Intelligent tissue induction electrosurgical equipment and energy output control system thereof

Abstract

The invention relates to the technical field of medical equipment, in particular to intelligent tissue induction electrosurgical equipment and an energy output control system thereof, comprising an energy input module, a control module, an energy output module and a user interface module; compared with the prior art which mainly depends on a single control algorithm, such as a PID (Proportion Integration Differentiation) control algorithm, so that the control is not flexible and accurate enough in some complex operation scenes, the scheme adopts three groups of calculation modules including the PID control algorithm, the fuzzy control algorithm and the neural network control algorithm, and a result synthesis module is combined to carry out comprehensive judgment; according to the scheme, the adaptability and accuracy of the control algorithm module are remarkably improved, the calculation result error and inaccuracy caused by algorithm defects and insufficient data accuracy are avoided, better energy output parameter control can be provided under different operation conditions, and the intelligent level and the operation effect of an operation are effectively improved.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and particularly to an intelligent tissue-sensing electrosurgical device and its energy output control system. Background Art

[0002] In the field of electrosurgery, the energy output control of surgical devices is crucial for the surgical effect and safety. Traditional electrosurgical devices mainly rely on a single control algorithm, such as PID control, to achieve the regulation of energy output. However, this single control algorithm solution may appear less flexible and precise in some complex surgical scenarios.

[0003] Specifically, although the PID control algorithm has advantages such as simple structure and easy implementation, its control effect may be limited when facing changes in tissue characteristics during the operation, different surgical sites, and the diversity of surgeons' energy output requirements. For example, the PID control algorithm may not be able to quickly adapt to changes in tissue impedance, resulting in inaccurate or unstable energy output, thereby affecting the surgical effect and patient safety.

[0004] In addition, with the continuous development of medical technology, the requirements for precision and safety in surgery are also getting higher and higher. The traditional single control algorithm has been difficult to meet the refined and intelligent requirements of modern surgery for energy output control. Therefore, there is an urgent need in the industry for an electrosurgical device and its energy output control system that can control energy output more flexibly and precisely.

[0005] In summary, this invention patent is proposed in view of the limitations of the single control algorithm in the prior art and the high requirements for energy output control in surgery. By adopting three calculation modules including the PID control algorithm, fuzzy control algorithm, and neural network control algorithm, and combining with the result synthesis module for comprehensive judgment, this invention patent aims to significantly improve the adaptability and precision of the control algorithm module, provide a better control strategy for energy output under different surgical conditions, and thus effectively improve the intelligent level and surgical effect of the operation. Summary of the Invention

[0006] In order to overcome the problems proposed in the above background art, the present invention proposes an intelligent tissue-sensing electrosurgical device and its energy output control system.

[0007] The technical solution of the present invention is: An intelligent tissue-sensing electrosurgical device includes: An energy input module for real-time monitoring of the input voltage and current of the device to ensure the stability of the input voltage and current of the device; A control module including a microprocessor with an internal energy output control system for controlling and adjusting the entire device; An energy output module, which is responsible for outputting the electro-surgical energy required for surgery according to different scenarios under the control of the control module; A user interface module, which provides a display interface for doctors to display device status and information related to energy output settings, and allows doctors to adjust the device settings according to surgical needs.

[0008] Preferably, the energy input module includes: A11: A current sensor and a voltage sensor. The current sensor is used to monitor the change of the input current in real time, and the voltage sensor is used to monitor the change of the input voltage in real time; A12: A voltage stabilizing and current stabilizing circuit, which is used to automatically adjust the input current and input voltage and regulate them within a set safe range; A13: An overload protection circuit, which is used to automatically cut off the input power supply when the input current and input voltage exceed the set threshold.

[0009] Preferably, the user interface module includes: A21: A high-definition display screen, which is used to display the device status, energy output settings and key information during the surgery in real time, including real-time current, real-time voltage, energy mode and output intensity; A22: A control panel, which is used to control the start and stop of the device and the switching of the energy output mode, and adjust the output parameters of the device; A23: A feedback device, which includes a buzzer, an indicator light and a vibrator, and is used to show the specific status of the device to the doctor in real time through sound, light and tactile feedback.

