Nerve monitoring bipolar electrode special for thyroid gland through endoscope

Abstract

The invention provides a special endoscope thyroid nerve monitoring bipolar electrode, and relates to the technical field of medical apparatuses and instruments. A radio frequency output electrode is arranged in a functional electrode unit and used for applying high-frequency current to carry out tissue cutting and blood coagulation, and a nerve stimulation electrode is used for applying low-frequency current to carry out nerve stimulation and monitoring. The two electrodes work cooperatively, the impedance detection electrode can collect a voltage signal after the low-frequency current passes through the tissue, and the impedance modeling unit converts the collected voltage signal to obtain an impedance value. The position positioning module determines the position of a working point between the two electrode ends. In the operation process, the initial impedance value of the working point at the current position serves as the type impedance to judge the tissue type of the working point, tissue cutting is conducted along with a radio frequency output electrode, the impedance value change of the working point at the current position is monitored, and the tissue cutting result is judged in combination with the previously determined tissue type. And the safety and the overall efficiency of the surgical operation are improved.

Description

Technical Field

[0001] The present application relates to the field of medical device technology, and in particular to an endoscopic thyroid-specific nerve monitoring bipolar. Background Art

[0002] With the development of minimally invasive surgical techniques, endoscopic thyroid surgery has increasingly higher requirements for surgical instruments. In thyroid surgery, not only does it require efficient and precise cutting and coagulation of tissues, but it also requires real-time monitoring and protection of important nerves such as the recurrent laryngeal nerve in the surgical area to avoid postoperative complications.

[0003] The endoscopic thyroid-specific nerve monitoring bipolar is a high-end medical device designed specifically for thyroid surgery. The monopolar electrode is an integrated electrode with both electrical stimulation and tissue coagulation functions. It can be used for coagulation of tissues during laparoscopic or robotic surgery. With the assistance of nerve monitoring, it can accurately detect, identify and protect motor nerves, thereby realizing the intraoperative "cutting-monitoring-feedback-adjustment" closed-loop control, pushing the risk of nerve injury to the lowest possible level while maintaining surgical efficiency; the electrode is equipped with a temperature control system, which can achieve intraoperative low-temperature cutting, reduce intraoperative smoke, tissue adhesion, and thermal damage, thereby helping surgeons achieve efficient surgery and functional protection, reduce surgical risks, and improve the safety and effectiveness of surgery.

[0004] Among the related technologies, the surgical equipment commonly used in clinical practice currently mainly includes two categories: one is electrosurgical equipment that uses high-frequency current for tissue cutting and coagulation, and the other is equipment that uses low-frequency current for nerve stimulation and monitoring. High-frequency current is used for tissue cutting and coagulation, but it cannot take into account nerve stimulation and monitoring at the same time, and there is a risk of nerve damage. Although low-frequency current can be used for nerve stimulation and monitoring, its cutting efficiency is low and cannot meet surgical needs. Summary of the invention

[0005] The present application provides an endoscopic thyroid-specific nerve monitoring bipolar device for improving the safety and overall efficiency of surgical operations.

[0006] The present application provides an endoscopic thyroid-specific nerve monitoring bipolar device, comprising: a functional electrode unit, a signal detection unit, and a control processing unit; Functional electrode unit includes: Radio frequency output electrodes disposed at both ends are used to apply high frequency current for tissue cutting and blood coagulation; A neural stimulation electrode disposed at either end for applying low-frequency current for neural stimulation and monitoring; The signal detection unit includes: An impedance detection electrode disposed at the other end is disposed corresponding to the nerve stimulation electrode and is used to collect a voltage signal after a low-frequency current passes through the tissue; An impedance modeling unit, for converting a voltage signal into an impedance value; The control processing unit includes: Positioning module, used to determine the position of the working point, which is between the two extremes; The central processing module is used to control the radio frequency output electrode and the nerve stimulation electrode to work synchronously; use the initial impedance value of the working point at the current position as the type impedance; determine the tissue type of the working point at the current position through the type impedance; and determine the tissue cutting result according to the tissue type and the impedance value change of the working point at the current position.

[0007] Through the above technical solution, a radio frequency output electrode is set in the functional electrode unit for applying high-frequency current for tissue cutting and coagulation, and a nerve stimulation electrode is used to apply low-frequency current for nerve stimulation and monitoring. The two electrodes work together, and the central processing module of the control processing unit controls them to operate synchronously. The impedance detection electrode corresponding to the nerve stimulation electrode will collect the voltage signal after the low-frequency current passes through the tissue. The impedance modeling unit converts the collected voltage signal to obtain an impedance value, which can intuitively reflect the electrical characteristics of the current tissue. At the same time, the position positioning module determines the position of the working point between the two extremes to provide an accurate position reference for subsequent operations. During the operation, the initial impedance value of the working point at the current position is used as the type impedance to judge the tissue type of the working point. As the radio frequency output electrode performs tissue cutting, the structure and state of the tissue will change, and its impedance value will also change accordingly. Monitor the impedance value change of the working point at the current position, and combine it with the previously determined tissue type to judge the tissue cutting result. In summary, the safety and overall efficiency of the surgical operation are improved.

[0008] In some embodiments, further comprising: a tissue modification unit; The central processing module is also used to determine whether the impedance value change rate of the working point at the current position is within the preset cutting rate range according to the tissue type; If it is not within the preset cutting rate range, the tissue correction unit is activated; The tissue modification unit includes: A feature extraction module is used to collect the low-frequency limit resistance, high-frequency limit resistance, characteristic frequency, and frequency dispersion coefficient of the working point at the current position; Cole eigenvector module, used to input low-frequency limiting resistance, high-frequency limiting resistance, characteristic frequency, and frequency dispersion coefficient into the Cole model to obtain the Cole eigenvector; A tissue type determination module is used to match the Cole feature vector with a preset tissue feature database to determine the new tissue type of the working point at the current position; the tissue feature database includes the Cole parameter ranges of different types of tissues; The central processing module is also used to modify the tissue type using the new tissue type.

[0009] Through the above technical solution, if it is found that the impedance value change rate of the working point at the current position is not within the preset cutting rate range, the tissue correction unit is activated. In the tissue correction unit, the feature extraction module collects key parameters such as low-frequency limit resistance and high-frequency limit resistance. These parameters are passed to the Cole feature vector module. After the Cole feature vector is generated, it is matched with the preset tissue feature database to determine the new tissue type. The central processing module then uses the new tissue type to correct the original tissue type. In this way, in complex situations where tissue characteristics change, the tissue type can be determined more accurately, providing a reliable basis for subsequent surgical operations and ensuring the smooth progress of the operation.

[0010] In some embodiments, the feature extraction module specifically includes: The voltage response submodule is used to collect the voltage response signal of the low-frequency current at different frequencies to obtain the voltage amplitude and phase information; The complex impedance value submodule is used to calculate the complex impedance value according to the voltage amplitude and phase information. The complex impedance value is a complex impedance including impedance magnitude and phase angle; A drawing submodule, used for drawing a Nyquist diagram according to the complex impedance value, wherein the Nyquist diagram is a plane diagram with the real part of the complex impedance value as the abscissa and the imaginary part of the complex impedance value as the ordinate; The fitting submodule is used to perform arc fitting on the Nyquist diagram, wherein the low-frequency limiting resistance and the high-frequency limiting resistance are determined according to the intersection of the arc and the horizontal axis, and the geometric characteristics of the arc are the characteristic frequency and the frequency dispersion coefficient.

