Tissue identification method, control method and device based on electrosurgical instrument

Abstract

According to the tissue recognition method and device based on the electrosurgical instrument and the control method and device, the frequency mixing electric signal is output to the target tissue through the electrosurgical instrument, and the response electric signal of the target tissue is obtained; determining an impedance characteristic of the target tissue based on the response electrical signal and the mixed electrical signal; the composition of the target tissue and the proportion of each composition are determined on the basis of the characteristic impedance circle, the tissue can be accurately identified, and the energy output mode of the electrosurgical instrument is determined on the basis of the identified composition and proportion; the electrosurgical instrument is controlled to work based on the energy output mode, the energy output strategy can be accurately controlled, and the operation effect is improved.

Description

Technical Field

[0001] This application belongs to the technical field of electrosurgical systems, and particularly relates to a tissue recognition method, a control method, and a device based on an electrosurgical instrument. Background Art

[0002] In recent years, with the development of minimally invasive techniques, electrosurgical instruments have been increasingly used in surgical operations. By applying high-frequency electrical energy to the electrodes, electrosurgical instruments can achieve functions such as tissue cutting, coagulation, and closure. Electrosurgical instruments are generally divided into monopolar and bipolar. Compared with monopolar electrosurgical instruments, bipolar electrosurgical instruments can operate without a separate return electrode, can focus electrical energy on the tissue area to be treated, and reduce the risk of electric burns. The surgical results of bipolar electrosurgical instruments often highly depend on the skills of surgeons. However, surgeons may have difficulty in evaluating the type of tissue grasped by the instrument, resulting in inaccurate energy control and affecting the surgical effect. Summary of the Invention

[0003] In view of the above problems, the embodiments of this application provide a tissue recognition method, a control method, and a device based on an electrosurgical instrument, which can accurately identify tissues, thereby accurately controlling the energy output strategy and improving the surgical effect.

[0004] The embodiments of this application provide a tissue recognition method based on an electrosurgical instrument, which is used to identify the composition of the target tissue clamped by the electrosurgical instrument; the method includes:

[0005] When the electrosurgical instrument clamps the target tissue, the electrosurgical host outputs a mixed-frequency electrical signal to the target tissue through the electrosurgical instrument and obtains the response electrical signal of the target tissue; the mixed-frequency electrical signal is formed by superimposing several harmonic electrical signals with different frequencies;

[0006] Determine the impedance characteristics of the target tissue based on the response electrical signal and the mixed-frequency electrical signal;

[0007] Determine the composition components of the target tissue and the proportion of each composition component based on the impedance characteristics.

[0008] In some embodiments, determining the impedance characteristics of the target tissue based on the response electrical signal and the mixed-frequency electrical signal includes:

[0009] When the mixed-frequency electrical signal is a mixed-frequency current signal, obtain a voltage signal according to the response electrical signal; or, when the mixed-frequency electrical signal is a mixed-frequency voltage signal, obtain a current signal according to the response electrical signal;

[0010] Based on a transformation algorithm, the current signal and the voltage signal are respectively converted into a current frequency-domain signal and a voltage frequency-domain signal; the current frequency-domain signal includes current values and current phase values corresponding to a plurality of harmonic electrical signals with different frequencies, and the voltage frequency-domain signal includes voltage values and voltage phase values corresponding to a plurality of harmonic electrical signals with different frequencies;

[0011] Based on the current frequency-domain signal and the voltage frequency-domain signal, impedance values and phase differences corresponding to a plurality of harmonic electrical signals with different frequencies are calculated;

[0012] Based on the impedance values and phase differences corresponding to a plurality of harmonic electrical signals with different frequencies, the impedance characteristics of the target tissue are determined.

[0013] In some embodiments, the impedance characteristics include: a characteristic impedance circle. Determining the impedance characteristics based on the impedance values and / or phase values corresponding to a plurality of harmonic electrical signals with different frequencies includes:

[0014] Based on the impedance values and phase differences corresponding to a plurality of harmonic electrical signals with different frequencies, corresponding resistance values and reactance values are calculated;

[0015] Based on the resistance values and reactance values corresponding to a plurality of harmonic electrical signals with different frequencies, the impedance characteristics are determined.

[0016] In some embodiments, determining the characteristic impedance circle of the target tissue based on the resistance values and reactance values corresponding to a plurality of harmonic electrical signals with different frequencies includes:

[0017] A coordinate system is constructed, where the abscissa of the coordinate system is resistance and the ordinate of the coordinate system is reactance;

[0018] Discrete points plotted on the coordinate system based on the resistance values and reactance values corresponding to a plurality of harmonic electrical signals with different frequencies;

[0019] The discrete points are fitted and connected to obtain the characteristic impedance circle of the target tissue.

[0020] In some embodiments, determining the composition components of the target tissue and the proportion of each composition component based on the characteristic impedance circle includes:

[0021] Based on an analysis model, the standard characteristic impedance circles of different composition components and the characteristic impedance circle of the target tissue are used as inputs to the analysis model to determine fitting parameters;

[0022] According to the fitting parameters, the composition components of the target tissue and the proportion of each composition component are determined.

[0023] An energy output control method for an electrosurgical instrument provided by an embodiment of the present application includes:

[0024] Obtain the composition components of the target tissue and the proportion of each composition component determined by the tissue recognition method of the electrosurgical instrument according to the above;

[0025] Determine the energy output mode of the electrosurgical instrument based on the composition and proportion;

[0026] Control the operation of the electrosurgical instrument based on the energy output mode, and the energy output mode includes: the number of pulses in the entire closing cycle, the peak output power and output time of different pulses, the power change within a single pulse, and the change rule of the preset characteristic impedance circle.

[0027] In some embodiments, determining the energy output mode of the electrosurgical instrument based on the composition and proportion includes:

[0028] Sort based on the proportion of each tissue component to obtain the sorting result of the proportion of each tissue component;

[0029] Determine the tissue components corresponding to the top preset number of proportions in the sorting result as the target tissue components;

[0030] Determine the energy output mode of the target tissue according to the standard output mode corresponding to the target tissue component.

[0031] In some embodiments, the method further includes:

[0032] Obtain the process characteristic impedance circle during the energy output determined by the tissue recognition method of the above-mentioned electrosurgical instrument;

[0033] Determine the closed state of the target tissue based on the process characteristic impedance circle and the change rule of the characteristic impedance circle, and adjust the output parameters of the energy output mode.

