezers, making the judgment of the clamping effect no longer rely on subjective feelings but 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 detected in time, avoiding irreversible damage to the tissue caused by improper clamping force. Furthermore, the abnormal phenomenon of the tweezers causing damage can be detected in time according to the real-time data feedback situation, improving the stability of constructing the traumatic lesion model.

[0040] In particular, the present invention calculates the second difference through the compensation execution module, enabling the system to clearly determine whether the pre-compensation measure has truly improved the clamping effect. It can be understood that if the second difference meets the error control condition after pre-compensation, it indicates that the pre-compensation method has effectively reduced the deviation of the clamping force to a certain extent, verifying the feasibility of the pre-compensation strategy. According to whether the pre-compensation method is effective, the compensation execution module can make an intelligent decision. If the pre-compensation method is effective, the system can continue to perform further fine adjustments in the effective compensation direction to consolidate and optimize the compensation effect; if the pre-compensation method is ineffective, 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 a timely manner based on scientific analysis, improving the stability and safety of the system during long-term and complex operations, and enhancing the stability of the construction of the traumatic lesion model.

[0041] In particular, the present invention determines the compensation cam rotation mechanism by identifying the cam rotation mechanism that rotates in the pre-compensation direction, enabling the clear determination of the execution object of the subsequent compensation action. The rotation angle of compensation is determined based on the second difference, and the rotation angle is positively correlated with the second difference, making the determination of the compensation rotation angle more scientific and accurate. The larger the second difference, the more compensation is required, and accordingly, the rotation angle of the cam rotation mechanism is increased, enabling more precise adjustment of the clamping force and avoiding over-compensation or under-compensation. Furthermore, the clamping state can be adjusted in a timely manner based on scientific analysis, improving the stability and safety of the system during long-term and complex operations, and enhancing the stability of the construction of the traumatic lesion model.

[0042] In particular, the present invention determines whether to issue an abnormal clamping damage 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 ineffective 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 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 at the clamping end of the tweezers. Under such conditions, an abnormal clamping damage alarm needs to be issued to promptly eliminate the abnormally constructed traumatic lesion model. When the pre-compensation method is ineffective and the ratio of the wavelength change of the FBG before and after pre-compensation to the actual feedback clamping force change is small, it indicates that the change in the clamping state of the tweezers can effectively improve the clamping force at the clamping end of the tweezers. Without triggering an alarm, the two cam rotation mechanisms are compensated and 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 can be adjusted in a timely manner based on scientific analysis, improving the stability and safety of the system during long-term and complex operations, and enhancing the stability of the construction of the traumatic lesion model. Description of the Drawings

[0043] Figure 1 This is the front view of the medical quantitative injury forceps according to the embodiment of the present invention;

[0044] Figure 2 This is the bottom view of the medical quantitative injury forceps according to the embodiment of the present invention;

[0045] Figure 3 This is the fitting curve of the mapping relationship between the wavelength of the FBG and the clamping force of the clamping end in the information mapping module according to the embodiment of the present invention;

[0046] Figure 4 This is the logic flowchart for the error analysis unit to determine that the clamping effect of the clamping end is abnormal according to the embodiment of the present invention;

[0047] Figure 5 This is the logic flowchart for the compensation execution module to determine whether the pre-compensation method of the clamping end is effective according to the embodiment of the present invention;

[0048] In the figure: 1 - base platform, 2 - forceps arm, 3 - clamping end, 4 - connection end, 5 - FBG strain sensor, 6 - cam, 7 - rotating shaft, 8 - first bracket, 9 - second bracket, 10 - third bracket, 11 - main transmission shaft, 12 - auxiliary transmission shaft, 13 - control handle, 14 - coupling, 15 - pressure sensor. Detailed implementation manners

[0049] In order to make the objectives and advantages of the present invention more clearly understood, the present invention will be 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.

[0050] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are only used to explain the technical principles of the present invention and do not limit the protection scope of the present invention.

[0051] It should be noted that in the description of the present invention, the terms indicating directions or positional relationships such as "upper", "lower", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings. This is only for 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, and therefore should not be construed as a limitation to the present invention.

[0052] 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.

[0053] 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:

[0054] Base platform 1;

[0055] 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;

[0056] 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;

[0057] 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.

[0058] 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;

[0059] 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.

[0060] The following is a mapping relationship table between the wavelength of the FBG and the clamping force of the clamping end 3. From 0.7 N to 1.3 N, the wavelength of the FBG of the FBG strain sensor is recorded every 0.05 N.