[0011] Through the above technical solution, the voltage response submodule in the feature extraction module will collect the voltage response signal of the low-frequency current at different frequencies and obtain the voltage amplitude and phase information. The complex impedance value submodule uses this information to calculate the complex impedance value. The complex impedance value is presented in the form of a complex number containing the impedance magnitude and phase angle, which can more comprehensively and accurately reflect the electrical characteristics of the tissue. The drawing submodule draws the Nyquist diagram based on the complex impedance value, constructs a plane diagram with its real part as the horizontal coordinate and the imaginary part as the vertical coordinate, and intuitively displays the electrical characteristics relationship of the tissue. The fitting submodule performs arc fitting on the Nyquist diagram to determine the key parameters such as the low-frequency limiting resistance, high-frequency limiting resistance, characteristic frequency, and frequency dispersion coefficient, which provide data support for the subsequent work of the Cole feature vector module and the tissue type determination module.

[0012] In some embodiments, the preset cutting rate range is determined by tissue type.

[0013] Through the above technical solution, since the preset cutting rate range is determined by the tissue type, this means that during the entire surgical operation, for different types of tissues, the central processing module 310 will pre-set a matching cutting rate range based on their respective unique physiological characteristics, so as to make the situation of inflammation or pathology more accurate.

[0014] In some embodiments, the position location module specifically includes: The coordinate submodule is used to establish an initial coordinate transformation matrix according to the position coordinates of the detection point and the position coordinates of the working point; The posture angle submodule is used to collect the posture angle data of the endoscopic thyroid dedicated nerve monitoring bipolar, and adjust the initial coordinate transformation matrix according to the posture angle data to obtain the real-time coordinate transformation matrix; The position solver module is used to substitute the real-time position coordinates of the detection point into the real-time coordinate transformation matrix to calculate the position of the working point.

[0015] Through the above technical solution, the coordinate submodule in the position positioning module will first establish an initial coordinate transformation matrix based on the position coordinates of the detection point and the position coordinates of the working point. This is the basic framework for determining the position of the working point. Subsequently, the posture angle submodule collects the posture angle data of the endoscopic thyroid-specific nerve monitoring bipolar. Considering that the posture of the device will change during use, the module adjusts the initial coordinate transformation matrix based on these angle data to obtain a real-time coordinate transformation matrix so that it can adapt to the actual posture of the device. Finally, the position solver module substitutes the real-time position coordinates of the detection point into the real-time coordinate transformation matrix to accurately calculate the position of the working point. Through the sequential collaboration of these submodules, even if the position sensor cannot be placed at the two extremes due to space limitations, the position of the working point can still be accurately determined, providing an accurate position reference for subsequent electrode operations and surgery-related work.

[0016] In some embodiments, further comprising: a tissue positioning module; The neural stimulation electrode includes several stimulation sub-electrodes; The impedance detection electrode includes a plurality of detection sub-electrodes. If the detection sub-electrodes receive the opposite stimulation sub-electrodes, they are the opposite electrode pairs. If the detection sub-electrodes receive the non-opposite stimulation sub-electrodes, they are the oblique electrode pairs. A tissue positioning module, used for calculating a voltage difference between a first voltage signal obtained by the opposing electrode pair passing through the target tissue and a second voltage signal obtained by the oblique electrode pair; According to a preset voltage distance attenuation function, the voltage difference is used to calculate the distance difference between a first distance value from the opposing electrode pair to the target tissue and a second distance value from the oblique electrode pair to the target tissue; Calculating a first distance value or a second distance value according to the distance difference and a preset distance between the opposing electrode pair and the oblique electrode pair; The position information of the target tissue is determined based on the position information of the opposing electrode pair and the first distance value, or the position information of the target tissue is determined based on the position information of the oblique electrode pair and the second distance value.

[0017] Through the above technical solution, the voltage signals obtained from the opposing electrode pairs and oblique electrode pairs formed by several stimulation sub-electrodes in the nerve stimulation electrode and several detection sub-electrodes in the impedance detection electrode are received. The voltage difference is first calculated, and then the distance difference is calculated according to the preset voltage distance attenuation function, and then the distance value of the target tissue is determined, and finally the location information of the target tissue is clarified. Thus, the location of the target tissue is presented, which is convenient for doctors to refer to and improves the accuracy of medical operations.

[0018] In some embodiments, the step of controlling the RF output electrode and the neural stimulation electrode to work synchronously specifically includes: Control the interaction between the RF output electrode and the nerve stimulation electrode.

[0019] Through the above-mentioned technical solution, this interactive working mode can enable the two to be seamlessly connected at different stages of the operation, giving full play to their respective functions in tissue processing and nerve monitoring, avoiding uncoordinated operations and neglecting one thing while focusing on another, thereby improving the continuity and accuracy of the entire surgical process and better ensuring the surgical effect.

[0020] In some embodiments, the central processing module is specifically used to obtain the radio frequency cutting parameters of the high frequency current and the action time of the high frequency current, and the radio frequency cutting parameters include amplitude and frequency; Determine the energy accumulation value according to the radio frequency cutting parameters and action time; Determine thermal conductivity properties based on tissue type; Calculate the time correction factor based on the thermal conductivity and action time; Determine the safe waiting time based on the energy accumulation value and the time correction factor.

[0021] Through the above technical solution, the central processing module first obtains the radio frequency cutting parameters of the high-frequency current (including key elements such as amplitude and frequency) and the action time of the high-frequency current, and accurately calculates the energy accumulation value by combining the two, which reflects the degree of energy impact of radio frequency cutting on the tissue. At the same time, the thermal conductivity of the tissue is determined according to the type of tissue, and then the time correction coefficient is calculated in combination with the action time. This coefficient comprehensively considers the ability of the tissue to conduct heat and the influence of the action time. Finally, the safe waiting time is determined based on the energy accumulation value and the time correction coefficient. When the high-frequency current is used for cutting to cause the tissue to heat up and the electrode surface to produce interference effects, the calculated waiting time ensures that reliable nerve monitoring and other subsequent operations can be carried out after the electrical characteristics of the tissue have returned to stability and the interference effects have been eliminated, effectively ensuring the accuracy of the nerve monitoring results.

[0022] In some embodiments, the time correction coefficient is the product of the reference coefficient, the time proportional coefficient and the thermal conductivity ratio; the time proportional coefficient is the ratio of the action time to the reference time plus 1; the thermal conductivity ratio is the ratio of the thermal conductivity characteristic to the reference thermal conductivity characteristic; The safe waiting time is the product of the basic cooling time, the time correction coefficient and the energy proportional coefficient; the energy proportional coefficient is the ratio of the energy accumulation value to the reference energy plus 1; the basic cooling time is selected according to the tissue type; ; In the formula, Waiting time for safety, is the basic cooling time, is the time correction factor, is the energy proportionality coefficient, is the base coefficient, is the time proportional coefficient, is the action time, is the reference time, is the thermal conductivity ratio, is the thermal conductivity property, For reference thermal conductivity, is the energy accumulation value, is the reference energy.

[0023] Through the above technical solution, the time correction coefficient is determined by the product of the reference coefficient, the time proportional coefficient and the thermal conductivity ratio, where the time proportional coefficient takes into account the ratio of the action time to the reference time plus 1, reflecting the impact of the actual action time on the whole; the thermal conductivity ratio reflects the ratio of the thermal conductivity characteristics of the tissue to the reference thermal conductivity characteristics, which is related to the heat conduction situation. The safe waiting time is based on the basic cooling time and the product of the time correction coefficient and the energy proportional coefficient. The energy proportional coefficient involves the ratio of the energy accumulation value to the reference energy plus 1. Through this calculation method, the actual tissue state, energy accumulation, time and other conditions can be closely combined to accurately determine the safe waiting time, so that the waiting time is more in line with the actual changes in the tissue during the operation, and to the greatest extent possible, each link of the operation is not interfered by factors such as tissue heating.

