Tissue detection method, device and system and planer

Abstract

The invention discloses a tissue detection method, device and system and a planer, and the method, device and system are realized by adopting a tissue detection system, the tissue detection system comprises a tissue detection circuit and an endoscope; the tissue detection circuit comprises a main control unit and a cutter driving motor; the tissue detection method comprises the following steps: acquiring an image of tissue detected by an endoscope and an output torque of a cutter driving motor; determining the hardness of the tissue according to the output torque; determining the type of the tissue according to the image of the tissue and the hardness of the tissue. The type of the tissue can be indirectly judged, the success rate of tissue detection is improved, and the possibility of secondary injury to a patient is reduced. The problem that a traditional planer depends on a single endoscope imaging technology to cause misjudgment on tissues, and misoperation on normal tissues is caused is solved. And related technicians can be better assisted and guided to carry out more accurate cutting operation.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a tissue detection method, device, system and planer. Background Art

[0002] The existing technology mainly uses an endoscope carried at the end of the planer handle to manually identify and determine the composition of the cut tissue.

[0003] The endoscope uses lens imaging technology to create an optical image of tissue components, which is then transmitted via optical fiber to a control center or a large screen. Manual identification determines the tissue composition, guiding the decision to effectively cut or preserve the tissue during surgery.

[0004] When liquid, solid or soft tissue are mixed together at the end of the tissue, it will become more difficult to determine the type of tissue through single endoscopic imaging technology. It is also possible that normal tissue instead of diseased tissue will be cut, which will undoubtedly cause certain harm to the patient. Summary of the Invention

[0005] The present invention provides a tissue detection method, device, system and planer to solve the problem that traditional planers rely on a single endoscopic imaging technology to misjudge tissues, thereby causing misoperation on normal tissues.

[0006] In a first aspect, an embodiment of the present invention provides a tissue detection method implemented using a tissue detection system, the tissue detection system comprising: a tissue detection circuit and an endoscope; the tissue detection circuit comprising a main control unit and a tool drive motor;

[0007] The tissue detection method comprises:

[0008] acquiring an image of the tissue detected by the endoscope and an output torque of the tool drive motor;

[0009] determining the stiffness of the tissue based on the output torque;

[0010] The type of the tissue is determined based on the image of the tissue and the hardness of the tissue.

[0011] Optionally, before acquiring the image of the tissue detected by the endoscope and the output torque of the tool drive motor, the method further includes:

[0012] Calibrate the output torque of the tool drive motor corresponding to the hardness of different types of tissue;

[0013] According to the output torque of the tool drive motor corresponding to the hardness of different types of tissue, a corresponding relationship table between the hardness of different types of tissue and the output torque of the tool drive motor is determined.

[0014] Optionally, the tissue detection circuit further includes a motor drive and current acquisition unit; the motor drive and current acquisition unit includes: a current acquisition circuit;

[0015] Acquiring an image of the tissue detected by the endoscope and the output torque of the tool drive motor includes:

[0016] acquiring an image of the tissue detected by the endoscope;

[0017] Obtaining the phase current of the tool drive motor;

[0018] The output torque of the tool drive motor is determined according to the phase current of the tool drive motor.

[0019] Optionally, determining the hardness of the tissue according to the output torque includes:

[0020] The hardness of the tissue is determined according to the output torque and the correspondence table.

[0021] Optionally, determining the type of the tissue according to the image of the tissue and the hardness of the tissue includes:

[0022] When the hardness of the tissue is within a first preset range, determining that the tissue is soft tissue;

[0023] identifying the color of the image of the tissue;

[0024] When the image of the tissue is grayish black, the soft tissue is determined to be a diseased tissue;

[0025] When the image of the tissue is red, it is determined that the soft tissue is healthy tissue.

[0026] In a second aspect, an embodiment of the present invention further provides a tissue detection device, comprising:

[0027] An image and torque acquisition module, used to acquire images of tissue detected by the endoscope and the output torque of the tool drive motor;

[0028] a hardness determination module, configured to determine the hardness of the tissue based on the image and the output torque acquired by the torque acquisition module;

[0029] The tissue type determination module is configured to determine the type of the tissue based on the image of the tissue acquired by the image and torque acquisition module and the hardness of the tissue determined by the hardness determination module.