[0010] Preferably, when the feedback device is in use, it includes the following functions: A31: Display the patient's physiological parameters in real time through the buzzer. The worse the patient's physiological parameters are, the higher the buzzing frequency of the buzzer; A32: Display the operating status and error information of the device through the indicator light. Among them, it includes showing that the output power of the device is too high through a red light, showing the normal operation of the device through a white light, and showing whether the input power and output power of the device are normal through the flashing of the light; A33: The vibrator is attached to the doctor's skin, and the specific magnitude of the energy output power is fed back to the doctor through the vibration of the vibrator. When the energy output power is greater, the power of the vibrator is higher.

[0011] Preferably, when the energy output module is responsible for outputting the electro-surgical energy required for surgery according to different scenarios under the control of the control module, it includes the following steps: S11: Instruction reception, receiving an instruction to output energy from the control module. Among them, the instruction includes energy type, frequency, amplitude and duration; S12: Energy conversion and output. According to the received instruction, convert electrical energy into electrosurgical energy required for the operation and output it to the surgical site through the output port. S13: Precise adjustment. During the operation, according to the surgical requirements and the instructions of the control module, adjust the parameters of the output energy in real time. S14: Safety monitoring and protection. Use the built-in safety protection mechanism to monitor the status of the output energy in real time. If an abnormality occurs, immediately activate the protection mechanism.

[0012] An energy output control system for an intelligent tissue-sensing electrosurgical device, comprising: An intelligent sensing module, used to collect the parameters of the tissue at the surgical site in real time through high-precision sensors. Among them, the parameters of the tissue at the surgical site include impedance and temperature. A signal processing module, used to process and analyze the data collected by the intelligent sensing module and extract the information useful for the surgical operation. A control algorithm module, used to calculate the appropriate energy output parameters based on the data results of the signal processing module. An instruction output module, used to generate corresponding control instructions based on the data results of the control algorithm module and send the control instructions to the energy output module. A feedback module, used to collect the actual output parameters of the energy output module, calculate the adjustment parameters using the self-feedback algorithm, and send the calculated adjustment parameters to the control algorithm module.

[0013] Preferably, the intelligent sensing module includes: A41: An impedance sensor, used to monitor and collect the impedance data of the tissue at the surgical site. A42: A temperature sensor, used to monitor and collect the temperature data of the tissue at the surgical site. A43: A pressure sensor, used to monitor and collect the pressure data of the tissue at the surgical site on the acting part of the energy output module. A44: An optical sensor, used to monitor and collect the optical property data of the tissue at the surgical site. Among them, the optical property data of the tissue at the surgical site includes reflectivity and transmittance. A45: A motion sensor, including an acceleration sensor, a displacement sensor, and an inclination sensor, used to monitor the motion state and position information of the acting part of the energy output module.

[0014] Preferably, when the signal processing module processes and analyzes the data collected by the intelligent sensing module and extracts the information useful for the surgical operation, it includes the following steps: S21: Data reception, receiving the original data from the intelligent sensing module. S22: Data processing, which sequentially performs amplification processing, filtering processing, digitization processing, and noise reduction processing on the received raw data; S23: Information extraction, which analyzes the processed data through a preset algorithm to extract information useful for surgical operations. Among them, the preset algorithm includes Fourier transform algorithm, wavelet transform algorithm, correlation analysis algorithm, and deep learning algorithm; S24: Data transmission, which transmits the extracted useful information to the control algorithm module through a specific communication protocol.

[0015] Preferably, the control algorithm module includes a calculation module and a result integration module. The calculation module is used to calculate the energy output parameters using a preset algorithm, and there are three sets of calculation modules. The result integration module is used to integrate the calculation results of the three sets of calculation modules. The following three sets of algorithms are preset in the three sets of calculation modules: A51: PID control algorithm, and its calculation principle formula is: ; Among them, is the control output, is the deviation at the current moment, is the proportional gain, which determines the strength of the control action, is the integral gain, which is used to eliminate the static error, is the derivative gain; A52: Fuzzy control algorithm, which is based on fuzzy logic and is realized through three steps: fuzzification, fuzzy inference, and defuzzification; A53: Neural network control algorithm, which is based on a neural network model and learns the relationship between input and output by training the neural network.