[0024] In some embodiments, the duration of the high frequency current during one interaction is determined based on the tissue type.

[0025] Through the above technical solution, the duration of high-frequency current can be accurately arranged according to the tissue type to avoid each round of high-frequency current being too long, resulting in excessive cutting, thereby ensuring the efficiency and safety of the tissue processing link during the operation and improving the overall surgical quality.

[0026] One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages: 1. The functional electrode unit is provided with a radio frequency output electrode for applying high frequency current for tissue cutting and coagulation, and a nerve stimulation electrode for applying low frequency current for nerve stimulation and monitoring. The two electrodes work together, and the central processing module of the control processing unit controls them to operate synchronously. The impedance detection electrode corresponding to the nerve stimulation electrode will collect the voltage signal after the low frequency current passes through the tissue. The impedance modeling unit converts the collected voltage signal to obtain the impedance value, which can intuitively reflect the electrical characteristics of the current tissue. At the same time, the position positioning module determines the position of the working point between the two extremes to provide an accurate position reference for subsequent operations. During the operation, the initial impedance value of the working point at the current position is used as the type impedance to judge the tissue type of the working point. As the radio frequency output electrode performs tissue cutting, the structure and state of the tissue will change, and its impedance value will also change accordingly. Monitor the impedance value change of the working point at the current position, and combine it with the previously determined tissue type to judge the tissue cutting result. In summary, the safety and overall efficiency of the surgical operation are improved.

[0027] 2. If it is found that the impedance value change rate of the working point at the current position is not within the preset cutting rate range, the tissue correction unit is activated. In the tissue correction unit, the feature extraction module collects key parameters such as low-frequency limit resistance and high-frequency limit resistance. These parameters are passed to the Cole feature vector module. After the Cole feature vector is generated, it is matched with the preset tissue feature database to determine the new tissue type. The central processing module then uses the new tissue type to correct the original tissue type. In this way, the tissue type can be determined more accurately in complex situations where tissue characteristics change, providing a reliable basis for subsequent surgical operations and ensuring the smooth progress of the operation.

[0028] 3. The coordinate submodule in the position positioning module will first establish an initial coordinate transformation matrix based on the position coordinates of the detection point and the position coordinates of the working point. This is the basic framework for determining the position of the working point. Subsequently, the posture angle submodule collects the posture angle data of the endoscopic thyroid-specific nerve monitoring bipolar. Considering that the posture of the device will change during use, the module adjusts the initial coordinate transformation matrix based on these angle data to obtain a real-time coordinate transformation matrix so that it can adapt to the actual posture of the device. Finally, the position solver module substitutes the real-time position coordinates of the detection point into the real-time coordinate transformation matrix to accurately calculate the position of the working point. Through the sequential collaboration of these submodules, even if the position sensor cannot be placed at the two extremes due to space limitations, the position of the working point can still be accurately determined, providing an accurate position reference for subsequent electrode operations and surgery-related work. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1It is a schematic diagram of an exemplary hardware structure of an endoscopic thyroid-specific nerve monitoring bipolar in an embodiment of the present application.

[0030] Figure 2 It is another exemplary hardware structure diagram of the endoscopic thyroid-specific nerve monitoring bipolar in the embodiment of the present application.

[0031] Figure 3 It is a schematic diagram of an exemplary specific hardware structure of the feature extraction module in the embodiment of the present application.

[0032] Figure 4 It is a schematic diagram of an exemplary specific hardware structure of the position positioning module in an embodiment of the present application. DETAILED DESCRIPTION

[0033] The terms used in the following embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to be used as limitations to the present application. As used in the specification and appended claims of the present application, the singular expressions "one", "a kind of", "said", "above", "the" and "this" are intended to also include plural expressions, unless there is a clear indication to the contrary in the context. It should also be understood that the term "and / or" used in the present application refers to and includes any or all possible combinations of one or more listed items.

[0034] In the following, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as suggesting or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features, and in the description of the embodiments of the present application, unless otherwise specified, "plurality" means two or more.

[0035] See also Figure 1 , Figure 1 It is a schematic diagram of an exemplary hardware structure of an endoscopic thyroid-specific nerve monitoring bipolar in an embodiment of the present application.

[0036] The present application provides an endoscopic thyroid-specific nerve monitoring bipolar, comprising: a functional electrode unit 100, a signal detection unit 200, and a control processing unit 300; The functional electrode unit 100 comprises: The radio frequency output electrodes 110 disposed at the two ends are used to apply high frequency current to perform tissue cutting and blood coagulation; A neural stimulation electrode 120 disposed at either end for applying a low-frequency current for neural stimulation and monitoring; Specifically, during the operation, when the functional electrode unit 100 needs to cut the thyroid tissue, perform coagulation operations, and stimulate and monitor the peripheral nerves, the internal RF output electrode 110 outputs high-frequency current by connecting to the corresponding high-frequency current generating device, and achieves tissue cutting and coagulation by virtue of the thermal effect of the high-frequency current. For example, when removing thyroid nodules, the high-frequency current is used to quickly cut off the diseased tissue and stop the bleeding. The nerve stimulation electrode 120 is connected to a low-frequency current source, and applies low-frequency current to the surrounding tissue to stimulate the nerves, observe the reaction of the nerves, and then determine whether the nerve function is normal, such as determining whether the key nerves such as the recurrent laryngeal nerve are accidentally injured during the operation.

[0037] It should be noted that the front end of the endoscopic thyroid-specific nerve monitoring bipolar, that is, the two extreme ends, presents a clip-like shape. In this special structure, the radio frequency output electrodes 110 are respectively arranged on the two extreme ends to ensure that when performing tissue cutting and coagulation operations, they can work from both ends at the same time to achieve efficient and stable operation effects. The nerve stimulation electrode 120 is only set at one end to stimulate and monitor the nerves at the corresponding position, and the corresponding end is provided with an impedance detection electrode 210 to ensure that the tissue can be effectively processed during the operation and the nerve status can be kept at all times.

[0038] The signal detection unit 200 includes: The impedance detection electrode 210 disposed at the other end is disposed corresponding to the nerve stimulation electrode 120 and is used to collect the voltage signal after the low-frequency current passes through the tissue; An impedance modeling unit 220, for converting a voltage signal into an impedance value; Specifically, during the surgical operation, when the nerve stimulation electrode 120 applies a low-frequency current through the tissue, the signal detection unit 200 starts to work. The impedance detection electrode 210 will correspond to the position of the nerve stimulation electrode 120 and collect the voltage signal after the low-frequency current passes through the tissue. This signal contains relevant information such as the conductive properties of the tissue. Then the impedance modeling unit 220 will obtain the voltage signal and use a specific algorithm and model to convert it into an impedance value, which can intuitively reflect the electrical properties of the current tissue.

[0039] It should be noted that the impedance values ​​of different tissue types are different, but generally within the range of 50Ω-3kΩ, and the impedance value of the nerve area is usually greater than 2kΩ; The control processing unit 300 includes: Position positioning module 320, used to determine the position of the working point, the working point is between the two extremes; The central processing module 310 is used to control the RF output electrode 110 and the neural stimulation electrode 120 to work synchronously; use the initial impedance value of the working point at the current position as the type impedance; determine the tissue type of the working point at the current position through the type impedance; and determine the tissue cutting result according to the tissue type and the impedance value change of the working point at the current position.