[0030] In a third aspect, an embodiment of the present invention further provides a tissue detection system, comprising the tissue detection device, tissue detection circuit, and endoscope described in the second aspect;

[0031] The tissue detection circuit includes a main control unit, a motor drive and current acquisition unit, and a tool drive motor;

[0032] The main control unit is connected to the motor drive and current acquisition unit, and the motor drive and current acquisition unit is connected to the tool drive motor;

[0033] The endoscope is connected to the main control unit via an optical fiber.

[0034] Optionally, the tissue detection circuit further includes a power supply unit;

[0035] The motor drive and current acquisition unit includes: a three-phase bridge arm inverter circuit and a current acquisition circuit;

[0036] The three-phase bridge arm inverter circuit includes three groups of bridge arms, each group of bridge arms includes two switching tubes; the current collection circuit includes three phase current collection resistors;

[0037] The input ends of the three switching tubes located in the upper bridge arm of each group of the bridge arms are all connected to the power supply unit, and the output ends of the switching tubes located in the upper bridge arm of each group of the bridge arms are respectively connected to the three terminals of the tool drive motor; the input ends of the three switching tubes located in the lower bridge arm of each group of the bridge arms are respectively connected to the output ends of the switching tubes located in the upper bridge arm of each group of the bridge arms, and the output ends of the three switching tubes located in the lower bridge arm of each group of the bridge arms are respectively connected to the first ends of the three phase current collection resistors, the second ends of the three phase current collection resistors are grounded, and the first and second ends of the three phase current collection resistors are also connected to the main control unit; the control ends of the switching tubes in the three-phase bridge arm inverter circuit are all connected to the main control unit.

[0038] Optionally, the tissue detection circuit further includes: an image display unit;

[0039] The image display unit is connected to the main control unit and is used to display the image of the tissue detected by the endoscope.

[0040] In a fourth aspect, an embodiment of the present invention further provides a planer, comprising a main unit, an irrigation and suction device, and a handle cutter;

[0041] The host comprises the tissue detection system according to any embodiment of the third aspect; the handle tool comprises a tool, a control component and a pipeline;

[0042] The first end of the pipeline is connected to the host, the second end of the pipeline is connected to the first end of the control component, and the flushing suction device is fixed to the tool; the endoscope is located in the shell of the control component, and the endoscope is connected to the main control unit through an optical fiber; the tool is driven by the tool drive motor.

[0043] The embodiments of the present invention disclose a tissue detection method, device, system, and planer. The hardness of the tissue can be determined by combining the image of the tissue detected by the endoscope and the output torque of the tool drive motor. When the image of the tissue detected by the endoscope is blurred, the type of tissue can be indirectly determined based on the hardness and the image of the endoscope, thereby improving the success rate of tissue detection and reducing the possibility of secondary damage to the patient. The problem of traditional planers relying on a single endoscopic imaging technology to misjudge tissue and cause incorrect operation on normal tissue is solved. It can better assist and guide relevant technical personnel to perform more precise cutting operations.

[0044] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present invention, nor is it intended to limit the scope of the present invention. Other features of the present invention will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0046] Figure 1 This is a schematic structural diagram of a tissue detection system provided by an embodiment of the present invention;

[0047] Figure 2 is a flow chart of a tissue detection method provided by an embodiment of the present invention;

[0048] Figure 3 is a flow chart of another tissue detection method provided by an embodiment of the present invention;

[0049] Figure 4 1 is a structural diagram of a tissue detection device provided by an embodiment of the present invention;

[0050] Figure 5 This is a schematic structural diagram of a tissue detection circuit provided by an embodiment of the present invention;

[0051] Figure 6 It is a structural schematic diagram of a planer provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0052] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0053] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0054] Figure 1 is a structural diagram of a tissue detection system provided by an embodiment of the present invention. Figure 2 This is a flowchart of a tissue detection method provided by an embodiment of the present invention. The tissue detection method provided by an embodiment of the present invention adopts Figure 1 Implementation of tissue detection system in , refer to Figure 1 The tissue detection system includes: a tissue detection circuit 110 and an endoscope 120. The tissue detection circuit 110 includes a main control unit 111 and a tool drive motor 112.

[0055] refer to Figure 2 , the tissue detection method comprises the following steps:

[0056] S210 , acquiring an image of the tissue detected by the endoscope and an output torque of the tool drive motor.