[0034] An embodiment of the present application provides a tissue recognition device for an electrosurgical instrument, which is used to recognize the composition of the target tissue clamped by the electrosurgical instrument; including:

[0035] The first acquisition module is used to output a mixed-frequency electrical signal to the target tissue through the electrosurgical instrument and acquire the response electrical signal of the target tissue when the electrosurgical instrument clamps the target tissue; the mixed-frequency electrical signal is formed by superimposing a plurality of harmonic electrical signals with different frequencies;

[0036] The first determination module is used to determine the impedance characteristics of the target tissue based on the response electrical signal and the mixed-frequency electrical signal;

[0037] The recognition module is used to determine the composition components of the target tissue and the proportion of each composition component based on the impedance characteristics.

[0038] An embodiment of the present application provides an energy output control device for an electrosurgical instrument, including:

[0039] The second acquisition module is used to acquire the composition components of the target tissue and the proportion of each composition component determined according to the above-mentioned tissue recognition method of the electrosurgical instrument;

[0040] A second determination module, configured to determine an energy output mode of the electrosurgical instrument based on the composition components and proportions.

[0041] A control module, configured to control the operation of the electrosurgical instrument based on the energy output mode. The energy output mode includes: the number of pulses in the entire closing cycle, the peak output power and output time of different pulses, the power variation within a single pulse, and the variation law of a preset characteristic impedance circle.

[0042] An embodiment of the present application provides an electrosurgical main unit. The electrosurgical main unit includes a memory and a main controller. The main controller executes a computer program of the above-mentioned energy output control method of the electrosurgical instrument stored in the memory to implement the output control of the working electrical signal of the tissue.

[0043] In some embodiments, the electrosurgical main unit further includes a tissue recognition control module, a working energy control module, an output switching module, and a sampling module. The tissue recognition control module, the working energy control module, the output switching module, and the sampling module are all connected to the main controller. The main controller controls the tissue recognition control module to output a mixed-frequency electrical signal. The main controller controls the working energy control module to output a working electrical signal. The main controller controls the output switching module to realize the switching output between the mixed-frequency electrical signal and the working electrical signal. The sampling module is configured to receive the mixed-frequency electrical signal or the response signal of the mixed-frequency electrical signal output by the main unit, and send the response signal to the main controller. The main controller performs tissue recognition, tissue state recognition, energy output mode judgment, and adjustment of the output parameters of the energy output mode according to the response signal.

[0044] An embodiment of the present application provides a computer-readable storage medium. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the above-mentioned control method is implemented.

[0045] An embodiment of the present application provides a computer program product. When the computer program product runs on a terminal device, the electronic device is enabled to execute the method of any one of the above.

[0046] A tissue recognition method, control method and device based on an electrosurgical instrument provided by an embodiment of the present application output a mixed-frequency electrical signal to a target tissue through the electrosurgical instrument, and obtain a response electrical signal of the target tissue; determine the impedance characteristics of the target tissue based on the response electrical signal and the mixed-frequency electrical signal; determine the composition components of the target tissue and the proportion of each composition component based on the impedance characteristics, which can achieve relatively accurate tissue recognition, determine the energy output mode of the electrosurgical instrument based on the recognized composition components and proportions; control the operation of the electrosurgical instrument based on the energy output mode, which can more accurately control the energy output strategy to improve the surgical effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In the following, the present application will be described in more detail based on embodiments and with reference to the drawings.

[0048] Figure 1 It is a schematic structural diagram of an electrosurgical system provided by an embodiment of the present application;

[0049] Figure 2 It is a schematic implementation flowchart of a tissue recognition method based on an electrosurgical instrument provided by an embodiment of the present application;

[0050] Figure 3 It is a schematic diagram of phase shift and superposition provided by an embodiment of the present application;

[0051] Figure 4 It is a schematic diagram of an FFT transformation algorithm provided by an embodiment of the present application;

[0052] Figure 5 It is a schematic diagram of determining the amplitude and phase of the impedance of a harmonic electrical signal of a tissue at different frequencies provided by an embodiment of the present application;

[0053] Figure 6 It is a schematic diagram of a characteristic impedance circle provided by an embodiment of the present application;

[0054] Figure 7 It is a schematic implementation flowchart of an energy output control method of an electrosurgical instrument provided by an embodiment of the present application;

[0055] Figure 8 It is a schematic diagram of the change rule of a characteristic impedance circle provided by an embodiment of the present application;

[0056] Figure 9 It is a schematic structural diagram of an electrosurgical system provided by an embodiment of the present application;

[0057] Figure 10 It is an energy output control method of an electrosurgical instrument provided by an embodiment of the present application;

[0058] Figure 11Schematic structural diagram of a tissue recognition device based on an electrosurgical instrument provided by an embodiment of the present application;

[0059] Figure 12 Schematic composition structure diagram of an electrosurgical system provided by an embodiment of the present application.

[0060] In the drawings, the same components are denoted by the same reference numerals, and the drawings are not drawn to actual scale. Detailed implementation manners

[0061] In order to make the objectives, technical solutions, and advantages of the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings. The described embodiments should not be construed as limiting the present application. All other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the scope of protection of the present application.

[0062] In the following description, reference is made to "some embodiments", which describe a subset of all possible embodiments. However, it can be understood that "some embodiments" can be the same subset or different subsets of all possible embodiments, and can be combined with each other without conflict.

[0063] If similar descriptions such as "first / second / third" appear in the application documents, the following explanation is added. In the following description, the terms "first / second / third" are merely used to distinguish similar objects and do not represent a specific order for the objects. It can be understood that "first / second / third" can be interchanged with a specific order or sequence when allowed, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein.

[0064] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which this application belongs. The terms used herein are only for the purpose of describing the embodiments of this application and are not intended to limit this application.

[0065] Based on the problems existing in the related art, an embodiment of the present application provides a tissue recognition method based on an electrosurgical instrument, which can be applied to an electrosurgical main unit. The electrosurgical main unit and the electrosurgical instrument can form an electrosurgical system. Exemplarily, Figure 1 Schematic structural diagram of an electrosurgical system provided by an embodiment of the present application, as Figure 1 shown, the electrosurgical system includes: an electrosurgical main unit 1 and an electrosurgical instrument. In the embodiment of the present application, the electrosurgical instrument is a stapler, including: a plug 2, a cable 3, an instrument handle 4, and a bipolar instrument head 5. The electrosurgical instrument is connected to the electrosurgical main unit 1 through the plug 2.

[0066] The functions implemented by the tissue recognition method of the electrosurgical instrument provided by the embodiments of the present application can be realized by the processor of the electrosurgical system calling program code, where the program code can be stored in a computer storage medium.

