Ultrasonic scalpel cutting experiment platform and cutting parameter detection method

Abstract

The invention discloses an ultrasonic scalpel cutting experiment platform and a cutting parameter detection method. The ultrasonic scalpel cutting experiment platform comprises a three-axis moving assembly, a sample clamp, a scalpel clamp, an ultrasonic scalpel, a mechanical sensing module and a thermal infrared imager. The thermal infrared imager is arranged to detect the cutting temperature in the cutting process of the ultrasonic scalpel, meanwhile, the mechanical sensing module is used for detecting the cutting acting force of the ultrasonic scalpel, and cutting temperature data and cutting acting force data corresponding to the ultrasonic scalpel can be obtained in an experiment; and an experimental basis is provided for optimizing working parameters of the ultrasonic scalpel and formulating a standardized operation scheme.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of surgical knife experiments, in particular to an ultrasonic surgical knife cutting experiment platform and a cutting parameter detection method. BACKGROUND

[0002] As a kind of efficient surgical instrument, ultrasonic surgical knife has been widely used in various surgeries, especially in the field of laparoscopic surgery, with the advantages of precise cutting of biological tissue and effective closure of blood vessels, it becomes an important tool for clinical operation, its working principle is that high-frequency alternating current energy is converted into vibrating mechanical energy by transducer and transmitted to amplitude rod, the mechanical vibration amplitude of amplitude rod is amplified to knife head, and the knife head uses high-frequency, high-amplitude vibration radiation acoustic energy to act on the contacted biological tissue or blood vessel by mechanical effect, cavitation effect and thermal effect, finally realizes tissue cutting and blood vessel closure.

[0003] In clinical application, the cutting efficiency of ultrasonic surgical knife is influenced by multiple key parameters, mainly including energy output parameters (such as power level, duty cycle), mechanical motion parameters (such as cutting speed, contact pressure) and instrument characteristic parameters (such as knife head coating material, vibration frequency). For example, when the power level is too high and the cutting time is too long, the temperature of the knife head will be too high, which will cause irreversible carbonization of tissue protein, greatly increase the risk of postoperative adhesion, and further prolong the recovery period of patients or even endanger the safety of life; on the contrary, if the power level is set too small, a larger mechanical traction force needs to be applied to complete the cutting, which is easy to cause mechanical secondary injury such as tissue level separation. At present, the clinical operation mainly depends on the experience of doctors to adjust parameters, and there is lack of standardized guidance scheme, therefore, how to select the appropriate working parameters of ultrasonic surgical knife has become a key problem to be solved in clinical application. SUMMARY

[0004] The present application aims to solve at least one of the above technical problems in the prior art. To this end, the purpose of the present application is to provide an ultrasonic surgical knife cutting experiment platform, which can obtain cutting temperature data and cutting force data corresponding to the ultrasonic surgical knife in the experiment, which is helpful to study the cutting effect of the ultrasonic surgical knife under different parameters, and provides experimental basis for optimizing the working parameters of the ultrasonic surgical knife and formulating standardized operation scheme.

[0005] The present application also proposes a cutting parameter detection method with the above ultrasonic surgical knife cutting experiment platform.

[0006] The ultrasonic surgical knife cutting experiment platform according to the first aspect of the present application comprises: A three-axis moving assembly, the three-axis moving assembly comprises an X-axis moving module and a Z-axis moving module connected with the X-axis moving module; A sample clamp is connected to the moving end of the X-axis moving module, and is used to clamp a sample tissue. A scalpel clamp is connected to the moving end of the Z-axis moving module. An ultrasonic scalpel is connected to the scalpel clamp, and the Z-axis moving module drives the ultrasonic scalpel to move along the Z-axis direction through the scalpel clamp to cut the sample tissue on the sample clamp. A mechanical sensing module is arranged between the sample clamp and the X-axis moving module, and is used to detect the cutting force of the ultrasonic scalpel. An infrared thermal imager is used to detect the cutting temperature of the ultrasonic scalpel.