[0040] It should be noted that the initial impedance value of the working point at the current position is the type impedance because the high-frequency current will carbonize the local tissue. Once the tissue is carbonized, its internal structure and composition will change, and the conductivity will decrease significantly, which will lead to an increase in the impedance value of the local tissue. However, the working point at the current position refers to the specific position where the tissue is first monitored. It is the location of the tissue before it is deeply affected by the high-frequency current and is still in its natural original state; the initial impedance value is the impedance value exhibited by the tissue in this initial state without being disturbed by carbonization. Based on these two key factors, namely the original position and the corresponding initial impedance value, it can be used as the type impedance to accurately judge the tissue type, which is undoubtedly a reliable reference.

[0041] Specifically, at the beginning of the operation, the position positioning module 320 in the control processing unit 300 will determine the position of the working point between the two extremes, providing an accurate spatial reference for subsequent electrode operations. Then the central processing module 310 will play a role. It will control the RF output electrode 110 and the nerve stimulation electrode 120 to work synchronously, so that tissue cutting, coagulation operations and nerve stimulation and monitoring can be carried out simultaneously. The central processing module 310 will also use the initial impedance value of the working point at the current position as the type impedance. Different tissue types have different impedance range characteristics, and the tissue type of the working point at the current position is determined by this type impedance. And during the operation, as the RF output electrode 110 carries out tissue cutting, the structure and state of the tissue change, and its impedance value also changes accordingly. The central processing module 310 will monitor this impedance value change in real time, and combine it with the previously determined tissue type to judge the tissue cutting result.

[0042] In some embodiments, a database containing the impedance characteristics of normal and cutting stages of different tissues is constructed; the location of the working point is determined by the positioning module. The initial impedance value is obtained before surgery to determine the tissue type, and the impedance value changes are continuously monitored during surgery and recorded as a curve. The real-time impedance change curve is compared with the preset rules, combined with the set threshold range, and the cutting result is judged by comprehensively considering factors such as operation time and electrode parameters.

[0043] It is worth noting that in actual use, whether the initial impedance value exceeds the preset initial impedance threshold, or the impedance value change of the working point during the operation exceeds the preset impedance value change threshold, the device will immediately suspend work. The reason for this setting is that when the initial impedance value exceeds the preset initial impedance threshold, it is very likely that the cutting operation has involved the area around the nerve. In addition, if the impedance value changes by more than the preset impedance value change threshold, this is likely to indicate that the high-frequency current cutting rate is too fast. This excessively fast cutting rate is not only difficult to ensure the accuracy of the cutting, but may also lead to excessive tissue cutting, bleeding and a series of adverse consequences. Therefore, through such threshold monitoring and automatic suspension of work mechanism, timely intervention can be made when potential risks arise, thereby maximizing the safety and effectiveness of the operation.

[0044] It can be seen that the functional electrode unit 100 is provided with a radio frequency output electrode 110 for applying high frequency current for tissue cutting and coagulation, and a nerve stimulation electrode 120 for applying low frequency current for nerve stimulation and monitoring. The two electrodes work together, and the central processing module 310 of the control processing unit 300 controls them to operate synchronously. The impedance detection electrode 210 corresponding to the nerve stimulation electrode 120 will collect the voltage signal after the low frequency current passes through the tissue, and the impedance modeling unit 220 will convert the collected voltage signal to obtain an impedance value, which can intuitively reflect the electrical characteristics of the current tissue. At the same time, the position positioning module 320 determines the position of the working point between the two extremes to provide an accurate position reference for subsequent operations. During the operation, the initial impedance value of the working point at the current position is used as the type impedance to determine the tissue type of the working point. As the radio frequency output electrode 110 performs tissue cutting, the structure and state of the tissue will change, and its impedance value will also change accordingly. Monitor the impedance value change of the working point at the current position, and combine it with the previously determined tissue type to determine the tissue cutting result. In summary, the safety and overall efficiency of the surgical operation are improved.

[0045] In the above embodiment, low-frequency current and high-frequency current work simultaneously to achieve the safety of surgical operation and the overall efficiency effect, but in actual use, due to the existence of inflammation or pathological conditions, the impedance characteristics of normal tissues may be changed, thereby making these tissues have similar impedance values ​​under some physiological conditions. In this way, it is difficult to guarantee the accuracy of judging only by the impedance value.

[0046] See also Figure 2 , Figure 2 It is another exemplary hardware structure diagram of the endoscopic thyroid-specific nerve monitoring bipolar in the embodiment of the present application.

[0047] Therefore, in some other embodiments: further comprising: a tissue correction unit 400; The central processing module 310 is also used to determine whether the impedance value change rate of the working point at the current position is within a preset cutting rate range according to the tissue type; If it is not within the preset cutting rate range, the tissue correction unit 400 is activated; Specifically, during the operation, when the central processing module 310 determines the impedance value change rate of the working point based on the current tissue type and finds that it is not within the preset cutting rate range, it means that the originally identified tissue type may be inaccurate due to tissue inflammation, lesions, etc., and the tissue correction unit 400 will be activated to start working.

[0048] In some embodiments, the central processing module 310 may also suspend the output of the high-frequency current.

[0049] In some embodiments, the preset cutting rate range is determined by tissue type.

[0050] It can be seen that since the preset cutting rate range is determined by the tissue type, this means that during the entire surgical operation, for different types of tissues, the central processing module 310 will pre-set a matching cutting rate range based on their respective unique physiological characteristics, so as to make the situation of inflammation or pathology more accurate.

[0051] The tissue modification unit 400 comprises: The feature extraction module 410 is used to collect the low-frequency limit resistance, high-frequency limit resistance, characteristic frequency, and frequency dispersion coefficient of the working point at the current position; It should be noted that the premise of the feature extraction module 410 is that the neural stimulation electrode 120 is used to release low-frequency currents of different frequencies. For example, only when the neural stimulation electrode 120 continuously and stably outputs low-frequency currents of different frequencies, such as currents within a reasonable frequency range from low frequency to relatively high frequency, can the feature extraction module 410 detect the changes in signals such as voltage and current after these currents pass through the tissue, and extract key parameters such as low-frequency limiting resistance, high-frequency limiting resistance, characteristic frequency, and frequency dispersion coefficient, so as to provide necessary data support for subsequent operations such as determining tissue types. Therefore, in this case, the central processing module 310 will control the neural stimulation electrode 120 to release low-frequency currents of different frequencies.

[0052] In some embodiments, the feature extraction module 410 specifically includes: The voltage response submodule 411 is used to collect the voltage response signal of the low-frequency current at different frequencies to obtain the voltage amplitude and phase information; Specifically, when the nerve stimulation electrode 120 releases low-frequency currents of different frequencies through the tissue, the voltage response submodule 411 starts working. It will continuously collect the voltage response signal at each frequency to ensure that the slight changes in the signal can be accurately captured. The collected original signal may contain noise and interference, so the voltage response submodule 411 will filter the signal to remove unnecessary high-frequency and low-frequency noise. Then, through signal processing algorithms, such as phase-locked loop technology or Fourier transform, the voltage amplitude and phase information are extracted from the processed signal. This information reflects the response characteristics of the tissue to low-frequency currents of different frequencies and is the basis for the subsequent calculation of the complex impedance value.