[0057] Specifically, the present invention uses an endoscope to detect tissue images. The endoscope is connected to a main control unit via an optical fiber and can transmit the detected tissue images to the main control unit. The main control unit employs the tissue detection method of the present invention to combine the tissue images detected by the endoscope with the output torque of the tool drive motor. Intelligent image recognition technology is used to identify the tissue images, effectively determining the true condition of the tissue being tested, effectively testing the tested tissue, and providing results that are closest to the true condition.

[0058] S220. Determine the hardness of the tissue according to the output torque.

[0059] It should be noted that the embodiment of the present invention adds an output torque loop control to the control algorithm of the tool drive motor. During the operation of the tool drive motor, while maintaining a certain gear speed, when encountering relatively hard tissue, in order to maintain the speed, the tool drive motor must provide a larger current to overcome the resistance brought by the tissue. At this time, the output torque of the tool drive motor indirectly reflects the hardness of the tissue.

[0060] S230 : Determine the type of tissue according to the tissue image and the hardness of the tissue.

[0061] It is understandable that when the end of the tissue is mixed with liquid, solid, or soft tissue, the image of the tissue detected by the endoscope will be relatively blurred. In this case, the operator cannot determine the tissue type based on the image of the tissue detected by the endoscope alone. When the image of the tissue detected by the endoscope is blurred, the present invention determines the hardness of the tissue based on the output torque of the tool drive motor. In combination with image recognition technology, it can accurately and effectively determine the tissue type.

[0062] Specifically, the types of tissue include skin tissue, soft tissue, and bone tissue. The type of tissue can be further determined. When the tissue is determined to be soft tissue, image recognition technology can be used to further determine whether the soft tissue is pathological tissue or normal tissue.

[0063] This embodiment of the present invention combines the image of tissue detected by the endoscope with the output torque of the tool drive motor to determine tissue hardness. If the image of tissue detected by the endoscope is blurred, the tissue type can be indirectly determined based on the hardness and the endoscopic image, improving the success rate of tissue detection and reducing the possibility of secondary damage to the patient. This solves the problem of traditional planers relying on a single endoscopic imaging technique, which can lead to misjudgment of tissue and inadvertent operation on normal tissue. It can also better assist and guide technicians in performing more precise cutting operations.

[0064] Figure 3 This is a flowchart of another tissue detection method provided by an embodiment of the present invention, referring to Figure 3 , the method comprises the following steps:

[0065] S310 , calibrating the output torque of the tool drive motor corresponding to the hardness of different types of tissues.

[0066] Exemplarily, the hardness range of common tissues in the human body is: the hardness range of skin tissue is greater than 1.1 and less than or equal to 0.2; the hardness range of soft tissue is greater than 0.2 and less than or equal to 4.0; the hardness range of bone tissue is greater than 4.0 and less than or equal to 5.0.

[0067] S320 , determining a correspondence table between the hardness of different types of tissues and the output torque of the tool drive motor according to the output torque of the tool drive motor corresponding to the hardness of different types of tissues.

[0068] It is understandable that, before step S210 of the above embodiment, the following steps may be included: step S310 and step S320.

[0069] By calibrating the output torque of the tool drive motor, which reflects the hardness of different tissue types, the present invention generates a correspondence table between the hardness of different tissue types and the output torque of the tool drive motor, which is stored in the main control unit. Therefore, after obtaining the output torque of the tool drive motor, the hardness of the tissue can be determined by consulting the correspondence table. Once the tissue hardness is determined, the tissue type can be determined.

[0070] For example, when the output torque is greater than 20mNm and less than or equal to 50mNm, the corresponding tissue hardness range is greater than 1.1 and less than or equal to 0.2, and the corresponding tissue type is skin tissue; when the output torque is greater than 50mNm and less than or equal to 80mNm, the corresponding tissue hardness range is greater than 0.2 and less than or equal to 4.0, and the corresponding tissue type is soft tissue; when the output torque is greater than 80mNm, the corresponding tissue hardness range is greater than 4.0 and less than or equal to 5.0, and the corresponding tissue type is bone tissue. The corresponding relationship provided in the embodiment of the present invention is only an example, and a more accurate corresponding relationship can be obtained through multiple calibrations.