[0016] Preferably, when the result integration module integrates the calculation results of the three sets of calculation modules, it includes the following steps: S31: Compare the calculation results of the three sets of calculation modules and compare the differences between the three sets of calculation results; S32: If the difference between the three sets of calculation results is greater than the set threshold, process the one with the largest difference from the other two sets among the three sets of calculation results. Among them, the processing principle formula is: ; Among them, A is the set with the largest difference from the other two sets among the three sets of calculation results, B and C are the numerical values of the other two sets of calculation results respectively, is the processed data; S33: Calculate the processed calculation results through the weighted average method to obtain the final result. When using the weighted average method to calculate the processed calculation results, the weight of the processed data in the three groups of calculation results is 0.3, and the weights of the remaining two groups of data are 0.35.

[0017] Advantages of the present invention: 1. Compared with the prior art that mainly relies on a single control algorithm (such as PID control), which may lead to inflexible and inaccurate control in some complex surgical scenarios, this solution adopts three groups of calculation modules including PID control algorithm, fuzzy control algorithm, and neural network control algorithm, and combines with the result integration module for comprehensive judgment. This solution significantly improves the adaptability and accuracy of the control algorithm module, avoids calculation result errors and inaccuracies caused by algorithm defects and insufficient data accuracy, can provide better energy output parameter control under different surgical conditions, and effectively improves the intelligent level and surgical effect of the surgery; 2. Compared with the prior art that mainly uses simple data averaging or the result of a single algorithm as the control basis, which may lead to sub - optimal control strategies in some complex or fast - changing surgical scenarios, this solution adopts a result integration module. By comparing and analyzing the differences in the calculation results of three different algorithms, it intelligently processes data with large differences, and uses the weighted average method to fuse the processed results, where the data with the largest difference is given a lower weight, and the remaining data is given higher and equal weights. This solution significantly improves the robustness and accuracy of control, can more flexibly adapt to various changes during the surgery, and ensures the safety and effect of the surgery; 3. Compared with the prior art that uses simple display screens and control buttons and lacks a real - time feedback mechanism, which may cause doctors to be unable to timely obtain changes in device status and patient physiological parameters during the surgery, this solution combines a high - definition display screen with a control panel, and adds a feedback device including a buzzer, indicator lights, and a vibrator. Through real - time display of key information, intuitive operation control, and multiple feedbacks of sound, light, and touch, it not only improves the transparency and controllability of the surgery, but also enables doctors to quickly respond to changes in the patient's status, effectively improving the safety and efficiency of the surgery. Description of the Drawings

[0018] Figure 1 Shown is a schematic structural diagram of the electrosurgical device with intelligent tissue sensing of the present invention; Figure 2 Shown is a schematic structural diagram of the energy output control system of the electrosurgical device with intelligent tissue sensing of the present invention. Detailed Embodiments

[0019] The present invention will be further described below with reference to the drawings and embodiments.

[0020] Please refer to Figure 1 , the present invention provides an embodiment: an electrosurgical device with intelligent tissue sensing, including: An energy input module, which is used to monitor the input voltage and current of the device in real time to ensure the stability of the input voltage and current of the device; A control module, including a microprocessor, with an energy output control system built in, which is used to control and adjust the entire device; An energy output module, which is used to output the electrosurgical energy required for surgery according to different scenarios under the control of the control module; A user interface module, which provides a display interface for doctors to display device status and energy output setting-related information, and allows doctors to adjust the device settings according to surgical needs.

[0021] As described above, an embodiment of the electrosurgical device with intelligent tissue sensing provided by the present invention includes an energy input module to monitor and stabilize the input voltage and current in real time, a control module containing a microprocessor and an energy output control system to comprehensively regulate the device, an energy output module to output electrosurgical energy as required according to surgical scenarios, and a user interface module for doctors to view the device status and energy settings and adjust the device configuration according to surgical needs.

[0022] Preferably, the energy input module includes: A11: a current sensor and a voltage sensor. The current sensor is used to monitor the change of the input current in real time, and the voltage sensor is used to monitor the change of the input voltage in real time; A12: a voltage stabilizing and current stabilizing circuit, which is used to automatically adjust the input current and input voltage and adjust the input current and input voltage to the set safe range; A13: an overload protection circuit, which is used to automatically cut off the input power supply when the input current and input voltage exceed the set threshold.