[0007] The ultrasonic scalpel cutting experiment platform has at least the following beneficial effects: the infrared thermal imager is arranged to detect the cutting temperature during the cutting process of the ultrasonic scalpel, and the mechanical sensing module is used to detect the cutting force of the ultrasonic scalpel, so that the cutting temperature data and the cutting force data of the ultrasonic scalpel can be obtained in the experiment, which helps to study the cutting effect of the ultrasonic scalpel under different parameters, provides experimental basis for optimizing the working parameters of the ultrasonic scalpel and formulating a standardized operation scheme, helps to improve the scientificity and safety of the application of the ultrasonic scalpel, and can avoid unnecessary thermal damage and mechanical pulling of adjacent tissues caused by improper parameters of the ultrasonic scalpel during the operation, so as to achieve better operation effect. In addition, the ultrasonic scalpel can realize full-automatic cutting, and the error caused by human operation is excluded, so that the detection result is more universal.

[0008] According to some embodiments of the present application, the sample clamp comprises a base, a movable clamping piece and a pushing piece, the base is provided with a fixed clamping piece, the movable clamping piece is arranged opposite to the fixed clamping piece along the X-axis direction, and the pushing piece abuts against the movable clamping piece, and the pushing piece pushes the movable clamping piece to approach or move away from the fixed clamping piece to clamp the sample tissue.

[0009] According to some embodiments of the present application, the pushing piece comprises a pushing rod and a pushing handle, the base is provided with a first mounting block, the pushing rod passes through the first mounting block along the X-axis direction, one end of the pushing rod is connected to the movable clamping piece, and the other end of the pushing rod is connected to the pushing handle.

[0010] According to some embodiments of the present application, a second mounting block is further arranged on the base, the pushing handle comprises a first rod part and a second rod part, one end of the first rod part is hinged to the pushing rod, the other end of the first rod part is connected to the second rod part, and the second rod part is hinged to the second mounting block.

[0011] According to some embodiments of the present application, a limiting part is arranged on one side of the pushing rod close to the fixed clamping part, and the limiting part is used to abut against the first mounting block to limit the pushing handle.

[0012] According to some embodiments of the present application, the pushing part further comprises an adjusting rod and an adjusting part, the pushing rod is provided with an adjusting groove, at least a part of the adjusting rod is arranged in the adjusting groove, the adjusting rod is movable in the X-axis direction in the adjusting groove to adjust the length of the pushing part. The adjusting part is sleeved outside the adjusting rod, and the adjusting part is used to abut against the end of the first rod part to limit the adjusting rod.

[0013] According to some embodiments of the present application, a buffer part is arranged on one end of the adjusting rod close to the movable clamping part, and the buffer part abuts against the movable clamping part.

[0014] According to some embodiments of the present application, the movable clamping part comprises a sliding part and a clamping part connected to the sliding part, the sliding part is arranged along the X-axis direction, the sliding part is movable along the X-axis direction on the base, and the clamping part is arranged along the Z-axis direction and oppositely arranged to the fixed clamping part to clamp the sample tissue.

[0015] According to some embodiments of the present application, clamping teeth are arranged on opposite sides of the clamping part and the fixed clamping part respectively to increase the friction force on the sample tissue.

[0016] According to some embodiments of the present application, the surgical knife holder comprises a first mounting plate connected to the moving end of the Z-axis moving module, the first mounting plate is provided with a mounting position, and at least a part of the handle of the ultrasonic surgical knife is arranged on the mounting position.

[0017] According to some embodiments of the present application, the surgical knife holder further comprises a switch pressing assembly connected to the first mounting plate, the switch pressing assembly comprises a driving part arranged along the Z-axis direction and a moving part connected to the driving end of the driving part, the moving part is provided with a pressing plate, and the driving part drives the moving part to move along the Z-axis direction to make the pressing plate press the switch part of the ultrasonic surgical knife.

[0018] According to some embodiments of the present application, the surgical knife clamp further comprises a third mounting plate arranged along the X-axis direction, the third mounting plate is connected with the first mounting plate, and the third mounting plate is provided with a limiting hole through which the knife rod of the ultrasonic surgical knife passes.