[0067] The embodiments of the present application provide a tissue recognition method based on an electrosurgical instrument. The execution subject of the tissue recognition method based on the electrosurgical instrument can be an electrosurgical host. Figure 2 As shown in the schematic diagram of the implementation process of a tissue recognition method based on an electrosurgical instrument provided by the embodiments of the present application, Figure 2 it includes:

[0068] Step S101, when the electrosurgical instrument clamps the target tissue, output a mixed-frequency electrical signal to the target tissue through the electrosurgical instrument, and obtain the response electrical signal of the target tissue; the mixed-frequency electrical signal is formed by superimposing a plurality of harmonic electrical signals with different frequencies.

[0069] In the embodiments of the present application, the target tissue can be clamped by the bipolar instrument head of the electrosurgical instrument, and the clamped target tissue can be blood vessels, peritoneum, etc.

[0070] In the embodiments of the present application, the surgeon can operate the electrosurgical instrument to clamp the target tissue, and then the electrosurgical host issues an instruction to start working. Thus, the electrosurgical host outputs a mixed-frequency electrical signal to the target tissue through the electrosurgical instrument and obtains the response electrical signal of the target tissue.

[0071] In the embodiments of the present application, the mixed-frequency electrical signal can be a sine-wave mixed-frequency time-domain signal. The mixed-frequency electrical signal can be a mixed-frequency current signal or a mixed-frequency voltage signal. In the embodiments of the present application, an acquisition module can be set on the electrosurgical instrument to acquire the response electrical signal through the acquisition module, and then the acquisition module sends the response electrical signal to the electrosurgical host, so that the electrosurgical host obtains the response electrical signal of the target tissue. The acquisition module can include: a sensor.

[0072] In the embodiments of the present application, when sampling the response electrical signal, a clock can be used for synchronous control to achieve full-cycle synchronous sampling to obtain the response electrical signal of the target tissue.

[0073] In the embodiments of the present application, the mixed-frequency electrical signal data is stored in the electrosurgical host in the form of a look-up table. After obtaining the working instruction, the mixed-frequency electrical signal can be found based on the look-up table, and then the mixed-frequency electrical signal is output.

[0074] In the embodiments of the present application, the mixed-frequency electrical signal can be obtained by phase-shifting and superimposing N harmonics.

[0075] In some embodiments, N harmonics can be synthesized by direct digital synthesis technology to obtain a mixed-frequency signal.

[0076] In some embodiments, a mixed-frequency electrical signal can be obtained through a signal generator or a mixer, and then the mixed-frequency electrical signal is transmitted to the bipolar instrument jaw to be output to the tissue.

[0077] In the embodiments of the present application, N harmonics can be phase-shifted and superimposed to generate a mixed-frequency electrical signal.

[0078] In the embodiments of the present application, the N harmonics can be N sine-wave harmonics. The mixed-frequency electrical signal can be a sine-wave mixed-frequency time-domain signal.

[0079] In the embodiments of the present application, the calculation formula for phase-shift superposition can be expressed as:

[0080]

[0081] where k in the formula is the harmonic order of the superimposed waveform, f k is the frequency of the k-th superimposed waveform, is the phase of the k-th superimposed waveform, and x(t) is the mixed-frequency electrical signal.

[0082] In some embodiments, phase-shift superposition can be considered as phase-shift mixing. Figure 3 As shown in the schematic diagram of phase-shift superposition provided by the embodiments of the present application, as Figure 3 shown, through N sine-wave harmonics, for example, f0, f1 to f1, a sine-wave mixed-frequency time-domain signal is obtained through phase-shift mixing.

[0083] Compared with the traditional frequency scanning method, the method provided by the embodiments of the present application can greatly shorten the measurement time of the frequency response through the mixed-frequency signal detection method, and improve the working efficiency during the operation.

[0084] Step S102: Determine the impedance characteristics of the target tissue based on the response electrical signal and the mixed-frequency electrical signal.

[0085] In the embodiments of the present application, the response electrical signal and the mixed-frequency electrical signal can be subjected to fast Fourier transform processing, so as to obtain the impedance values and phase differences corresponding to the harmonic electrical signals of different frequencies. The resistance value and reactance value are determined through the impedance value and the phase difference, and then some discrete points of the characteristic impedance circle are plotted based on the resistance value and reactance value of the impedance corresponding to the harmonic electrical signals of different frequencies of the tissue. The discrete points can be fitted to obtain the characteristic impedance circle. The characteristic impedance circle is used to characterize the impedance characteristics of the tissue.

[0086] In some embodiments, step S102 can be implemented through the following steps:

[0087] Step S1021, when the mixed-frequency electrical signal is a mixed-frequency current signal, obtain a voltage signal according to the response electrical signal; or, when the mixed-frequency electrical signal is a mixed-frequency voltage signal, obtain a current signal according to the response electrical signal.

[0088] Step S1022, based on a transformation algorithm, convert the current signal and the voltage signal into a current frequency-domain signal and a voltage frequency-domain signal respectively; the current frequency-domain signal includes current values and current phase values corresponding to harmonic electrical signals of several different frequencies, and the voltage frequency-domain signal includes voltage values and voltage phase values corresponding to harmonic electrical signals of several different frequencies.

[0089] In the embodiments of the present application, the mixed-frequency electrical signal is a time-domain signal, and the transformation algorithm can be: a fast Fourier transform algorithm. The fast Fourier transform algorithm can convert the mixed-frequency electrical signal into separate frequency-domain components, thereby converting the current signal and the voltage signal into a current frequency-domain signal and a voltage frequency-domain signal respectively. The fast Fourier transform algorithm can be abbreviated as the FFT transform algorithm. Figure 4 For a schematic diagram of an FFT transform algorithm provided by the embodiments of the present application, as Figure 4 shown, by performing the FFT transform algorithm on the time-domain signal 6, the frequency-domain signal 7 can be obtained, thereby realizing the conversion from the time-domain waveform diagram to the frequency-domain amplitude diagram.

[0090] Step S1023, based on the current frequency-domain signal and the voltage frequency-domain signal, calculate impedance values and phase differences corresponding to harmonic electrical signals of several different frequencies.

[0091] In the embodiments of the present application, when determining the current frequency-domain signal and the voltage frequency-domain signal, both the current frequency-domain signal and the voltage frequency-domain signal contain harmonic components of the signal and corresponding amplitudes and phases. According to the amplitudes and phases corresponding to different frequencies, the impedance values and phase differences corresponding to harmonic electrical signals of different frequencies can be determined, and the impedance characteristics of the target tissue can be determined according to the impedance values and phase differences.