[0023] As described above, the present invention integrates a current sensor and a voltage sensor to monitor the changes of the input current and voltage in real time, combines a voltage stabilizing and current stabilizing circuit to automatically adjust to the safe range, ensuring the stable supply of energy for the electrosurgical device; at the same time, the setting of the overload protection circuit can quickly cut off the power supply when the current and voltage are abnormal, effectively preventing device damage and ensuring surgical safety.

[0024] Preferably, the user interface module includes: A21: a high-definition display screen, which is used to display the device status, energy output settings and key information during the operation in real time, including real-time current, real-time voltage, energy mode and output intensity; A22: a control panel, which is used to control the start and stop of the device, switch the energy output mode, and adjust the output parameters of the device; A23: A feedback device, including a buzzer, an indicator light, and a vibrator, is used to show the specific status of the device to the doctor in real time through sound, light, and tactile feedback.

[0025] Preferably, when in use, the feedback device includes the following functions: A31: Show the patient's physiological parameters in real time through the buzzer. The worse the patient's physiological parameters are, the higher the buzzing frequency of the buzzer. A32: Display the operating status and error information of the device through the indicator light. Among them, it includes showing that the output power of the device is too high through a red light, showing the normal operation of the device through a white light, and showing whether the input power and output power of the device are normal through the flashing of the light. A33: The vibrator is attached to the doctor's skin, and the specific magnitude of the energy output power is fed back to the doctor through the vibration of the vibrator. When the energy output power is greater, the power of the vibrator is higher.

[0026] As described above, compared with the prior art, the present invention uses a simple display screen and control buttons, lacking a real-time feedback mechanism, which may cause doctors to be unable to timely obtain the changes in the device status and the patient's physiological parameters during the operation. This solution combines a high-definition display screen with a control panel and adds a feedback device including a buzzer, an indicator light, and a vibrator. Through real-time display of key information, intuitive operation control, and multiple feedbacks of sound, light, and touch, it not only improves the transparency and controllability of the operation, but also enables doctors to quickly respond to changes in the patient's status, effectively improving the safety and efficiency of the operation.

[0027] Preferably, under the control of the control module, the energy output module is responsible for outputting the electrosurgical energy required for the operation according to different scenarios, including the following steps: S11: Instruction reception, receiving the instruction to output energy from the control module. Among them, the instruction includes energy type, frequency, amplitude, and duration. S12: Energy conversion and output, converting electrical energy into the electrosurgical energy required for the operation according to the received instruction, and outputting it to the surgical site through the output port. S13: Precise adjustment, during the operation, adjusting the parameters of the output energy in real time according to the surgical requirements and the instructions of the control module. S14: Safety monitoring and protection, using the built-in safety protection mechanism to monitor the status of the output energy in real time. If an abnormality occurs, the protection mechanism is immediately activated.

[0028] As described above, the energy output module in the present invention can accurately receive the instructions of the control module, efficiently convert electrical energy into electro-surgical energy of a specific type, frequency, amplitude, and duration required for surgery, and adjust the output parameters in real time according to actual needs during the surgery. At the same time, the built-in safety protection mechanism monitors the energy output status in real time to ensure surgical safety, effectively improving the flexibility and safety of electro-surgical operations.

[0029] Please refer to Figure 2 , the present invention provides an embodiment: an energy output control system for an intelligent tissue-sensing electro-surgical device, including: An intelligent sensing module for real-time collecting parameters of the tissue at the surgical site through high-precision sensors, wherein the parameters of the tissue at the surgical site include impedance and temperature; A signal processing module for processing and analyzing the data collected by the intelligent sensing module to extract information useful for surgical operations; A control algorithm module for calculating appropriate energy output parameters based on the data results of the signal processing module; An instruction output module for generating corresponding control instructions based on the data results of the control algorithm module and sending the control instructions to the energy output module; A feedback module for collecting the actual output parameters of the energy output module, calculating adjustment parameters using a self-feedback algorithm, and sending the calculated adjustment parameters to the control algorithm module.