[0019] According to the cutting parameter detection method of the second aspect of the present application, the ultrasonic surgical knife cutting experiment platform of the first aspect of the present application is used, and the method comprises the following steps: Step S1: mounting the ultrasonic surgical knife on the surgical knife clamp and clamping the sample tissue on the sample clamp; Step S2: starting the three-axis moving assembly, moving the ultrasonic surgical knife to a preset position by the Y-axis moving module and the Z-axis moving module, and moving the sample clamp into the working area of the ultrasonic surgical knife by the X-axis moving module; Step S3: starting the ultrasonic surgical knife, moving the ultrasonic surgical knife to execute the cutting action by the Y-axis moving module, simultaneously detecting the cutting temperature of the ultrasonic surgical knife in real time by the infrared thermal imager, and detecting the cutting force of the ultrasonic surgical knife in real time by the mechanical sensing module; Step S4: generating a cutting temperature-time curve based on the detection data of the infrared thermal imager and generating a cutting force-time curve based on the detection data of the mechanical sensing module; Step S5: data processing of the cutting temperature-time curve and the cutting force-time curve.

[0020] According to the cutting parameter detection method of the present application, the cutting temperature-time curve and the cutting force-time curve generated by the present application are processed, which is helpful to study the cutting effect of the ultrasonic surgical knife under different parameters, provides experimental basis for optimizing the working parameters of the ultrasonic surgical knife and formulating a standardized operation scheme, and helps to improve the scientificity and safety of the application of the ultrasonic surgical knife. In addition, the whole test process of the present application is automatically run according to the set program, which can reduce human error, ensure the accuracy, repeatability and reliability of the data, and complete the test at normal temperature and pressure, reduce the experimental cost, and further enhance the practicality of the present application in research and application.

[0021] According to some embodiments of the present application, in the step S3, before starting the energy main machine of the ultrasonic surgical knife, the method further comprises: adjusting the position and focusing parameters of the infrared thermal imager so that the knife head of the ultrasonic surgical knife and the sample tissue on the sample clamp are both within the temperature measurement range of the infrared thermal imager; adjusting the temperature measurement parameters of the infrared thermal imager so that the initial temperature measurement of the knife head of the ultrasonic surgical knife is accurate.

[0022] According to some embodiments of the present application, in the step S5, the data processing on the cutting temperature-time curve and the cutting force-time curve comprises: calculating a thermal damage coefficient and a cutting damage coefficient wherein, is the maximum temperature of the ultrasonic scalpel head during the cutting process; is the maximum cutting force of the ultrasonic scalpel head during the cutting process; is the average temperature of the ultrasonic scalpel head during the cutting process; is the average cutting force of the ultrasonic scalpel head during the cutting process.

[0023] Additional aspects and advantages of the present application will be given, partially in the following description, partially become obvious from the following description, or be understood by practice of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0024] The present application will be further described below in conjunction with the drawings and examples, wherein: Figure 1 is a structural schematic diagram of an ultrasonic scalpel cutting experiment platform according to an embodiment of the present application; Figure 2 is a structural schematic diagram of an ultrasonic scalpel cutting experiment platform according to an embodiment of the present application; Figure 1 is an enlarged view of part A in FIG. 8; Figure 3 is a structural schematic diagram of a sample clamp according to an embodiment of the present application; Figure 4 is a flowchart of a cutting parameter detection method according to an embodiment of the present application; Figure 5 is a cutting temperature-time curve according to an embodiment of the present application; Figure 6 is a cutting force-time curve according to an embodiment of the present application.