[0092] In the embodiments of the present application, the first amplitude and the first phase corresponding to harmonic electrical signals of several different frequencies can be determined based on the current frequency-domain signal, and then the second amplitude and the second phase corresponding to harmonic electrical signals of different frequencies can be determined based on the voltage frequency-domain signal. The resistance value and reactance value corresponding to harmonic electrical signals of different frequencies are determined by the first amplitude, the first phase, the second amplitude, and the second phase.

[0093] Exemplarily, the first amplitude corresponding to the k-th harmonic electrical signal is represented by I k and the first phase can be represented by Ψ k The second amplitude corresponding to the k-th harmonic electrical signal is represented by V k and the second phase can be represented by Φ k

[0094] ​Figure 5 A schematic diagram for determining the amplitude and phase of the impedance of tissues at different frequencies of harmonic electrical signals provided by an embodiment of the present application. As Figure 5 shown, after obtaining V k , Φ k , I k , Ψ k , the resistance value and reactance value corresponding to the harmonic electrical signals at different frequencies can be calculated through calculation formulas. As Figure 5 shown, the phase difference between the current and the voltage is expressed as θ k , and the calculation formula for the phase difference can be expressed as: θ k = Ψ k - Φ k ; the impedance can be expressed as Z k， The formula for calculating the impedance can be expressed as: |Z k | = V k / I k .

[0095] Step S1024, determining the impedance characteristics based on the impedance values and the phase differences corresponding to the harmonic electrical signals at several different frequencies.

[0096] In the embodiment of the present application, step S1024 can be implemented through the following steps:

[0097] Step S241, calculating the corresponding resistance value and reactance value based on the impedance values and the phase differences corresponding to the harmonic electrical signals at several different frequencies.

[0098] In the embodiment of the present application, after determining the phase difference and the impedance, the resistance value and reactance value corresponding to the harmonic electrical signals at several different frequencies can be calculated.

[0099] In the embodiment of the present application, the real part and the imaginary part of the impedance can be calculated through the following formula, where the calculation formula includes:

[0100]

[0101] Among them, the real part is represented by R k , and the imaginary part is represented by X K .

[0102] In the embodiment of the present application, the real part is the resistance value of the impedance, and the imaginary part is the reactance value of the impedance.

[0103] Step S242, determining the characteristic impedance circle of the target tissue based on the resistance values and the reactance values corresponding to the harmonic electrical signals at several different frequencies.

[0104] In the embodiments of the present application, different discrete points can be plotted on a coordinate system based on resistance and reactance, where the abscissa of the discrete points is the resistance at each frequency, and the ordinate of each discrete point is the reactance at each frequency; connecting each discrete point to obtain the characteristic impedance circle of the target tissue.

[0105] In the embodiments of the present application, a coordinate system can be constructed, where the abscissa of the coordinate system is resistance and the ordinate of the coordinate system is reactance; discrete points plotted on the coordinate system based on the resistance values and reactance values corresponding to a number of harmonic electrical signals at different frequencies; fitting and connecting each discrete point to obtain the characteristic impedance circle of the target tissue.

[0106] Figure 6 is a schematic diagram of a characteristic impedance circle provided by the embodiments of the present application. As Figure 6 shown, the abscissa in the characteristic impedance circle is resistance and the ordinate is reactance.

[0107] Step S103, determining the composition components of the target tissue and the proportion of each composition component based on the impedance characteristics.

[0108] In the embodiments of the present application, different tissues can include different tissue components. Exemplarily, the tissue components can include one or more of: protein, fat, blood, ligament, blood vessel, and it can be obtained which tissue components the tissue is composed of. The tissue components can include at least one.

[0109] In the embodiments of the present application, when it is recognized that there are multiple tissue components in the tissue, the two tissue types with the highest content can be selected and determined as the tissue components of the target tissue.

[0110] In some embodiments, the characteristic impedance circle can be input into a neural network model to determine the composition components of the target tissue and the proportion of each composition component.

[0111] In the embodiments of the present application, a neural network model can be trained. A series of characteristic impedance circles corresponding to known tissue components and proportions can be used as training samples, and the weights and biases of the neural network can be updated through the backpropagation algorithm, so that the model can accurately predict unknown tissue components and proportions. After the model training is completed, a new characteristic impedance circle can be input into the neural network model, and the composition components of the target tissue and the proportion of each composition component can be determined through the output of the model.

[0112] The method provided in the embodiments of the present application can realize the rapid prediction of the tissue components and proportions of the target tissue clamped by the electrosurgical instrument through the neural network model.

[0113] In some embodiments, based on an analysis model, the standard characteristic impedance circles of different components and the characteristic impedance circle of the target tissue can be used as the input of the analysis model to determine fitting parameters; and based on the fitting parameters, the components of the target tissue and the proportion of each component can be determined.

[0114] Taking the analysis model as Y = AX1 + BX2 + CX3 + DX4, where Y is the characteristic impedance circle of the target tissue, X1, X2, X3, and X4 are the standard characteristic impedance circles of different components, and A, B, C, and D are the respective coefficients. At this time, the standard characteristic impedance circles and the characteristic impedance circle of the target tissue can be input into the model, and then the values of A, B, C, and D can be determined. The parameter values of A, B, C, and D reflect whether the corresponding tissue components exist, as well as the quantity and proportion of their existence. Among them, the standard characteristic impedance circle is the characteristic impedance circle obtained by using the tissue recognition method of the present application for a certain component.

[0115] In some embodiments, a polynomial fitting model can be obtained by fitting the characteristic impedance circle, tissue components, and the proportion of tissue components. After obtaining the characteristic impedance circle of the target tissue, the components of the target tissue and the proportion of each component can be calculated through the polynomial fitting model.

[0116] A tissue recognition method for an electrosurgical instrument provided by an embodiment of the present application outputs a mixed-frequency electrical signal to a target tissue through the electrosurgical instrument and obtains the response electrical signal of the target tissue; determines the impedance characteristics of the target tissue based on the response electrical signal and the mixed-frequency electrical signal; and determines the components of the target tissue and the proportion of each component based on the impedance characteristics, which can achieve relatively accurate tissue recognition.

[0117] Based on the foregoing embodiments, an embodiment of the present application further provides an energy output control method for an electrosurgical instrument. The energy output control method provided by an embodiment of the present application can be applied to an electrosurgical main unit.

[0118] The functions implemented by the energy output control method for an electrosurgical instrument provided by an embodiment of the present application can be realized by a processor of the electrosurgical main unit calling program code, where the program code can be stored in a computer storage medium.