[0030] As described above, the present invention integrates the intelligent sensing module to accurately collect the parameters of the tissue at the surgical site, combines the signal processing module to extract useful information, the control algorithm module accurately calculates appropriate energy output parameters, and the instruction output module real-time regulates the energy output module. At the same time, the feedback module uses the self-feedback algorithm to monitor and adjust the actual output, realizing the intelligent and precise control of the energy output of the electro-surgical device, effectively improving the safety and effect of the surgery.

[0031] Preferably, the intelligent sensing module includes: A41: An impedance sensor for monitoring and collecting the impedance data of the tissue at the surgical site; A42: A temperature sensor for monitoring and collecting the temperature data of the tissue at the surgical site; A43: A pressure sensor for monitoring and collecting the pressure data of the tissue at the surgical site on the acting part of the energy output module; A44: An optical sensor for monitoring and collecting the optical property data of the tissue at the surgical site, wherein the optical property data of the tissue at the surgical site includes reflectivity and transmittance; A45: The motion sensor includes an acceleration sensor, a displacement sensor, and an inclination sensor, and is used to monitor the motion state and position information of the acting part of the energy output module.

[0032] As described above, the intelligent sensing module in the present invention integrates multiple high-precision sensors such as impedance, temperature, pressure, optical characteristics, and motion state, comprehensively and real-time monitors various parameters of the tissue at the surgical site, provides rich and accurate feedback information for the energy output control system, and thus can more precisely regulate the energy output during the operation, ensure the safety and effect of the operation, and at the same time improve the intelligent level of the operation.

[0033] Preferably, when the signal processing module processes and analyzes the data collected by the intelligent sensing module and extracts the information useful for surgical operations, it includes the following steps: S21: Data reception, receiving the original data from the intelligent sensing module; S22: Data processing, sequentially performing amplification processing, filtering processing, digitization processing, and noise reduction processing on the received original data; S23: Information extraction, analyzing the processed data through a preset algorithm to extract the information useful for surgical operations, wherein the preset algorithm includes Fourier transform algorithm, wavelet transform algorithm, correlation analysis algorithm, and deep learning algorithm; S24: Data transmission, transmitting the extracted useful information to the control algorithm module through a specific communication protocol.

[0034] As described above, the signal processing module in the present invention can efficiently receive the original data of the intelligent sensing module, and through a series of fine processing steps (amplification, filtering, digitization, noise reduction), combined with advanced algorithms (Fourier transform, wavelet transform, correlation analysis, deep learning), deeply mine the useful information in the data, and finally transmit the accurate information to the control algorithm module through a reliable communication protocol, greatly improving the accuracy and efficiency of data processing, and providing a solid foundation for the energy output control during the operation.

[0035] Preferably, the control algorithm module includes a calculation module and a result synthesis module. The calculation module is used to calculate the energy output parameters using a preset algorithm, and there are three groups of calculation modules. The result synthesis module is used to synthesize the calculation results of the three groups of calculation modules. The following three groups of algorithms are preset in the three groups of calculation modules: A51: PID control algorithm, and its calculation principle formula is: ; Wherein, is the control output, is the deviation at the current moment, The proportional gain determines the strength of the control action. is the integral gain, which is used to eliminate the static error. is the derivative gain; A52: The fuzzy control algorithm is based on fuzzy logic and is implemented through three steps: fuzzification, fuzzy inference, and defuzzification. A53: The neural network control algorithm is based on a neural network model, and the relationship between the input and output is learned by training the neural network.

[0036] As described above, the present invention mainly relies on a single control algorithm (such as PID control) compared with the prior art, which may lead to insufficient flexibility and accuracy in control in some complex surgical scenarios. This solution adopts three groups of calculation modules including the PID control algorithm, the fuzzy control algorithm, and the neural network control algorithm, and combines the result integration module for comprehensive judgment. This solution significantly improves the adaptability and accuracy of the control algorithm module, can provide better control of energy output parameters under different surgical conditions, and effectively improves the intelligent level and surgical effect of the surgery.