[0061]

[0062] As can be seen from the above table, when the clamping force changes regularly, the wavelength of the FBG also changes accordingly, showing a positive correlation, and can be used for strain measurement.

[0063] Specifically, the present invention does not limit the information mapping module, which can be a data memory storing the mapping relationship between the wavelength of the FBG and the clamping force of the clamping end 3, and will not be elaborated here.

[0064] The clamping control component includes two cam rotation mechanisms symmetrically arranged outside the two tweezer arms to enable the clamping ends of the two tweezer arms 2 to move in the direction of approaching each other.

[0065] The clamping analysis module 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. The error analysis unit is used to determine the corresponding first mapped clamping force according to the wavelength of the FBG, and determine whether the clamping effect of the clamping end 3 is abnormal based on the comparison between the first mapped clamping force and the actual feedback clamping force.

[0066] The pre-compensation unit is used to control any one of the cam rotation mechanisms to rotate a preset angle in the pre-compensation direction according to the determination result of the abnormal clamping effect, and determine the corresponding second mapped clamping force according to the wavelength of the FBG after rotation.

[0067] Specifically, the present invention does not limit the clamping analysis module, and itself or each unit therein can be composed of logic components. The logic components can be microprocessors or processors used in computers, etc., and will not be elaborated here.

[0068] The compensation execution module is respectively connected to the clamping analysis module and the clamping control component, and is used to determine the operation adjustment mode of the two cam rotation mechanisms according to the re-comparison between the second mapped clamping force and the actual feedback clamping force.

[0069] Specifically, the present invention does not limit the compensation execution module, which can be a programmable logic controller, used to send corresponding control signals for operation adjustment according to the signal comparison situation, and will not be elaborated here.

[0070] Specifically, a pressure sensor 15 is also provided at the clamping end 3 of the tweezer body to obtain the actual feedback clamping force of the clamping end 3. In practice, the pressure sensor 15 can be a piezoelectric pressure sensor respectively arranged on two tweezer arms of the tweezer body. During the process of the clamping end clamping the tissue, the piezoelectric pressure sensors on the tweezer arms are subjected to extrusion force to output the feedback clamping force. The two feedback clamping forces output by the two piezoelectric pressure sensors on the tweezer arms 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, which will not be elaborated here.

[0071] Specifically, please continue to refer to Figure 2 As shown, each cam rotation mechanism includes a cam 6 in contact with the outer sides of the tweezer arms and a rotating shaft 7 for driving the cam to rotate, so as to drive the cam 6 to contact and press the outer sides of the tweezer arms through the rotating shaft 7, enabling the clamping ends of the two tweezer arms 2 to move in the direction of approaching each other.

[0072] Specifically, in the present invention, by setting the rotating shaft 7 to drive the cam 6 to contact and press the outer sides of the tweezer arms, the clamping ends of the two tweezer arms 2 can move in the direction of approaching each other. This method makes the adjustment of the clamping force of the tweezer more precise. By precisely controlling the rotation angle of the cam 6 with the rotating shaft 7, the extrusion force on the tweezer arms 2 can be accurately changed, realizing delicate control of the magnitude of the clamping force, and continuously providing a stable clamping force for the tweezer during long-term repetitive experimental operations of constructing a traumatic lesion model.

[0073] Specifically, a first bracket 8, a second bracket 9, and a third bracket 10 are also fixedly arranged on the base platform 1;

[0074] Among them, a transmission mechanism is arranged between the first bracket 8 and the second bracket 9. The transmission mechanism includes a main transmission shaft 11 and two sub-transmission shafts symmetrically arranged on both sides of the main transmission shaft 11 and connected to the main transmission shaft 11. Each sub-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 sub-transmission shaft 12, and each sub-transmission shaft 12 drives the rotating shaft 7 to rotate.

[0075] In practice, a planetary gear train structure can be adopted. The main transmission shaft 11 serves as the sun gear, and each sub-transmission shaft 12 serves as the shaft of the planetary gear. In the case of synchronous transmission, the main transmission shaft 11 drives the two sub-transmission shafts 12 to run synchronously; when it is necessary to control a single sub-transmission shaft 12 alone, other sub-transmission shafts 12 are braked or separated through control elements such as clutches and brakes in the planetary gear train, so as to realize the main transmission shaft 11 driving only one sub-transmission shaft 12 to run. This is the prior art and will not be elaborated here.