[0119] Figure 7 It is a schematic flowchart of the implementation of an energy output control method for an electrosurgical instrument provided by an embodiment of the present application, as Figure 7 shown, including:

[0120] Step S701, obtain the components of the target tissue and the proportion of each component determined by the tissue recognition method of the electrosurgical instrument in any of the above embodiments.

[0121] Step S702: Determine the energy output mode of the electrosurgical instrument based on the composition and proportion.

[0122] In the embodiments of the present application, a correspondence relationship between the composition and the proportion of the composition and the energy output mode can be established in advance. After obtaining the composition and the proportion, the similarity between the composition and the proportion and the composition and the proportion in the correspondence relationship can be calculated, and the energy output model corresponding to the composition and the proportion with the maximum similarity can be determined as the energy output mode of the electrosurgical instrument.

[0123] In the embodiments of the present application, the energy output mode includes: the number of pulses in the entire closing cycle, the peak output power and output time of different pulses, the power change within a single pulse, and the change rule of a preset characteristic impedance circle.

[0124] Exemplarily, when it is determined that the tissue component is mainly blood vessels, a relatively gentle and delicate energy output mode can be adopted at this time to ensure reliable closure. If it is detected that the tissue component is mainly peritoneum, a larger energy output mode can be determined.

[0125] In some embodiments, step S702 can be implemented through the following steps:

[0126] Step S7021: Sort based on the proportion of each tissue component to obtain the sorting result of the proportion of each tissue component.

[0127] In the embodiments of the present application, when sorting, it can be sorted from largest to smallest according to the proportion.

[0128] Step S7022: Determine the tissue components corresponding to the proportions of the top preset number in the sorting result as the target tissue components.

[0129] In the embodiments of the present application, the top preset number can be set. Exemplarily, it can be set to the top 2. That is, the top 2 tissue components with larger proportions can be selected and determined as the target tissue components.

[0130] Step S7023: Determine the energy output mode of the target tissue according to the target tissue components and the standard output mode corresponding to the proportion of the target tissue components.

[0131] In the embodiments of the present application, a correspondence relationship between different tissue components and proportions and the standard output mode can be established in advance, so that the corresponding standard output mode can be determined based on the target tissue components and proportions.

[0132] Step S703: Control the operation of the electrosurgical instrument based on the energy output mode. The energy output mode includes: the number of pulses in the entire closing cycle, the peak output power and output time of different pulses, the power change within a single pulse, and the change rule of a preset characteristic impedance circle.

[0133] A method for controlling the energy output of an electrosurgical instrument provided by an embodiment of the present application determines the energy output mode of the electrosurgical instrument based on the identified composition and proportion; and controls the operation of the electrosurgical instrument based on the energy output mode, which can more accurately control the energy output strategy to improve the surgical effect.

[0134] The method provided by the embodiment of the present application can more accurately judge the tissue by measuring the characteristic impedance circle of the tissue impedance, compared with simply using the impedance-time change curve, which allows the electrosurgical instrument to implement more accurate energy output.

[0135] In some embodiments, after step S703, the control method may further include:

[0136] Step S704, obtaining the process characteristic impedance circle during the energy output determined by the tissue recognition method of the electrosurgical instrument in any of the above embodiments.

[0137] In the embodiment of the present application, during the operation of the surgery, during the process of outputting energy in a certain energy output mode, the electrosurgical host outputs a mixed-frequency electrical signal to the target tissue through the electrosurgical instrument and obtains the response electrical signal of the target tissue; the mixed-frequency electrical signal is formed by superimposing several harmonic electrical signals with different frequencies; the process characteristic impedance circle of the target tissue is determined based on the response electrical signal and the mixed-frequency electrical signal.

[0138] Step S705, determining the closed state of the target tissue based on the process characteristic impedance circle and the change law of the characteristic impedance circle, and adjusting the output parameters of the energy output mode.

[0139] In the embodiment of the present application, a trained model can be used to predict the new characteristic impedance circle, so as to determine the closed state of the tissue. In this way, in practical applications, the closed state of the tissue can be quickly judged through the characteristic impedance circle, realizing real-time state monitoring of the target tissue and adjusting the subsequent energy output parameters according to the real-time state monitoring.

[0140] In some embodiments, the corresponding relationship between different closed states and the characteristic impedance circle can be established in advance to obtain the change law of the preset characteristic impedance circle. After obtaining the process characteristic impedance circle, the closed state of the target tissue can be determined based on the change law of the characteristic impedance circle.

[0141] In the embodiment of the present application, the similarity between the process characteristic impedance circle and the characteristic impedance circle in the change law of the characteristic impedance circle can be calculated, and the closed state corresponding to the characteristic impedance circle with a similarity greater than the similarity threshold is determined as the closed state of the target tissue.

[0142] Figure 8 It is a schematic diagram of the change law of a characteristic impedance circle provided by an embodiment of the present application, such asFigure 8 As shown, different closing times correspond to different characteristic impedance circles, and different closing times correspond to the closed state. By measuring the process characteristic impedance circles at different moments during the closing process, the closed state can be determined.

[0143] In the embodiments of the present application, when the status information of the target tissue is closed, the output parameters for controlling the energy output mode shown can be: controlling the electrosurgical instrument to stop working.

[0144] In some embodiments, after controlling the electrosurgical instrument to stop working, a prompt message can be sent, and the prompt message is used to prompt the user that it has been completed.

[0145] In the embodiments of the present application, if the characteristic impedance circle corresponds to the characteristic impedance circle corresponding to the closed state, the status information of the tissue is closed. The electronic device can control the electrosurgical instrument to stop working.

[0146] In the embodiments of the present application, the prompt message can be sent in various ways. It can be a sound prompt. For example, the control device can emit a sound, such as a beep or a prompt tone, to attract the user's attention. Text information can be displayed on the screen of the electronic device. For example, a pop-up window or warning text can be displayed on the screen to convey relevant information to the user. Icons can be displayed on the screen of the electronic device, such as a warning icon or an indicator light, to indicate a specific event or state. A vibration prompt can be used. For example, the device can be controlled to vibrate to attract the user's attention, such as the vibration reminder of a mobile phone. The prompt message can also be output through an LED indicator light. The electronic device can control the LED indicator light to prompt the user by flashing or other means. The prompt message can also be output through voice. The electronic device can use voice synthesis technology to emit artificial voice to convey information to the user.

[0147] Figure 10 A method for controlling the energy output of an electrosurgical instrument provided by an embodiment of the present application is as Figure 10 shown, including:

[0148] Step S201, output a mixed-frequency electrical signal.