[0037] Preferably, when the result integration module integrates the calculation results of the three groups of calculation modules, it includes the following steps: S31: Compare the calculation results of the three groups of calculation modules and compare the differences between the three groups of calculation results. S32: If the difference between the three groups of calculation results is greater than the set threshold, then process the one with the largest difference from the other two groups among the three groups of calculation results. Among them, the processing principle formula is: ; Among them, A is the group with the largest difference from the other two groups among the three groups of calculation results, and B and C are the numerical values of the other two groups of calculation results respectively. is the processed data; S33: Calculate the final result by using the weighted average method for the processed calculation results. Among them, when using the weighted average method to calculate the processed calculation results, the weight of the processed data in the three groups of calculation results is 0.3, and the weights of the remaining two groups of data are 0.35.

[0038] As described above, the present invention mainly uses simple data averaging or the results of a single algorithm as the control basis compared with the prior art, which may lead to sub-optimal control strategies in some complex or rapidly changing surgical scenarios. This solution adopts a result integration module. By comparing and analyzing the differences in the calculation results of three different algorithms, it intelligently processes data with large differences and uses the weighted average method to fuse the processed results. Among them, lower weights are given to the data with the largest differences, and higher and equal weights are given to the remaining data. This solution significantly improves the robustness and accuracy of control, can more flexibly adapt to various changes during the operation, and ensures the safety and effectiveness of the operation.

[0039] The embodiments of the present invention have been described in detail above in conjunction with the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the gist of the present invention.

Claims

1. An intelligent tissue-responsive electrosurgical device; characterized in that: It includes: An energy input module, which is used to monitor the input voltage and current of the device in real time to ensure the stability of the input voltage and current of the device; A control module, which includes a microprocessor and an built-in energy output control system, and is used to control and adjust the entire device; An energy output module, which is used to output the electrosurgical energy required for surgery according to different scenarios under the control of the control module; A user interface module, which provides a display interface for doctors to display device status and energy output setting related information, and allows doctors to adjust the device settings according to surgical needs.

2. The electrosurgical device with intelligent tissue sensing according to claim 1, wherein: The energy input module includes: A11: A current sensor and a voltage sensor. The current sensor is used to monitor the change of the input current in real time, and the voltage sensor is used to monitor the change of the input voltage in real time; A12: A voltage and current stabilizing circuit, which is used to automatically adjust the input current and input voltage and adjust them to the set safe range; A13: An overload protection circuit, which is used to automatically cut off the input power supply when the input current and input voltage exceed the set threshold.

3. An electrosurgical device with intelligent tissue sensing according to claim 2, characterized in that: The user interface module includes: A21: A high-definition display screen, which is used to display the device status, energy output settings and key information during the operation in real time, including real-time current, real-time voltage, energy mode and output intensity; A22: A control panel, which is used to control the start and stop of the device and the switching of the energy output mode, and adjust the output parameters of the device; A23: A feedback device, which includes a buzzer, an indicator light and a vibrator, and is used to show the specific status of the device to the doctor in real time through sound, light and tactile feedback.

4. An electrosurgical device with intelligent tissue sensing according to claim 3, characterized in that: When the feedback device is in use, it includes the following functions: A31: The physiological parameters of the patient are displayed in real time through the buzzer. The worse the physiological parameters of the patient are, the higher the buzzing frequency of the buzzer is; A32: The operating status and error information of the device are displayed through the indicator light. Among them, it includes that the output power of the device is too high is displayed by a red light, the normal operation of the device is displayed by a white light, and whether the input power and output power of the device are normal is displayed by the flashing of the light; A33: The vibrator is attached to the doctor's skin, and the specific magnitude of the energy output power is fed back to the doctor through the vibration of the vibrator. When the energy output power is greater, the power of the vibrator is higher.

5. An electrosurgical device with intelligent tissue sensing according to claim 4, characterized in that: When the energy output module is responsible for outputting the electrosurgical energy required for surgery according to different scenarios under the control of the control module, it includes the following steps: S11: Instruction reception, receiving the instruction of output energy from the control module. Among them, the instruction includes energy type, frequency, amplitude and duration; S12: Energy conversion and output, converting electrical energy into the electrosurgical energy required for surgery according to the received instruction, and outputting it to the surgical site through the output port; S13: Precise adjustment, during the operation, the parameters of the output energy are adjusted in real time according to the surgical needs and the instructions of the control module; S14: Safety monitoring and protection, using the built-in safety protection mechanism to monitor the status of the output energy in real time. If an abnormality occurs, the protection mechanism is immediately activated.