[0071] Optionally, based on the above embodiment, continue to refer to Figure 1 The tissue detection circuit 110 further includes a motor drive and current acquisition unit 113 ; the motor drive and current acquisition unit 113 includes: a current acquisition circuit 1131 .

[0072] S331. Acquire an image of the tissue detected by the endoscope.

[0073] S332. Obtain the phase current of the tool drive motor.

[0074] The main control unit is connected to the current acquisition circuit and can acquire the phase current of the tool drive motor.

[0075] S333. Determine the output torque of the tool drive motor according to the phase current of the tool drive motor.

[0076] Specifically, the output torque Where p is the number of pole pairs, is the magnetic flux generated by the permanent magnet, L d -L q is the difference between the inductance of the d-axis and q-axis of the tool drive motor, id is the amplitude of the phase current of the tool drive motor d axis, i q The tool drive motor in the embodiment of the present invention is a surface mounted permanent magnet synchronous motor, in which the permanent magnet is directly mounted on the rotor surface. d =L q , the output torque formula can be simplified to: That is, the output torque of the tool drive motor is directly proportional to the amplitude of the phase current. In this embodiment of the present invention, when the tool drive motor is set to a certain speed, the speed PI loop adjusts the output value of the velocity loop in real time and uses this value as the input of the current loop. If the motor encounters hard tissue, the speed PI loop will increase its output value to maintain the speed. As a result, the motor displays a larger current value, and the corresponding output torque naturally increases.

[0077] It can be understood that step S210 of the above embodiment may include: steps S331 to S333.

[0078] S340: Determine the hardness of the tissue according to the output torque and the corresponding relationship table.

[0079] It can be understood that step S220 in the above embodiment may include step S340.

[0080] S351: When the hardness of the tissue is within a first preset range, determine that the tissue is soft tissue.

[0081] The first preset range is the hardness range of soft tissue, that is, greater than 0.2 and less than or equal to 4.0. For example, when the hardness of a tissue is 0.5, it can be determined that the tissue is soft tissue.

[0082] S352. Identify the color of the tissue image.

[0083] It is understandable that when there is liquid, solid or soft tissue mixed at the end of the tissue, the image of the tissue detected by the endoscope will be blurred, but image recognition technology can be used to identify the color of the image of the tissue detected by the endoscope, and the type of tissue can be further confirmed by the color of the image.

[0084] S3531. When the image of the tissue is gray-black, the soft tissue is determined to be diseased tissue.

[0085] S3532. When the image of the tissue is red, determine that the soft tissue is healthy tissue.

[0086] It can be understood that step S230 of the above embodiment may include steps S251 to S3532.

[0087] In summary, the embodiments of the present invention can determine the hardness of the tissue by combining the image of the tissue detected by the endoscope and the output torque of the tool drive motor. When the image of the tissue detected by the endoscope is blurred, the type of tissue can be indirectly determined based on the hardness and the image of the endoscope, thereby improving the success rate of tissue detection and reducing the possibility of secondary damage to the patient. In addition, by calibrating the output torque of the tool drive motor reflected by the hardness of different types of tissue, a correspondence table between the hardness of different types of tissue and the output torque of the tool drive motor can be obtained and stored in the main control unit. Therefore, after obtaining the output torque of the tool drive motor, the hardness of the tissue can be determined by checking the correspondence table. After obtaining the hardness of the tissue, the type of tissue can be determined. This solves the problem that traditional planers rely on a single endoscopic imaging technology to misjudge the tissue, resulting in incorrect operation of normal tissue. It can better assist and guide relevant technical personnel to perform more precise cutting operations.

[0088] Figure 4 This is a schematic diagram of the structure of a tissue detection device provided by an embodiment of the present invention, with reference to Figure 4 The device includes: an image and torque acquisition module 410, a hardness determination module 420 and a tissue type determination module 430.

[0089] In an embodiment of the present invention, the image and torque acquisition module 410 is used to acquire images of tissue detected by the endoscope and the output torque of the tool drive motor; the hardness determination module 420 is used to determine the hardness of the tissue based on the output torque acquired by the image and torque acquisition module 410; and the tissue type determination module 430 is used to determine the type of tissue based on the image of the tissue acquired by the image and torque acquisition module 410 and the hardness of the tissue determined by the hardness determination module 420.