[0053] The complex impedance value submodule 412 is used to calculate the complex impedance value according to the voltage amplitude and phase information, and the complex impedance value is a complex impedance including impedance magnitude and phase angle; Specifically, according to Ohm's law in electricity, in an AC circuit, the complex impedance Z is equal to the ratio of the voltage U to the current I, and since both the voltage and the current have amplitude and phase information, the complex impedance is in a complex form. The complex impedance value submodule 412 combines the known current information (the amplitude and phase of the current are usually pre-set in the central processing module 310 or measured by other means) and uses the rules of complex number operations for calculation. First, the amplitude and phase information of the voltage and current are converted into complex form, and then a division operation is performed to obtain the complex impedance value. The calculated complex impedance value contains two important information: impedance magnitude and phase angle. The impedance magnitude reflects the resistance of the tissue to the current, and the phase angle reflects the phase relationship between the voltage and the current. These two pieces of information together constitute the electrical characteristics description of the tissue.

[0054] A drawing submodule 413 is used to draw a Nyquist diagram according to the complex impedance value, where the Nyquist diagram is a plane diagram with the real part of the complex impedance value as the abscissa and the imaginary part of the complex impedance value as the ordinate; Specifically, the drawing submodule 413 extracts the complex impedance value according to the real part and the imaginary part, respectively, the real part corresponds to the horizontal coordinate of the graph, and the imaginary part corresponds to the vertical coordinate of the graph. Then, according to the extracted data points, the drawing algorithm is used to draw the corresponding points on the coordinate plane.

[0055] The fitting submodule 414 is used to perform arc fitting on the Nyquist diagram, wherein the low-frequency limiting resistance and the high-frequency limiting resistance are determined according to the intersection of the arc and the horizontal axis, and the geometric features of the arc are the characteristic frequency and the frequency dispersion coefficient.

[0056] Specifically, after the drawing submodule 413 passes the drawn Nyquist diagram to the fitting submodule 414, the fitting submodule 414 starts arc fitting. First, the fitting submodule 414 selects a suitable fitting algorithm, such as the least squares method, the genetic algorithm, etc., to fit the data points on the Nyquist diagram. The goal of fitting is to find an arc so that the error between the arc and the data points on the Nyquist diagram is minimized. According to the intersection of the arc and the horizontal coordinate obtained by fitting, the low-frequency limiting resistance and the high-frequency limiting resistance are determined. The low-frequency limiting resistance corresponds to the left intersection of the arc and the horizontal coordinate, and the high-frequency limiting resistance corresponds to the right intersection of the arc and the horizontal coordinate. When the imaginary impedance reaches the maximum value, the corresponding frequency is the characteristic frequency, the characteristic frequency multiplied by 2π is the characteristic angular frequency, and the degree of flattening of the arc is the frequency dispersion coefficient.

[0057] It can be seen that the voltage response submodule in the feature extraction module 410 will collect the voltage response signal of the low-frequency current at different frequencies and obtain the voltage amplitude and phase information. The complex impedance value submodule uses this information to calculate the complex impedance value. The complex impedance value is presented in a complex form including the impedance magnitude and phase angle, which can more comprehensively and accurately reflect the electrical characteristics of the tissue. The drawing submodule draws the Nyquist diagram based on the complex impedance value, constructs a plane diagram with its real part as the horizontal coordinate and the imaginary part as the vertical coordinate, and intuitively displays the electrical characteristics relationship of the tissue. The fitting submodule performs arc fitting on the Nyquist diagram to determine the key parameters such as the low-frequency limiting resistance, high-frequency limiting resistance, characteristic frequency, and frequency dispersion coefficient, which provide data support for the subsequent work of the cole feature vector module 420 and the tissue type determination module 430.

[0058] Cole characteristic vector module 420, used to input low frequency limiting resistance, high frequency limiting resistance, characteristic frequency, and frequency dispersion coefficient into Cole model to obtain Cole characteristic vector; In some embodiments, the Cole model is:

[0059] In the formula, is the Cole eigenvector, is the high frequency limiting resistance, is the low frequency limiting resistance, is an imaginary unit, is the angular frequency in the characteristic frequency, is the characteristic angular frequency in the characteristic frequency, is the frequency dispersion coefficient.

[0060] The tissue type determination module 430 is used to match the Cole feature vector with a preset tissue feature database to determine the new tissue type of the working point at the current position; the tissue feature database includes the Cole parameter ranges of different types of tissues; Specifically, when the Cole feature vector module 420 generates a Cole feature vector and transmits it, the tissue type determination module 430 starts to operate. It will access the preset tissue feature database, which records in detail the Cole parameter ranges corresponding to different types of tissues (such as muscle tissue, fat tissue, nerve tissue, etc.), and these parameter ranges are obtained through a large number of experiments and clinical data statistical analysis. Find the type of tissue that is most similar to the current Cole feature vector, determine it as the new tissue type of the working point at the current position, and feed this result back to the central processing module 310 so that the central processing module 310 can perform subsequent tissue type correction operations.

[0061] The central processing module 310 is also used to modify the tissue type using the new tissue type.

[0062] In some embodiments, the central processing module 310 starts its tissue type correction function. It will receive the new tissue type information, and then find the corresponding original tissue type record position in the internally stored tissue type record related to the current surgery, and replace the original tissue type with the new tissue type, so that all subsequent operations based on tissue type, such as determining whether the impedance value change rate of the working point is normal, adjusting the working parameters of the RF output electrode 110 and the nerve stimulation electrode 120, etc., can be based on the new and more accurate tissue type. In this way, even in complex situations where the impedance characteristics of the tissue change due to inflammation, lesions and other factors, and the initial tissue type judgment is inaccurate, the entire surgical operation can still rely on the corrected tissue type to ensure the safety and effectiveness of the surgery, and avoid surgical errors caused by incorrect tissue type judgments.

[0063] It can be seen that if it is found that the impedance value change rate of the working point at the current position is not within the preset cutting rate range, the tissue correction unit 400 is activated. In the tissue correction unit 400, the feature extraction module 410 collects key parameters such as low-frequency limit resistance and high-frequency limit resistance. These parameters are passed to the Cole feature vector module 420. After the Cole feature vector is generated, it is matched with the preset tissue feature database to determine the new tissue type. The central processing module 310 then uses the new tissue type to correct the original tissue type. In this way, the tissue type can be determined more accurately in the complex situation of tissue characteristic changes, providing a reliable basis for subsequent surgical operations and ensuring the smooth progress of the operation.

[0064] Although the above embodiments can solve the problem of inaccurate tissue judgment caused by the presence of inflammation or pathological conditions, in actual use, the two extreme ends of the endoscopic thyroid dedicated nerve monitoring bipolar are relatively small in size, and the location thereof is required to place both the RF output electrode 110 and the nerve stimulation electrode 120, so there is no extra space to place the position sensor.

[0065] In some embodiments, the location positioning module 320 specifically includes: A coordinate submodule 324 is used to establish an initial coordinate transformation matrix according to the position coordinates of the detection point and the position coordinates of the working point; In some embodiments, a communication connection is established in advance with a positioning device (such as an infrared-based positioning system) to receive the three-dimensional coordinate data of the detection point and the working point sent by it, and based on the dimension of the coordinate data and the setting of the coordinate origin, the detection point coordinates and the working point coordinates are filled into corresponding positions according to the row and column rules of the matrix to construct an initial coordinate transformation matrix.