[0076] Specifically, the present invention ensures that the power transmitted to the two cam rotation mechanisms is output at the same time and in the same state by setting the main transmission shaft 11 and two secondary transmission shafts connected to the main transmission shaft 11, and through the synchronous control of the two secondary transmission shafts by the main transmission shaft 11. Since the two secondary transmission shafts are respectively associated with the cam rotation mechanisms on the outer sides of the two tweezer arms, the clamping ends of the two tweezer arms 2 can move synchronously in the direction of approaching each other, thereby ensuring that the clamping forces on both sides of the tissue are uniform when clamping the tissue sample. Sometimes, due to tissue adhesion, irregular shape or local special conditions, it is necessary to differentially adjust the clamping forces of the two tweezer arms 2. The main transmission shaft 11 has the ability to independently control the two secondary transmission shafts, and can specifically adjust the rotation of a certain secondary transmission shaft 12 according to the specific situation, thereby changing the clamping force of the corresponding tweezer arm 2. Furthermore, the adjustment ability of the tweezer to control the clamping force is improved, and the stability of the clamping operation of the tissue sample is ensured.

[0077] Specifically, the third bracket 10 is connected to the control handle 13, a driving motor is arranged 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.

[0078] In implementation, the information mapping module, the clamping analysis module, and the compensation execution module can all be arranged in the control handle 13.

[0079] Specifically, please refer to Figure 4 As shown, it is a logic flowchart for the error analysis unit of the embodiment of the present invention to determine that the clamping effect of the clamping end 3 is abnormal. The error analysis unit is also used to calculate the first difference;

[0080] 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;

[0081] 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;

[0082] Among them, 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.

[0083] In implementation, the value of the preset difference threshold can be set according to the stable accuracy of the trauma lesion model construction. The higher the stable accuracy requirement of the model construction, the smaller the value of the difference threshold. Here, a value of the difference threshold with higher accuracy is provided, and the difference threshold is 0.2N.

[0084] Specifically, by calculating the first difference, the present invention can compare the first mapped clamping force theoretically obtained according to the FBG wavelength with the actual feedback clamping force. This comparison provides a quantitative basis for evaluating the actual working state of the clamping end 3 of the tweezers, enabling the judgment of the clamping effect to no longer rely on subjective feelings but on precise numerical comparisons. 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 detected in time to avoid irreversible damage to the tissue caused by improper clamping force. Furthermore, it realizes the timely discovery of abnormal phenomena in the effect of tweezer-induced injury based on real-time data feedback, improving the stability of the construction of the traumatic lesion model.

[0085] Specifically, the pre-compensation direction is the cam rotation direction in which the cam rotation mechanism enables the clamping ends of the two tweezer arms to move in the direction of approaching each other.

[0086] Specifically, please refer to Figure 5 As shown, it is a logic flowchart for the compensation execution module of the embodiment of the present invention to determine whether the pre-compensation method of the clamping end 3 is effective. The compensation execution module is also used to calculate the second difference;

[0087] 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;

[0088] If the second difference does not meet the error control condition, the compensation execution module determines that the pre-compensation method of the clamping end 3 is ineffective;

[0089] Wherein, 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.

[0090] Specifically, by calculating the second difference through the compensation execution module, the system can clarify whether the pre-compensation measure really plays a role in improving the clamping effect. It can be understood that if the second difference meets the error control condition after pre-compensation, it indicates that the pre-compensation method effectively reduces the deviation of the clamping force to a certain extent, verifying the feasibility of the pre-compensation strategy. According to whether the pre-compensation method is effective, the compensation execution module can make an intelligent decision. 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 ineffective, the tissue sample situation can be re-evaluated and the compensation strategy can be changed. Furthermore, by continuously verifying and adjusting the compensation strategy, it realizes the timely adjustment of the clamping state based on scientific analysis, improves the stability and safety of the system during long-term and complex operations, and improves the stability of the construction of the traumatic lesion model.

[0091] Specifically, according to the effective determination result of the pre-compensation method, the compensation execution module determines the cam rotation mechanism that rotates in the pre-compensation direction as the compensation cam rotation mechanism, and compensates and rotates the compensation cam rotation mechanism in the first compensation direction;

[0092] Among them, the rotation angle of the compensation rotation in 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.

[0093] Specifically, by determining the cam rotation mechanism that rotates in the pre-compensation direction as the compensation cam rotation mechanism, the present invention 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, making the determination of the compensation rotation angle more scientific and accurate. The larger the second difference, the more compensation is required, so the rotation angle of the cam rotation mechanism is correspondingly increased, which can adjust the clamping force more precisely, avoid over-compensation or under-compensation, and further realize timely adjustment of the clamping state according to scientific analysis, improve the stability and safety of the system in long-term and complex operations, and improve the stability of the construction of the traumatic lesion model.