[0149] In the embodiments of the present application, the mixed-frequency electrical signal can be output through a mixed-frequency small-signal output module. The mixed-frequency electrical signal can be generated by phase-shifting and superimposing N harmonics; the mixed-frequency electrical signal is output through an electrosurgical generator. In some embodiments, the mixed-frequency signal can also be generated through waveform generation technology.

[0150] Step S202, draw a characteristic impedance circle according to the response electrical signal and the mixed-frequency electrical signal.

[0151] In the embodiments of the present application, the resistance and reactance of the tissue can be determined, and then different discrete points can be plotted on a coordinate system based on the resistance and reactance. Among them, the abscissa of the discrete points is the resistance at each frequency, and the ordinate of each discrete point is the reactance at each frequency; the respective discrete points are fitted to obtain the characteristic impedance circle of the target tissue.

[0152] Step S203, determine whether it is the first pulse.

[0153] In the embodiments of the present application, if it is the first pulse, step S204 is executed; if it is not the first pulse, step S205 is executed.

[0154] Step S204, analyze the tissue composition and proportion.

[0155] In the embodiments of the present application, after step S204, step S06 is executed.

[0156] Step S206, customize the energy output mode.

[0157] In the embodiments of the present application, different tissue compositions and proportions correspond to different energy output modes. After determining the tissue composition and proportion, the energy output mode can be determined.

[0158] After step S206, step S207 is executed.

[0159] Step S205, analyze the closed state of the tissue.

[0160] In the embodiments of the present application, the closed state of the tissue can be analyzed through the process characteristic impedance circle.

[0161] Step S207, adjust the output energy.

[0162] In the embodiments of the present application, the output energy at subsequent moments can be adjusted according to the closed state of the tissue.

[0163] Step S208, determine whether the tissue is in a completely closed state.

[0164] In the embodiments of the present application, it can be determined whether the tissue is completely closed based on the process characteristic impedance circle.

[0165] In the embodiments of the present application, if it is not closed, step S201 is continued to be executed; if it is already closed, step S209 is executed.

[0166] Step S209, complete the energy output and issue a prompt.

[0167] The control method provided by the embodiments of the present application can more accurately determine the tissue composition and proportion by measuring the characteristic impedance circle of tissue impedance, compared with simply using the impedance-time change curve. This allows the electrosurgical instrument to apply more precise energy. Moreover, the mixed-frequency electrical signal detection method can greatly shorten the measurement time of the frequency response compared with the traditional frequency scanning method, improving the working efficiency during surgery.

[0168] Based on the foregoing embodiments, the embodiments of the present application provide a control device. Each module included in the device, as well as each unit included in each module, can be implemented by a processor in a computer device; of course, it can also be implemented by specific logic circuits. During implementation, the processor can be a central processing unit (CPU), a microprocessor unit (MPU), a digital signal processor (DSP), or a field programmable gate array (FPGA), etc.

[0169] The embodiments of the present application provide a tissue recognition device based on an electrosurgical instrument. Figure 11 FIG. [ID] is a schematic structural diagram of a tissue recognition device based on an electrosurgical instrument provided by the embodiments of the present application. As Figure 11 shown, the tissue recognition device 1100 based on an electrosurgical instrument includes:

[0170] A first acquisition module 1101, configured to output a mixed-frequency electrical signal to the target tissue through the electrosurgical instrument and acquire the response electrical signal of the target tissue when the electrosurgical instrument clamps the target tissue; the mixed-frequency electrical signal is formed by superimposing a plurality of harmonic electrical signals with different frequencies;

[0171] A first determination module 1102, configured to determine the impedance characteristics of the target tissue based on the response electrical signal and the mixed-frequency electrical signal;

[0172] An identification module 1103, configured to determine the composition components of the target tissue and the proportion of each composition component based on the impedance characteristics.

[0173] In some embodiments, the first determination module includes:

[0174] An acquisition unit, configured to acquire a voltage signal according to the response electrical signal when the mixed-frequency electrical signal is a mixed-frequency current signal; or, acquire a current signal according to the response electrical signal when the mixed-frequency electrical signal is a mixed-frequency voltage signal;

[0175] A transformation unit for respectively converting a current signal and a voltage signal into a current frequency-domain signal and a voltage frequency-domain signal based on a transformation algorithm; the current frequency-domain signal includes current values and current phase values corresponding to a plurality of harmonic electrical signals with different frequencies respectively, and the voltage frequency-domain signal includes voltage values and voltage phase values corresponding to a plurality of harmonic electrical signals with different frequencies respectively;

[0176] A calculation unit for calculating impedance values and phase differences corresponding to a plurality of harmonic electrical signals with different frequencies based on the current frequency-domain signal and the voltage frequency-domain signal;

[0177] A determination unit for determining the impedance characteristic based on the impedance values and the phase differences corresponding to a plurality of harmonic electrical signals with different frequencies.

[0178] In some embodiments, the impedance characteristic includes: a characteristic impedance circle, and the determination unit includes:

[0179] A calculation subunit for calculating corresponding resistance values and reactance values based on the impedance values and the phase differences corresponding to a plurality of harmonic electrical signals with different frequencies;

[0180] A determination subunit for determining the characteristic impedance circle of the target tissue based on the resistance values and the reactance values corresponding to a plurality of harmonic electrical signals with different frequencies.

[0181] In some embodiments, the determination subunit includes:

[0182] A construction subunit for constructing a coordinate system, wherein the abscissa of the coordinate system is resistance and the ordinate of the coordinate system is reactance;

[0183] A plotting subunit for plotting discrete points on the coordinate system based on the resistance values and the reactance values corresponding to a plurality of harmonic electrical signals with different frequencies;

[0184] A fitting subunit for fitting to connect each discrete point to obtain the impedance characteristic of the target tissue.

[0185] In some embodiments, the identification module includes:

[0186] A first determination unit for determining fitting parameters by using the standard characteristic impedance circles of different components and the characteristic impedance circle of the target tissue as inputs to an analysis model based on the analysis model;

[0187] A second determination unit for determining the components of the target tissue and the proportion of each component according to the fitting parameters.

[0188] An energy output control device for an electrosurgical instrument provided by an embodiment of the present application includes:

[0189] A second acquisition module, configured to acquire the composition components of the target tissue determined according to the above-mentioned tissue recognition method of the electrosurgical instrument and the proportion of each composition component;

[0190] A second determination module, configured to determine the energy output mode of the electrosurgical instrument based on the composition components and the proportion;

[0191] A control module, configured to control the operation of the electrosurgical instrument based on the energy output mode, where the energy output mode includes: the number of pulses in the entire closing cycle, the peak output power and output time of different pulses, the power change within a single pulse, and the change rule of a preset characteristic impedance circle.