6. An energy output control system for an intelligent tissue-responsive electrosurgical device, for the intelligent tissue-responsive electrosurgical device according to claims 1-5, characterized in that: It includes: An intelligent sensing module, which is used to collect the parameters of the tissue at the surgical site in real time through high-precision sensors. Among them, the parameters of the tissue at the surgical site include impedance and temperature; A signal processing module, which is used to process and analyze the data collected by the intelligent sensing module, and extract the information useful for surgical operations; A control algorithm module, which is used to calculate appropriate energy output parameters based on the data results of the signal processing module; An instruction output module, which is used to generate corresponding control instructions based on the data results of the control algorithm module, and send the control instructions to the energy output module; A feedback module, which is used to collect the actual output parameters of the energy output module, calculate the adjustment parameters using a self-feedback algorithm, and send the calculated adjustment parameters to the control algorithm module.

7. The energy output control system of an electrosurgical device with intelligent tissue sensing according to claim 6, characterized in that: The intelligent sensing module includes: A41: An impedance sensor, which is used to monitor and collect the impedance data of the tissue at the surgical site; A42: A temperature sensor, which is used to monitor and collect the temperature data of the tissue at the surgical site; A43: A pressure sensor, which is used to monitor and collect the pressure data of the tissue at the surgical site on the acting part of the energy output module; A44: An optical sensor, which is used to monitor and collect the optical characteristic data of the tissue at the surgical site. Among them, the optical characteristic data of the tissue at the surgical site includes reflectivity and transmittance; A45: A motion sensor, which includes an acceleration sensor, a displacement sensor and an inclination sensor, and is used to monitor the motion state and position information of the acting part of the energy output module.

8. The energy output control system of an electrosurgical device with intelligent tissue sensing according to claim 7, characterized in that: When the signal processing module processes and analyzes the data collected by the intelligent sensing module and extracts the information useful for surgical operations, it includes the following steps: S21: Data reception, receiving the original data from the intelligent sensing module; S22: Data processing, sequentially performing amplification processing, filtering processing, digitization processing and noise reduction processing on the received original data; S23: Information extraction, analyzing the processed data through a preset algorithm to extract the information useful for surgical operations. Among them, the preset algorithms include Fourier transform algorithm, wavelet transform algorithm, correlation analysis algorithm and deep learning algorithm; S24: Data transmission, transmitting the extracted useful information to the control algorithm module through a specific communication protocol.

9. The energy output control system of an electrosurgical device with intelligent tissue sensing according to claim 8, characterized in that: The control algorithm module includes a calculation module and a result integration module. The calculation module is used to calculate the energy output parameters using a preset algorithm, and there are three groups of calculation modules. The result integration module is used to integrate the calculation results of the three groups of calculation modules. The following three groups of algorithms are preset in the three groups of calculation modules: A51: PID control algorithm, and its calculation principle formula is: ； Among them, is for controlling the output, is the deviation at the current moment, is the proportional gain, which determines the strength of the control action, is the integral gain, used to eliminate the static error, is the derivative gain; A52: Fuzzy control algorithm, which is based on fuzzy logic and is realized through three steps: fuzzification, fuzzy inference and defuzzification; A53: Neural network control algorithm, which is based on a neural network model and learns the relationship between input and output by training the neural network.

10. The energy output control system of an electro-surgical device with intelligent tissue sensing according to claim 9, characterized in that: When the result integration module integrates the calculation results of the three groups of calculation modules, it includes the following steps: S31: Compare the calculation results of the three groups of calculation modules, and compare the differences between the three groups of calculation results; S32: If the difference between the three groups of calculation results is greater than the set threshold, then process the one with the largest difference from the other two groups among the three groups of calculation results. The principle formula for the processing is as follows: ； Among them, A is the group with the largest difference from the other two groups in the three groups of calculation results, and B and C are the numerical values of the other two groups of calculation results respectively. are the processed data; S33: Calculate the final result by using the weighted average method for the calculation results after processing. When using the weighted average method to calculate the calculation results after processing, the weight of the processed data in the three groups of calculation results is 0.3, and the weights of the remaining two groups of data are 0.35.

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