[0094] Specifically, according to the determination result that the pre-compensation method is invalid, the compensation execution module obtains the wavelength change amount C of the FBG before and after pre-compensation and the actual feedback clamping force change amount F, and calculates the compensation effect factor P according to the wavelength change amount and the actual feedback clamping force change amount;

[0095] If 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;

[0096] If the compensation effect factor P is less than or equal to the preset compensation effect factor reference value P0, the compensation execution module determines that there is no need to issue an abnormal clamping damage alarm;

[0097] Among them, the compensation effect factor P is the numerical ratio of the wavelength change amount to the actual feedback clamping force change amount.

[0098] Specifically, the value of the preset compensation effect factor reference value P0 is obtained from several experiments. Calculate the wavelength change amount C of the FBG before and after pre-compensation and the actual feedback clamping force change amount F of several experiments, calculate the average value of the compensation effect factors calculated several times, and determine the average value as the compensation effect factor reference value P0. Preferably, the compensation effect factor reference value P0 = 70.

[0099] In implementation, if the wavelength C1 of the FBG before pre-compensation is 1530 nm and the wavelength C2 of the FBG after pre-compensation is 1538 nm, then the wavelength change amount C of the FBG before and after pre-compensation is 8 nm. The actual feedback clamping force F1 before pre-compensation is 0.8 N, and the actual feedback clamping force F2 after pre-compensation is 0.9 N. Then the actual feedback clamping force F before and after pre-compensation is 0.1 N. The compensation effect factor P can be calculated as P = 8 / 0.1 = 80. Since the compensation effect factor P is greater than the preset reference value P0 of the compensation effect factor, the compensation execution module determines to issue an abnormal alarm for clamping damage.

[0100] If the wavelength C1 of the FBG before pre-compensation is 1535 nm and the wavelength C2 of the FBG after pre-compensation is 1539 nm, then the wavelength change amount C of the FBG before and after pre-compensation is 4 nm. The actual feedback clamping force F1 before pre-compensation is 0.85 N, and the actual feedback clamping force F2 after pre-compensation is 0.93 N. Then the actual feedback clamping force F before and after pre-compensation is 0.08 N. The compensation effect factor P can be calculated as P = 4 / 0.08 = 50. Since the compensation effect factor P is less than the preset reference value P0 of the compensation effect factor, the compensation execution module determines that there is no need to issue an abnormal alarm for clamping damage.

[0101] Specifically, according to the determination result that the pre-compensation method is invalid and there is no need to issue an abnormal alarm for clamping damage, the compensation execution module compensates and rotates the two cam rotation mechanisms in the second compensation direction;

[0102] Among them, the rotation angle of the compensation rotation in 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.

[0103] Specifically, the present invention determines whether to issue an abnormal clamping damage alarm by obtaining the ratio of the wavelength change amount of the FBG before and after pre-compensation to the actual feedback clamping force change amount. It can be understood that when the pre-compensation method is ineffective and the ratio of the wavelength change amount of the FBG before and after pre-compensation to the actual feedback clamping force change amount is large, it indicates that the clamping state of the tweezers 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 such conditions, it is necessary to issue an abnormal clamping damage alarm and timely eliminate the abnormally constructed traumatic lesion model. When the pre-compensation method is ineffective and the ratio of the wavelength change amount of the FBG before and after pre-compensation to the actual feedback clamping force change amount is small, it indicates that the change in the clamping state of the tweezers can effectively improve the clamping force of the clamping end 3 of the tweezers. On the premise of not triggering an alarm, the two cam rotation mechanisms are compensated and 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 a timely manner based on scientific analysis, improving the stability and safety of the system during long-term and complex operations and enhancing the stability of the construction of the traumatic lesion model.

[0104] 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 all fall within the protection scope of the present invention.

[0105] The above are only the preferred embodiments of the present invention and are not used to limit the present invention; for those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent substitution, improvement, etc. made within the spirit and principle of the present invention shall be included within 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; The clamping end of the tweezers body is also provided with a pressure sensor to obtain the actual feedback clamping force of the clamping end; 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, which 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; 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, wherein the first compensation direction is consistent with the pre-compensation direction; The compensation execution module determines whether to issue a clamping damage abnormal alarm by obtaining the ratio of the wavelength change of the FBG before and after pre-compensation to the actual feedback clamping force change; The compensation execution module performs compensation rotation on the two cam rotating mechanisms in a second compensation direction, which is opposite to the pre-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.

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 obtains the wavelength change amount and the actual feedback clamping force change amount 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 amount and the actual feedback clamping force change amount; 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.

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