[0025] Reference signs: 100, three-axis moving assembly; 110, X-axis moving module; 120, Z-axis moving module; 130, Y-axis moving module; 200, sample clamp; 210, base; 211, fixed clamping piece; 212, first mounting block; 213, second mounting block; 220, movable clamping piece; 221, sliding part; 222, clamping part; 223, avoiding opening; 230, pushing piece; 231, pushing rod; 2311, limiting part; 232, pushing handle; 2321, first rod part; 2322, second rod part; 2323, adjusting rod; 2324, adjusting piece; 2325, buffer part; 240, clamping tooth; 300, scalpel clamp; 310, switch pressing assembly; 311, pressing part; 312, driving piece; 313, moving piece; 314, pressing plate; 320, first mounting plate; 321, mounting position; 322, first plate part; 323, second plate part; 330, third mounting plate; 400, ultrasonic scalpel; 500, mechanical sensing module; 600, infrared thermal imager; 700, transducer; 800, energy main machine; 810, foot pedal; 900, controller. DETAILED DESCRIPTION

[0026] Embodiments of the present application are described below in detail with reference to the accompanying drawings, wherein the same or similar components or components having the same or similar functions are denoted by the same or similar reference numerals throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are intended only for the purpose of explaining the present application, and should not be construed as limiting the present application.

[0027] In the description of the present application, it should be understood that the orientation description, such as the orientation or position relationship indicated by up, down, front, back, left, right, etc. is based on the orientation or position relationship shown in the drawings, and is only for the purpose of facilitating the description of the present application and simplifying the description, and therefore cannot be understood as limiting the present application, which indicates or implies that the device or component must have a specific orientation, be constructed and operated in a specific orientation.

[0028] In the description of the present application, if the meaning of several is more than one, the meaning of multiple is more than two, greater than, less than, more than, etc. are understood as not including the number, above, below, etc. are understood as including the number. If it is described as first, second, it is only for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features or implicitly indicating the order of indicated technical features.

[0029] In the description of the present application, unless otherwise explicitly limited, the words such as setting, mounting, connecting, etc. should be broadly understood, and the person skilled in the art can reasonably determine the specific meaning of the above words in the present application in combination with the specific content of the technical solution.

[0030] In the description of the present application, the description of the terms "one embodiment", "some embodiments", "exemplary embodiment", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in combination with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the exemplary description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0031] Referring to Figure 1 , the first aspect embodiment of the present application provides an ultrasonic scalpel cutting experiment platform, comprising a three-axis moving assembly 100, a sample clamp 200, a scalpel clamp 300, an ultrasonic scalpel 400, a mechanical sensing module 500 and an infrared thermal imager 600.

[0032] Referring to Figure 1 , Figure 2 , specifically, the three-axis moving assembly 100 comprises an X-axis moving module 110, a Y-axis moving module 130 and a Z-axis moving module 120, the Z-axis moving module 120 is connected with the moving end of the Y-axis moving module 130, the Y-axis moving module 130 drives the Z-axis moving module 120 to move along the Y-axis direction, so as to adjust the position of the ultrasonic scalpel 400 in the Y-axis direction.

[0033] The sample clamp 200 is connected with the moving end of the X-axis moving module 110, the sample clamp 200 is used for clamping sample tissue, the X-axis moving module 110 drives the sample clamp 200 to move along the X-axis direction, so as to facilitate the movement of the sample clamp 200 to the working range of the ultrasonic scalpel 400; the scalpel clamp 300 is connected with the moving end of the Z-axis moving module 120, the Z-axis moving module 120 can drive the switch pressing assembly 310 to move along the Z-axis direction, so as to adjust the position of the ultrasonic scalpel 400 in the Z-axis direction; the ultrasonic scalpel 400 is connected with the scalpel clamp 300, the Z-axis moving module 120 drives the ultrasonic scalpel 400 to move along the Z-axis direction through the scalpel clamp 300, so as to adjust the position of the ultrasonic scalpel 400 in the Z-axis direction; the mechanical sensing module 500 is arranged between the sample clamp 200 and the X-axis moving module 110, the mechanical sensing module 500 is used for detecting the cutting force of the ultrasonic scalpel 400; the infrared thermal imager 600 is arranged on the side of the three-axis moving assembly 100 along the X-axis direction, the blade head of the ultrasonic scalpel 400 and the sample tissue on the sample clamp 200 are both located in the temperature measurement range of the infrared thermal imager 600, the infrared thermal imager 600 is used for detecting the cutting temperature of the ultrasonic scalpel 400.