[0066] The posture angle submodule 322 is used to collect the posture angle data of the endoscopic thyroid dedicated nerve monitoring bipolar, and adjust the initial coordinate transformation matrix according to the posture angle data to obtain the real-time coordinate transformation matrix; Specifically, during the operation, as long as the posture of the device changes, the posture angle submodule starts to operate. It collects the posture angle data of the device through built-in multiple angle sensors (such as gyroscopes for detecting changes in the angular velocity of the device, and accelerometers for detecting changes in acceleration. The combination of the two can accurately calculate the posture angle of the device). Then, based on the mathematical principle of spatial coordinate transformation, these processed posture angle data are substituted into a specific coordinate transformation formula (for example, a combination formula based on rotation matrix, translation matrix, etc.), and the initial coordinate transformation matrix is ​​calculated and adjusted to obtain a real-time coordinate transformation matrix. This matrix can reflect the accurate position relationship between the detection point and the working point of the device in the current posture in real time.

[0067] The position solver module 323 is used to substitute the real-time position coordinates of the detection point into the real-time coordinate transformation matrix to calculate the position of the working point.

[0068] It can be seen that the coordinate submodule in the position positioning module 320 will first establish an initial coordinate transformation matrix based on the position coordinates of the detection point and the position coordinates of the working point. This is the basic framework for determining the position of the working point. Subsequently, the posture angle submodule collects the posture angle data of the endoscopic thyroid-specific nerve monitoring bipolar. Considering that the posture of the device will change during use, the module adjusts the initial coordinate transformation matrix based on these angle data to obtain a real-time coordinate transformation matrix so that it can adapt to the actual posture of the device. Finally, the position solver module substitutes the real-time position coordinates of the detection point into the real-time coordinate transformation matrix to accurately calculate the position of the working point. Through the sequential collaboration of these submodules, even if the position sensor cannot be placed at the two extremes due to space limitations, the position of the working point can still be accurately determined, providing an accurate position reference for subsequent electrode operations and surgery-related work.

[0069] Although the above embodiment can solve the problem of no extra space to place the position sensor, in actual operation, the two ends of the endoscopic thyroid dedicated nerve monitoring bipolar of the relevant equipment will be opened according to the operation of the user, and this operation will cause the working point to change accordingly.

[0070] In some embodiments, the position location module 320 further includes: The position optimization submodule 324 is used to calculate the position offset of the working point according to the length of the extreme point and the opening angle between the two extreme points, and update the position of the working point using the offset.

[0071] In some embodiments, it is assumed that the initial position of the working point in the closed state is P0 (x0, y0, z0) The opening angle θ causes the working point to move in a specific direction. The new working point position P can be calculated using the trigonometric relationship: the offset in the XY plane = L*sin(θ / 2), the offset in the Z direction = L*(1-cos(θ / 2)), where L is the extreme length.

[0072] It can be seen that the position optimization submodule will calculate the position offset of the working point based on the two key factors of the extreme length and the opening angle between the two extremes through a specific calculation method, and then use the offset to update the position of the working point in real time. In this way, no matter how the two extremes change, the position of the working point can be adjusted in a timely and accurate manner, avoiding misjudgment due to the deviation of the working point position.

[0073] In actual medical operation scenarios, it is often not enough to just know the location of the working point, because when doctors perform specific diagnosis and treatment, they need to accurately grasp the location information of the target tissue as an important reference. However, the current problem is that although the location of the working point can be determined, there is a lack of effective means to accurately obtain the location of the target tissue.

[0074] In some embodiments, further comprising: a tissue positioning module; The neural stimulation electrode includes several stimulation sub-electrodes; The impedance detection electrode includes a plurality of detection sub-electrodes. If the detection sub-electrodes receive the opposite stimulation sub-electrodes, they are the opposite electrode pairs. If the detection sub-electrodes receive the non-opposite stimulation sub-electrodes, they are the oblique electrode pairs. In some embodiments, the neural stimulation electrode includes several stimulation sub-electrodes connected in parallel. Similarly, the impedance detection electrode includes corresponding detection sub-electrodes. If the stimulation sub-electrode is opposite to the detection sub-electrode, the stimulation sub-electrode and the detection sub-electrode are called a counter electrode pair. If the stimulation sub-electrode and the detection sub-electrode are not opposite to each other, the stimulation sub-electrode and the detection sub-electrode are called an oblique electrode pair.

[0075] A tissue positioning module, used for calculating a voltage difference between a first voltage signal obtained by the opposing electrode pair passing through the target tissue and a second voltage signal obtained by the oblique electrode pair; It should be noted that for the same target tissue, the distances between the opposing electrode pair and the oblique electrode pair are different. The farther away from the power source (which can be compared to the electrode pair here), the lower the low-frequency current intensity will be, and the corresponding voltage generated at the target tissue will also change. The difference in distance from the opposing electrode pair and the oblique electrode pair to the target tissue makes the voltage signals they stimulate at the target tissue different in strength, resulting in the appearance of voltage difference.

[0076] According to a preset voltage distance attenuation function, the voltage difference is used to calculate the distance difference between a first distance value from the opposing electrode pair to the target tissue and a second distance value from the oblique electrode pair to the target tissue; Among them, the preset voltage distance attenuation function is a mathematical function relationship summarized based on a large amount of practical data, which describes the correspondence between the change of the voltage signal (such as the size of the voltage difference) and the change of the distance from the electrode to the target tissue.

[0077] Calculating a first distance value or a second distance value according to the distance difference and a preset distance between the opposing electrode pair and the oblique electrode pair; It should be noted that, for ease of understanding, a triangle-like geometric model is constructed to intuitively present the positional relationship between the electrode and the target tissue. Specifically, the opposing electrode pair can be regarded as a point in the triangle, the oblique electrode pair can also be regarded as a point, and the target tissue is another point in the triangle.

[0078] The distance between the opposing electrode pair and the oblique electrode pair is known, just like the length of a certain side in a triangle is a fixed value determined in advance. The distance from the opposing electrode pair to the target tissue and the distance from the oblique electrode pair to the target tissue are equivalent to the lengths of the other two sides in the triangle, respectively. The difference between these two sides has now been obtained. Based on such known conditions, that is, the length of one side (the distance between the opposing electrode pair and the oblique electrode pair) and the difference between the other two sides, and based on the basic geometric principles of the triangle, such as the relationship between the three sides of the triangle and the cosine theorem, a system of equations can be constructed. By solving the system of equations, the specific distance value from the opposing electrode pair to the target tissue (that is, the length of the corresponding side) and the specific distance value from the oblique electrode pair to the target tissue (that is, the length of the other side) can be accurately calculated.

[0079] The position information of the target tissue is determined based on the position information of the opposing electrode pair and the first distance value, or the position information of the target tissue is determined based on the position information of the oblique electrode pair and the second distance value.

[0080] It should be noted that if the position of the working point is known, then the position information of the opposing electrode pair and the position information of the oblique electrode pair are also known.

[0081] It can be seen that the voltage signals obtained from the opposing electrode pairs and the oblique electrode pairs composed of several stimulation sub-electrodes in the neural stimulation electrode and several detection sub-electrodes in the impedance detection electrode are received. First, the voltage difference is calculated, and then the distance difference is calculated according to the preset voltage distance attenuation function, and then the distance value of the target tissue is determined, and finally the position information of the target tissue is clarified. Thereby, the position of the target tissue is presented, which is convenient for doctors to refer to and improves the accuracy of medical operations. In some embodiments, high-frequency current and low-frequency current are output simultaneously. In the case of mutual interference, the steps of controlling the synchronous operation of the RF output electrode 110 and the neural stimulation electrode 120 specifically include: The radio frequency output electrode 110 and the nerve stimulation electrode 120 are controlled to work interactively.