[0090] The tissue detection device provided in the embodiment of the present invention can execute the tissue detection method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method. For the content not described in detail in the embodiment of the present invention, reference can be made to the tissue detection method provided in the above embodiment.

[0091] Continue to refer Figure 1 An embodiment of the present invention further provides a tissue detection system, comprising the tissue detection device, tissue detection circuit 110 and endoscope 120 provided in the above embodiment; the tissue detection circuit 110 comprises a main control unit 111, a motor drive and current acquisition unit 113 and a tool drive motor 130; the main control unit 111 is connected to the motor drive and current acquisition unit 113, and the motor drive and current acquisition unit 113 is connected to the tool drive motor 130; the endoscope 120 is connected to the main control unit 111 via an optical fiber.

[0092] Figure 5is a structural diagram of a tissue detection circuit 110 provided in an embodiment of the present invention. Figure 5 Shown Figure 1 The specific structure of the tissue detection circuit in the embodiment is optional, based on the above embodiment, refer to Figure 5 The tissue detection circuit 110 also includes a power supply unit 114; the motor drive and current acquisition unit 113 includes: a three-phase bridge arm inverter circuit 1132 and a current acquisition circuit 1131; the three-phase bridge arm inverter circuit 1132 includes three groups of bridge arms, each group of bridge arms includes two switch tubes; the current acquisition circuit 1131 includes three phase current acquisition resistors; the input ends of the three switch tubes located in the upper bridge arm of each group of bridge arms are connected to the power supply unit 114, and the output ends of the switch tubes located in the upper bridge arm of each group of bridge arms are respectively connected to the tool drive circuit The three terminals of the machine 130 are connected; the input ends of the three switching tubes located in the lower bridge arm of each group of bridge arms are respectively connected to the output ends of the switching tubes located in the upper bridge arm of each group of bridge arms, and the output ends of the three switching tubes located in the lower bridge arm of each group of bridge arms are respectively connected to the first ends of the three phase current collection resistors, the second ends of the three phase current collection resistors are grounded, and the first ends and second ends of the three phase current collection resistors are also connected to the main control unit 111; the control ends of the switching tubes in the three-phase bridge arm inverter circuit 1132 are all connected to the main control unit 111.

[0093] The switch tube may be a MOSFET power tube.

[0094] It should be noted that in this embodiment of the present invention, the main control unit 111 controls six MOSFET power transistors via six PWM channels to drive the tool drive motor 130 in a predetermined direction. Field-Oriented Control (FOC) vector control is used, and by connecting a phase current acquisition resistor at the bottom end of each bridge arm, the motor phase current can be acquired in real time.

[0095] Optionally, based on the above embodiment, continue to refer to Figure 5 The tissue detection circuit 110 further includes: an image display unit 115 ; the image display unit 115 is connected to the main control unit 111 and is used to display the image of the tissue detected by the endoscope 120 .

[0096] Continue to refer Figure 5 In other embodiments, the tissue detection circuit 110 further includes a debugging unit 116 and a back electromotive force detection unit 117 , and the debugging unit 116 includes an oscilloscope 1161 .

[0097] Figure 6 This is a schematic diagram of the structure of a planer provided by an embodiment of the present invention, with reference to Figure 6 The planer includes a main unit 1, a flushing suction device (not shown in Figure 6) and a handle cutter 212. The host 1 includes a tissue detection system according to any of the above embodiments; the handle cutter 212 includes a cutter 21, a control assembly 22, and a pipeline 23; a first end of the pipeline 23 is connected to the host 1, a second end of the pipeline 23 is connected to a first end of the control assembly 22, and a flushing and suction device is fixedly arranged on the cutter 21; an endoscope 120 is located within the housing of the control assembly 22, and is connected to the main control unit 111 via an optical fiber; and the cutter 21 is driven by the cutter 21 drive motor 130.

[0098] In other embodiments, the planer further includes a foot switch 3 .

[0099] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in the present invention can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved. This is not limited herein.

[0100] The above specific embodiments do not limit the scope of protection of the present invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention are intended to be included within the scope of protection of the present invention.

Claims

1. A tissue detection method, characterized in that: The invention adopts a tissue detection system, which includes a tissue detection circuit and an endoscope; the tissue detection circuit includes a main control unit and a tool drive motor; The tissue detection method comprises: acquiring an image of the tissue detected by the endoscope and an output torque of the tool drive motor; determining the stiffness of the tissue based on the output torque; The type of the tissue is determined based on the image of the tissue and the hardness of the tissue.