[0192] In some embodiments, the second determination module includes:

[0193] A sorting unit, configured to sort based on the proportion of each tissue component to obtain a sorting result of the proportion of each tissue component;

[0194] A third determination unit, configured to determine the target tissue components as the tissue components corresponding to the first preset number of proportions in the sorting result;

[0195] A fourth determination unit, configured to determine the energy output mode of the target tissue according to the target tissue components and the standard output mode corresponding to the proportion of the target tissue components.

[0196] The embodiment of the present application provides an energy output control device for an electrosurgical instrument, further including:

[0197] An acquisition module, configured to acquire the process characteristic impedance circle during the energy output determined according to the above-mentioned tissue recognition method of the electrosurgical instrument;

[0198] An adjustment module, configured to determine the closed state of the target tissue based on the process characteristic impedance circle and the change rule of the characteristic impedance circle, and adjust the output parameters of the energy output mode.

[0199] Based on the foregoing embodiments, the embodiment of the present application further provides an electrosurgical host, Figure 9 As shown in the structural schematic diagram of an electrosurgical host 1 provided by the embodiment of the present application, as Figure 9 shown, the electrosurgical system 1 includes: a main controller 9. The main controller is configured to execute a program stored in the memory based on the tissue recognition method of the electrosurgical instrument and / or the energy output control method of the electrosurgical instrument to implement the steps in the tissue recognition method of the electrosurgical instrument and / or the energy output control method of the electrosurgical instrument provided by the above embodiments.

[0200] In some embodiments, the electrosurgical host further includes: a tissue recognition control module 10, a working energy control module 11, an output switching module 12, and a sampling module 13. The tissue recognition control module 10, the working energy control module 11, the output switching module 12, and the sampling module are all connected to the main controller. The main controller controls the tissue recognition control module to output a mixed-frequency electrical signal. The main controller controls the working energy control module to output a working electrical signal. The main controller controls the output switching module to switch and output between the mixed-frequency electrical signal and the working electrical signal. The sampling module is configured to receive the mixed-frequency electrical signal or the response signal of the mixed-frequency electrical signal output by the host, and send the response signal to the main controller. The main controller performs tissue recognition, tissue state recognition, energy output mode judgment, and adjustment of output parameters of the energy output mode according to the response signal.

[0201] In some embodiments, the tissue recognition control module includes: a look-up table unit and a direct digital synthesis (DDS) unit. The look-up table unit stores data of the mixed-frequency electrical signal. The DDS unit uses DDS technology to synthesize the mixed-frequency signal and generate the mixed-frequency electrical signal. The working energy control module includes: an RF power amplifier and a transformer, and realizes energy output through the RF power amplifier and the transformer.

[0202] An embodiment of the present application provides an electrosurgical system, including: the above-mentioned electrosurgical host and an electrosurgical instrument, and the electrosurgical host is connected to the electrosurgical instrument.

[0203] In the embodiments of the present application, if the above control method is implemented in the form of a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the embodiments of the present application essentially or the part that contributes to the prior art can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the methods of the embodiments of the present application. The foregoing storage medium includes: various media such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a magnetic disk, or an optical disc that can store program codes. In this way, the embodiments of the present application are not limited to any specific combination of hardware and software.

[0204] Accordingly, an embodiment of the present application provides a storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps in the energy output control method of the electrosurgical instrument and / or the tissue recognition method based on the electrosurgical instrument provided in the above embodiments are implemented.

[0205] An embodiment of the present application further provides a computer program product. When the computer program product runs on an electronic device, the electronic device is enabled to execute the steps in any one of the energy output control methods of the electrosurgical instrument and / or the tissue recognition method based on the electrosurgical instrument.

[0206] The descriptions of the above embodiments of the electronic device and the storage medium are similar to the descriptions of the above method embodiments and have similar beneficial effects to those of the method embodiments. For the technical details not disclosed in the embodiments of the computer device and the storage medium of the present application, please refer to the descriptions of the method embodiments of the present application for understanding.

[0207] It should be understood that the term "one embodiment" or "an embodiment" mentioned throughout the specification means that a specific feature, structure, or characteristic related to the embodiment is included in at least one embodiment of the present application. Therefore, the appearances of the phrase "in one embodiment" or "in an embodiment" throughout the specification do not necessarily refer to the same embodiment. In addition, these specific features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. It should be understood that in various embodiments of the present application, the magnitudes of the serial numbers of the above processes do not mean the order of execution, and the order of execution of each process should be determined by its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present application. The serial numbers of the embodiments of the present application are only for description and do not represent the advantages or disadvantages of the embodiments.

[0208] It should be noted that in this article, the term "comprising", "including" or any other variant thereof is intended to cover a non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the phrase "including a..." does not exclude the existence of additional identical elements in the process, method, article or device including the element.

[0209] In several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined, or can be integrated into another system, or some features can be ignored, or not executed. In addition, the couplings, direct couplings, or communication connections between the various components shown or discussed may be through some interfaces. The indirect couplings or communication connections of devices or units can be electrical, mechanical, or other forms.

[0210] The units described above as separate components may or may not be physically separated. The components shown as units may or may not be physical units; they can be located in one place or distributed to multiple network units; some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0211] In addition, each functional unit in the embodiments of the present application can be all integrated in a processing unit, or each unit can be separately used as a unit, or two or more units can be integrated in one unit; the above integrated units can be implemented in the form of hardware, or in the form of hardware plus software functional units.

[0212] Those of ordinary skill in the art can understand that all or part of the steps to implement the above method embodiments can be completed by hardware related to program instructions. The foregoing program can be stored in a computer-readable storage medium. When the program is executed, it executes the steps including the above method embodiments; and the foregoing storage medium includes: removable storage devices, read-only memories (ROMs), magnetic disks, or optical discs, etc., which can store program codes.

[0213] Alternatively, if the above integrated units of the present application are implemented in the form of software functional modules and sold or used as independent products, they can also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the embodiments of the present application, in essence, or the part that contributes to the prior art can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to enable a controller to execute all or part of the methods of the various embodiments of the present application. And the foregoing storage medium includes: removable storage devices, ROMs, magnetic disks, or optical discs, etc., which can store program codes.

[0214] The above are only the embodiments of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present application can easily think of changes or substitutions, which should all be covered within the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A method for tissue recognition based on an electrosurgical instrument, which is used to recognize the composition of a target tissue clamped by the electrosurgical instrument; characterized in that, Comprising: When an electrosurgical instrument clamps a target tissue, output a mixed-frequency electrical signal to the target tissue through the electrosurgical instrument, and acquire a response electrical signal of the target tissue; the mixed-frequency electrical signal is formed by superimposing a plurality of harmonic electrical signals with different frequencies; Determine the impedance characteristics of the target tissue based on the response electrical signal and the mixed-frequency electrical signal; Determine the composition components of the target tissue and the proportion of each of the composition components based on the impedance characteristics.