[0082] It can be seen that this interactive working mode enables the two to connect seamlessly at different stages of the operation, giving full play to their respective functions in tissue processing and nerve monitoring, avoiding uncoordinated operations and neglecting one thing while focusing on another, thereby improving the continuity and accuracy of the entire surgical process and better ensuring the surgical effect.

[0083] However, in actual use, high-frequency current and low-frequency current are carried out interactively, which causes a new problem. The radio frequency cutting operation will cause the tissue to heat up, thereby changing the electrical properties of the local tissue, and the electrode surface will also produce interference effects. These influences take a certain amount of time to eliminate, resulting in the impedance value measured by the low-frequency current being inaccurate.

[0084] In some embodiments, the central processing module 310 is specifically used to obtain the radio frequency cutting parameters of the high frequency current and the action time of the high frequency current, and the radio frequency cutting parameters include amplitude and frequency; Specifically, while the high-frequency current is performing the RF cutting operation, a parameter acquisition request instruction is sent to the RF output electrode 110 through a wired (such as transmitting data through a data line) or wireless (such as using wireless communication protocols such as Bluetooth and Wi-Fi) communication interface established between the RF output electrode 110. After receiving the instruction, the RF output electrode 110 transmits back real-time high-frequency current amplitude, frequency and other parameter data.

[0085] Determine the energy accumulation value according to the radio frequency cutting parameters and action time; Specifically, the central processing module 310 records the time through a built-in high-precision timer. When the high-frequency current stops acting, the timing is stopped, and the recorded action time data is sorted. According to the preset energy calculation principle, the parameters such as amplitude, frequency, action time, etc. are substituted into the corresponding energy accumulation value calculation formula, such as energy accumulation value = a certain coefficient × amplitude × frequency × action time. The coefficient here will be determined through experiments and theoretical analysis according to different tissue types, equipment characteristics and other factors, and the energy accumulation value is calculated. This energy accumulation value can intuitively reflect the degree of energy impact of the radio frequency cutting operation on the tissue during this period of action time, and provide important basic data for subsequent operations such as judging the heating of the tissue and determining the safe waiting time.

[0086] Determine thermal conductivity properties based on tissue type; Among them, determining the thermal conductivity characteristics according to the tissue type means that in the operation process related to the surgery, the central processing module 310 obtains the corresponding relevant characteristic parameters that can reflect the ability of the tissue to conduct heat based on the identified specific tissue type (such as muscle tissue, fat tissue, glandular tissue, etc.). It refers to the operation steps of obtaining key information such as thermal conductivity coefficient that reflects the speed of tissue thermal conduction and heat transfer efficiency by querying a preset tissue characteristic database or using an established tissue type and thermal conductivity characteristic association model, thereby providing a basic basis for the subsequent accurate evaluation of the diffusion and dissipation of heat in the tissue.

[0087] Calculate the time correction factor based on the thermal conductivity and action time; In some embodiments, the time correction coefficient is the product of the reference coefficient, the time proportional coefficient and the thermal conductivity ratio; the time proportional coefficient is the ratio of the action time to the reference time plus 1; the thermal conductivity ratio is the ratio of the thermal conductivity characteristic to the reference thermal conductivity characteristic; From the perspective of parameter composition, the benchmark coefficient, as a unified adjustment parameter, can be calibrated as a whole according to the characteristics of different devices to ensure universal adaptability; the time ratio can automatically follow the changes in operation time through the design of the ratio of action time to reference time plus 1, effectively reflecting the heat accumulation effect; the thermal conductivity ratio achieves precise matching of the heat dissipation characteristics of different tissues through the ratio of actual thermal conductivity characteristics to reference values.

[0088] In terms of parameter combination application, the product of the benchmark coefficient and the time ratio constructs an adaptive safety protection mechanism, which not only ensures basic safety, but also dynamically responds to changes in operation duration; when this product is multiplied by the thermal conductivity ratio, the ability to recognize tissue characteristics is obtained, thereby achieving a more comprehensive adjustment function.

[0089] Determine the safe waiting time based on the energy accumulation value and the time correction factor.

[0090] In some embodiments, the safety waiting time is the product of the basic cooling time, the time correction coefficient and the energy proportional coefficient; the energy proportional coefficient is the ratio of the energy accumulation value to the reference energy plus 1; the basic cooling time is selected according to the tissue type.

[0091] From the perspective of parameter composition, the basic cooling time, as a heat dissipation time parameter inherent in the tissue, accurately reflects the intrinsic thermal properties and basic heat dissipation requirements of different tissue types; the time correction coefficient provides dynamic and precise adjustment capabilities by integrating the effects of operation duration and tissue thermal conductivity characteristics; the energy proportional coefficient effectively quantifies the actual impact of RF energy input on the tissue cooling process by designing the ratio of the energy accumulation value to the reference energy plus 1.

[0092] In terms of parameter coordination, the product of the basic cooling time and the time correction coefficient constructs an intelligent tissue recognition and response mechanism, which not only ensures the accurate identification of tissue characteristics, but also realizes dynamic adjustment to changes in operating conditions; when this product is multiplied by the energy proportional coefficient, the ability to accurately compensate for the energy accumulation effect is obtained, thereby achieving more comprehensive and precise cooling time control.

[0093] ; In the formula, Waiting time for safety, is the basic cooling time, is the time correction factor, is the energy proportionality coefficient, is the base coefficient, is the time proportional coefficient, is the action time, is the reference time, is the thermal conductivity ratio, is the thermal conductivity property, For reference thermal conductivity, is the energy accumulation value, is the reference energy.

[0094] It can be seen that the time correction coefficient is determined by the product of the benchmark coefficient, the time proportional coefficient and the thermal conductivity ratio. The time proportional coefficient takes into account the ratio of the action time to the reference time plus 1, reflecting the overall impact of the actual action time; the thermal conductivity ratio reflects the ratio of the thermal conductivity characteristics of the tissue to the reference thermal conductivity characteristics, which is related to the heat conduction situation. The safe waiting time is based on the product of the basic cooling time, the time correction coefficient and the energy proportional coefficient. The energy proportional coefficient involves the ratio of the energy accumulation value to the reference energy plus 1. Through this calculation method, the actual tissue state, energy accumulation, time and other conditions can be closely combined to accurately determine the safe waiting time, so that the waiting time is more in line with the actual changes in the tissue during the operation, and to the greatest extent possible, each link of the operation is not interfered by factors such as tissue heating.

[0095] It should be noted that in some new embodiments, when the central processing module 310 detects that the position of the working point has changed beyond the threshold, it will promptly restart the RF output electrode 110 and the nerve stimulation electrode 120 to work synchronously. The working sequence of the nerve stimulation electrode 120 is arranged before the RF output electrode 110. The nerve stimulation electrode 120 works first, which can accurately detect the tissue and peripheral nerve conditions in advance, obtain key information such as tissue electrical characteristics and nerve distribution, and provide a reliable reference for the subsequent operation of the RF output electrode 110, reduce the risk of accidentally injuring important tissues such as nerves due to unclear conditions after position changes, and ensure the safety of the operation.

[0096] It can be seen that the central processing module 310 first obtains the radio frequency cutting parameters of the high-frequency current (including key elements such as amplitude and frequency) and the action time of the high-frequency current, and accurately calculates the energy accumulation value by combining the two, which reflects the degree of energy impact of radio frequency cutting on the tissue. At the same time, the thermal conductivity of the tissue is determined according to the type of tissue, and then the time correction coefficient is calculated in combination with the action time. This coefficient comprehensively considers the ability of the tissue to conduct heat and the influence of the action time. Finally, the safe waiting time is determined based on the energy accumulation value and the time correction coefficient. In the case where the high-frequency current is used for cutting to cause the tissue to heat up and the electrode surface to produce interference effects, the calculated waiting time ensures that reliable nerve monitoring and other subsequent operations can be carried out after the electrical characteristics of the tissue have returned to stability and the interference effects have been eliminated, effectively ensuring the accuracy of the nerve monitoring results.