2. The tissue detection method according to claim 1, characterized in that: Before acquiring the image of the tissue detected by the endoscope and the output torque of the tool drive motor, the method further includes: Calibrate the output torque of the tool drive motor corresponding to the hardness of different types of tissue; According to the output torque of the tool drive motor corresponding to the hardness of different types of tissue, a corresponding relationship table between the hardness of different types of tissue and the output torque of the tool drive motor is determined.

3. The tissue detection method according to claim 1, characterized in that: The tissue detection circuit also includes a motor drive and current acquisition unit; The motor drive and current acquisition unit includes: a current acquisition circuit; Acquiring an image of the tissue detected by the endoscope and the output torque of the tool drive motor includes: acquiring an image of the tissue detected by the endoscope; Obtaining the phase current of the tool drive motor; The output torque of the tool drive motor is determined according to the phase current of the tool drive motor.

4. The tissue detection method according to claim 2, characterized in that: Determining the hardness of the tissue according to the output torque comprises: The hardness of the tissue is determined according to the output torque and the correspondence table.

5. The tissue detection method according to claim 4, characterized in that: Determining the type of the tissue according to the image of the tissue and the hardness of the tissue includes: When the hardness of the tissue is within a first preset range, determining that the tissue is soft tissue; identifying the color of the image of the tissue; When the image of the tissue is grayish black, the soft tissue is determined to be a diseased tissue; When the image of the tissue is red, it is determined that the soft tissue is healthy tissue.

6. A tissue detection device, characterized in that: include: An image and torque acquisition module, used to acquire images of tissue detected by the endoscope and the output torque of the tool drive motor; a hardness determination module, configured to determine the hardness of the tissue based on the image and the output torque acquired by the torque acquisition module; The tissue type determination module is configured to determine the type of the tissue based on the image of the tissue acquired by the image and torque acquisition module and the hardness of the tissue determined by the hardness determination module.

7. A tissue detection system, characterized in that: comprising the tissue detection device, tissue detection circuit, and endoscope according to claim 6; The tissue detection circuit includes a main control unit, a motor drive and current acquisition unit, and a tool drive motor; The main control unit is connected to the motor drive and current acquisition unit, and the motor drive and current acquisition unit is connected to the tool drive motor; The endoscope is connected to the main control unit via an optical fiber.

8. The tissue detection system according to claim 7, characterized in that: The tissue detection circuit further includes a power supply unit; The motor drive and current acquisition unit includes: a three-phase bridge arm inverter circuit and a current acquisition circuit; The three-phase bridge arm inverter circuit includes three groups of bridge arms, each group of bridge arms includes two switching tubes; the current collection circuit includes three phase current collection resistors; The input ends of the three switching tubes located in the upper bridge arm of each group of the bridge arms are all connected to the power supply unit, and the output ends of the switching tubes located in the upper bridge arm of each group of the bridge arms are respectively connected to the three terminals of the tool drive motor; the input ends of the three switching tubes located in the lower bridge arm of each group of the bridge arms are respectively connected to the output ends of the switching tubes located in the upper bridge arm of each group of the bridge arms, and the output ends of the three switching tubes located in the lower bridge arm of each group of the bridge arms are respectively connected to the first ends of the three phase current collection resistors, the second ends of the three phase current collection resistors are grounded, and the first and second ends of the three phase current collection resistors are also connected to the main control unit; the control ends of the switching tubes in the three-phase bridge arm inverter circuit are all connected to the main control unit.

9. The tissue detection system according to claim 7, characterized in that: The tissue detection circuit further includes: an image display unit; The image display unit is connected to the main control unit and is used to display the image of the tissue detected by the endoscope.

10. A planer, characterized in that: Including main unit, irrigation suction device and handle knife; The host comprises the tissue detection system according to any one of claims 7 to 9; the handle tool comprises a tool, a control component and a pipeline; The first end of the pipeline is connected to the host, the second end of the pipeline is connected to the first end of the control component, and the flushing suction device is fixed to the tool; the endoscope is located in the shell of the control component, and the endoscope is connected to the main control unit through an optical fiber; the tool is driven by the tool drive motor.

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