2. The method according to claim 1, wherein The determining the impedance characteristics of the target tissue based on the response electrical signal and the mixed-frequency electrical signal includes: When the mixed-frequency electrical signal is a mixed-frequency current signal, acquire a voltage signal according to the response electrical signal; or, when the mixed-frequency electrical signal is a mixed-frequency voltage signal, acquire a current signal according to the response electrical signal; Convert the current signal and the voltage signal into a current frequency-domain signal and a voltage frequency-domain signal respectively based on a transformation algorithm; the current frequency-domain signal includes current values and current phase values corresponding to a plurality of harmonic electrical signals with different frequencies respectively, and the voltage frequency-domain signal includes voltage values and voltage phase values corresponding to a plurality of harmonic electrical signals with different frequencies respectively; Calculate impedance values and phase differences corresponding to a plurality of harmonic electrical signals with different frequencies based on the current frequency-domain signal and the voltage frequency-domain signal; Determine the impedance characteristics based on the impedance values and the phase differences corresponding to a plurality of harmonic electrical signals with different frequencies.

3. The method according to claim 2, characterized in that, The impedance characteristics include: a characteristic impedance circle, and the determining the impedance characteristics based on the impedance values and the phase differences corresponding to a plurality of harmonic electrical signals with different frequencies includes: Calculate corresponding resistance values and reactance values based on the impedance values and the phase differences corresponding to a plurality of harmonic electrical signals with different frequencies; Determine the characteristic impedance circle of the target tissue based on the resistance values and the reactance values corresponding to a plurality of harmonic electrical signals with different frequencies.

4. The method according to claim 3, characterized in that, The determining the characteristic impedance circle of the target tissue based on the resistance values and the reactance values corresponding to a plurality of harmonic electrical signals with different frequencies includes: Construct a coordinate system, wherein the abscissa of the coordinate system is resistance and the ordinate of the coordinate system is reactance; Discrete points plotted on the coordinate system based on the resistance values and the reactance values corresponding to a plurality of harmonic electrical signals with different frequencies; Fit and connect each discrete point to obtain the characteristic impedance circle of the target tissue.

5. The method according to claim 3, characterized in that, The determining the composition components of the target tissue and the proportion of each of the composition components based on the impedance characteristics includes: Based on an analysis model, use the standard characteristic impedance circles of different composition components and the characteristic impedance circle of the target tissue as inputs to the analysis model to determine fitting parameters; Determine the composition components of the target tissue and the proportion of each of the composition components according to the fitting parameters.

6. An energy output control method for an electrosurgical instrument, characterized in that, Comprising: Acquire the composition components of the target tissue and the proportion of each of the composition components determined by the tissue recognition method based on an electrosurgical instrument according to any one of claims 1 to 5; Determine the energy output mode of the electrosurgical instrument based on the composition components and the proportion. Controlling the operation of the electrosurgical instrument based on the energy output mode, the energy output mode including: the number of pulses in the entire closing cycle, the peak output power and output time of different pulses, the power variation within a single pulse, and the variation law of a preset characteristic impedance circle.

7. The method according to claim 6, wherein Determining the energy output mode of the electrosurgical instrument based on the composition and the proportion includes: Sorting based on the proportion of each tissue component to obtain a sorting result of the proportion of each tissue component; Determining the tissue components corresponding to the proportions of the first preset number in the sorting result as the target tissue components; Determining the energy output mode of the target tissue according to the target tissue components and the standard output mode corresponding to the proportion of the target tissue components.

8. The method according to any one of claims 6 to 7, characterized in that The method further includes: Obtaining a process characteristic impedance circle during the energy output determined by the tissue recognition method based on the electrosurgical instrument according to any one of claims 1 to 5; Determining the closing state of the target tissue based on the process characteristic impedance circle and the variation law of the characteristic impedance circle, and adjusting the output parameters of the energy output mode.

9. A tissue recognition device based on an electrosurgical instrument, characterized in that, For identifying the composition of the target tissue clamped by the electrosurgical instrument; including: A first acquisition module, configured to, when the electrosurgical instrument clamps the target tissue, control the electrosurgical instrument to output a mixed-frequency electrical signal to the target tissue and acquire the response electrical signal of the target tissue; the mixed-frequency electrical signal is formed by superimposing a plurality of harmonic electrical signals with different frequencies; A first determination module, configured to determine the impedance characteristics of the target tissue based on the response electrical signal and the mixed-frequency electrical signal; An identification module, configured to determine the composition components of the target tissue and the proportion of each composition component based on the impedance characteristics.

10. An energy output control device for an electrosurgical instrument, characterized in that, Including: A second acquisition module, configured to acquire the composition components of the target tissue and the proportion of each composition component determined by the tissue recognition method based on the electrosurgical instrument according to any one of claims 1 to 5; A second determination module, configured to determine the energy output mode of the electrosurgical instrument based on the composition components and the proportion; A control module, configured to control the operation of the electrosurgical instrument based on the energy output mode, the energy output mode including: the number of pulses in the entire closing cycle, the peak output power and output time of different pulses, the power variation within a single pulse, and the variation law of a preset characteristic impedance circle.

11. An electrosurgical main unit, characterized in that, The electrosurgical host includes a memory and a main controller, and the main controller executes a computer program of the energy output control method based on the electrosurgical instrument according to any one of claims 6 to 8 stored in the memory to implement the output control of the working electrical signal of the tissue.

12. The electrosurgical mainframe according to claim 11, characterized in that, The electrosurgical host further includes a tissue recognition control module, a working energy control module, an output switching module, and a sampling module. The tissue recognition control module, the working energy control module, the output switching module, and the sampling module are all connected to the main controller. The main controller controls the tissue recognition control module to output a mixed-frequency electrical signal. The main controller controls the working energy control module to output a working electrical signal. The main controller controls the output switching module to switch and output between the mixed-frequency electrical signal and the working electrical signal. The sampling module is configured to receive the mixed-frequency electrical signal or the response signal of the mixed-frequency electrical signal output by the host, and send the response signal to the main controller. The main controller performs tissue recognition, tissue state recognition, energy output mode judgment, and adjustment of output parameters of the energy output mode according to the response signal.

13. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the method according to any one of claims 1 to 5 or 6 to 8.

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