[0097] In some embodiments, the duration of the high frequency current during one interaction is determined based on the tissue type.

[0098] It can be seen that the duration of high-frequency current can be accurately arranged according to the tissue type to avoid each round of high-frequency current being too long, which may lead to excessive cutting, thereby ensuring the efficiency and safety of tissue processing during surgery and improving the overall quality of surgery.

Claims

1. An endoscopic thyroid dedicated nerve monitoring bipolar, characterized in that, include: Functional electrode unit, signal detection unit and control processing unit; The functional electrode unit comprises: Radio frequency output electrodes disposed at both ends are used to apply high frequency current for tissue cutting and blood coagulation; A neural stimulation electrode disposed at either end for applying low-frequency current for neural stimulation and monitoring; The signal detection unit comprises: An impedance detection electrode disposed at the other end, corresponding to the nerve stimulation electrode, for collecting a voltage signal after a low-frequency current passes through the tissue; An impedance modeling unit, used for converting the voltage signal into an impedance value; The control processing unit comprises: A position positioning module, used to determine the position of a working point, wherein the working point is between two extremes; The central processing module is used to control the radio frequency output electrode and the neural stimulation electrode to work synchronously; use the initial impedance value of the working point at the current position as the type impedance; determine the tissue type of the working point at the current position through the type impedance; and determine the tissue cutting result according to the tissue type and the impedance value change of the working point at the current position.

2. The endoscopic thyroid dedicated nerve monitoring bipolar according to claim 1, characterized in that: Also includes: Organizational Correction Unit; The central processing module is also used to determine whether the impedance value change rate of the working point at the current position is within a preset cutting rate range according to the tissue type; If it is not within the preset cutting rate range, activating the tissue correction unit; The tissue modification unit comprises: A feature extraction module is used to collect the low-frequency limit resistance, high-frequency limit resistance, characteristic frequency, and frequency dispersion coefficient of the working point at the current position; A Cole characteristic vector module, used for inputting the low-frequency limiting resistance, the high-frequency limiting resistance, the characteristic frequency, and the frequency dispersion coefficient into a Cole model to obtain a Cole characteristic vector; A tissue type determination module, used to match the Cole feature vector with a preset tissue feature database to determine a new tissue type of the working point at the current position; the tissue feature database includes Cole parameter ranges of different types of tissues; The central processing module is also used to modify the tissue type using the new tissue type.

3. The endoscopic thyroid dedicated nerve monitoring bipolar according to claim 2, characterized in that: The feature extraction module specifically includes: The voltage response submodule is used to collect the voltage response signal of the low-frequency current at different frequencies to obtain the voltage amplitude and phase information; A complex impedance value submodule, used for calculating a complex impedance value according to the voltage amplitude and the phase information, wherein the complex impedance value is a complex impedance including an impedance magnitude and a phase angle; A drawing submodule, used for drawing the complex impedance value into a Nyquist diagram, wherein the Nyquist diagram is a plane diagram with the real part of the complex impedance value as the abscissa and the imaginary part of the complex impedance value as the ordinate; The fitting submodule is used to perform arc fitting on the Nyquist diagram, wherein the low-frequency limiting resistance and the high-frequency limiting resistance are determined according to the intersection of the arc and the horizontal axis, and the geometric features of the arc are the characteristic frequency and the frequency dispersion coefficient.

4. The endoscopic thyroid dedicated nerve monitoring bipolar according to claim 2, characterized in that: The preset cutting rate range is determined by the tissue type.

5. The endoscopic thyroid dedicated nerve monitoring bipolar according to claim 1, characterized in that: The position positioning module specifically includes: The coordinate submodule is used to establish an initial coordinate transformation matrix according to the position coordinates of the detection point and the position coordinates of the working point; A posture angle submodule, used for collecting the posture angle data of the endoscopic thyroid-specific nerve monitoring bipolar, and adjusting the initial coordinate transformation matrix according to the posture angle data to obtain a real-time coordinate transformation matrix; The position solver module is used to substitute the real-time position coordinates of the detection point into the real-time coordinate transformation matrix to calculate the position of the working point.

6. The endoscopic thyroid dedicated nerve monitoring bipolar according to claim 1, characterized in that: Also includes: Organization positioning module; The neural stimulation electrode includes several stimulation sub-electrodes; The impedance detection electrode includes a plurality of detection sub-electrodes. If the detection sub-electrodes receive the opposite stimulation sub-electrodes, they are the opposite electrode pairs. If the detection sub-electrodes receive the non-opposite stimulation sub-electrodes, they are the oblique electrode pairs. A tissue positioning module, used for calculating a voltage difference between a first voltage signal obtained by the opposing electrode pair passing through the target tissue and a second voltage signal obtained by the oblique electrode pair; According to a preset voltage distance attenuation function, using the voltage difference to calculate a distance difference between a first distance value from the opposing electrode pair to the target tissue and a second distance value from the oblique electrode pair to the target tissue; Calculate the first distance value or the second distance value according to the distance difference and a preset distance between the opposing electrode pair and the oblique electrode pair; The position information of the target tissue is determined according to the position information of the opposing electrode pair and the first distance value, or the position information of the target tissue is determined according to the position information of the oblique electrode pair and the second distance value.

7. The endoscopic thyroid dedicated nerve monitoring bipolar according to claim 1, characterized in that: The step of controlling the radio frequency output electrode and the nerve stimulation electrode to work synchronously specifically includes: The control unit controls the radio frequency output electrode to interact with the neural stimulation electrode.

8. The endoscopic thyroid-specific nerve monitoring bipolar device according to claim 7, characterized in that: The central processing module is specifically used to obtain the radio frequency cutting parameters of the high frequency current and the action time of the high frequency current, and the radio frequency cutting parameters include amplitude and frequency; Determine the energy accumulation value according to the radio frequency cutting parameter and the action time; determining thermal conductivity characteristics based on the tissue type; Calculate the time correction coefficient based on the thermal conductivity and the action time; A safe waiting time is determined according to the energy accumulation value and the time correction coefficient.

9. The endoscopic thyroid-specific nerve monitoring bipolar device according to claim 8, characterized in that: The time correction coefficient is the product of the reference coefficient, the time proportional coefficient and the ratio of the thermal conductivity; the time proportional coefficient is the ratio of the action time to the reference time plus 1; The thermal conductivity ratio is the ratio of the thermal conductivity characteristic to the reference thermal conductivity characteristic; The safety waiting time is the product of the basic cooling time, the time correction coefficient and the energy proportional coefficient; the energy proportional coefficient is the ratio of the energy accumulation value to the reference energy plus 1; The basic cooling time is selected according to the tissue type; ； In the formula, is the safety waiting time, is the basic cooling time, is the time correction coefficient, is the energy proportionality coefficient, is the reference coefficient, is the time proportional coefficient, is the action time, is the reference time, is the thermal conductivity ratio, is the thermal conductivity characteristic, is the reference thermal conductivity characteristic, is the energy accumulation value, is the reference energy.

10. The endoscopic thyroid-specific nerve monitoring bipolar according to claim 7, characterized in that: The duration of the high-frequency current during one interaction is determined according to the tissue type.

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