[0034] The application can obtain the cutting temperature data and the cutting force data of the ultrasonic scalpel 400 in the experiment, which helps to study the cutting effect of the ultrasonic scalpel 400 under different parameters, provides experimental basis for optimizing the working parameters of the ultrasonic scalpel 400 and formulating a standardized operation scheme, helps to improve the scientificity and safety of the application of the ultrasonic scalpel 400, can avoid unnecessary thermal damage and mechanical pulling of adjacent tissues of the ultrasonic scalpel 400 in the surgical process due to improper parameters, and thus realizes better surgical effect. In addition, the application can realize full-automatic cutting of the ultrasonic scalpel 400, eliminate the error of human operation, and make the detection result more universal.

[0035] It can be understood that the mechanical sensing module 500 is arranged between the sample clamp 200 and the X-axis moving module 110, and can detect the cutting force of the ultrasonic scalpel 400 in the cutting process in real time. At the same time, the infrared thermal imager 600 detects the temperature change of the blade head of the ultrasonic scalpel 400 in the cutting process. The mechanical sensing module 500 and the infrared thermal imager 600 work cooperatively and do not interfere with each other, and can obtain the cutting temperature data and the cutting force data of the ultrasonic scalpel 400 under different parameters in the experiment. These quantitative data provide a scientific basis for studying the cutting effect of the ultrasonic scalpel 400 under different parameters, help to optimize the working parameters of the ultrasonic scalpel 400 by analyzing the correlation between the parameters and the cutting temperature and the cutting force, and then formulate a standardized operation scheme. Compared with the traditional clinical operation which depends on the experience of doctors to adjust parameters, the scientificity and safety of the application of the ultrasonic scalpel 400 are improved.

[0036] Referring to Figure 1 , Figure 2 In some embodiments, the handle of the ultrasonic scalpel 400 is connected with the transducer 700, and the transducer 700 is connected with the energy host 800. The high-frequency alternating current energy of the energy host 800 is converted into vibrating mechanical energy by the transducer 700 and acts on the end of the amplitude-varying rod of the ultrasonic scalpel 400. The amplitude-varying rod amplifies the mechanical vibration amplitude of the blade head. The blade head of the ultrasonic scalpel 400 radiates sound energy due to its high frequency and high amplitude vibration, produces mechanical effect, cavitation effect and thermal effect on the contacted sample tissue, and thus realizes the cutting of biological tissue.

[0037] Referring to Figure 1 In some embodiments, the energy host 800 is connected with the foot pedal 810, and the opening or closing of the foot pedal 810 is controlled to improve the convenience of operation.

[0038] In some embodiments, the mechanical sensing module 500 can be designed as a micro-force sensor. Of course, in actual design, the structure of the mechanical sensing module 500 can be designed according to actual needs.

[0039] With reference to Figure 1 , Figure 3 In some embodiments, the sample clamp 200 includes a base 210, a movable clamping piece 220, and a pushing piece 230. The base 210 is provided with a fixed clamping piece 211. The movable clamping piece 220 is arranged opposite to the fixed clamping piece 211 along the X-axis direction. The pushing piece 230 abuts against the movable clamping piece 220. The pushing piece 230 pushes the movable clamping piece 220 to move close to or away from the fixed clamping piece 211 to clamp the sample tissue. Stable clamping is achieved through the relative movement of the fixed clamping piece 211 and the movable clamping piece 220, which ensures that the sample tissue will not displace or loosen during the cutting process of the ultrasonic scalpel 400, thereby ensuring the accuracy of the cutting position and the stability of the cutting process, avoiding cutting deviation caused by unstable clamping of the sample, and further ensuring that the detection of the cutting force by the mechanical sensing module 500 and the detection of the cutting temperature by the infrared thermal imager 600 can obtain accurate and reliable data. At the same time, the clamping mode of the fixed clamping piece 211 and the movable clamping piece 220 cooperates with each other, which is simple to operate and facilitates quick replacement of the sample, thereby improving the use efficiency of the experimental platform.

[0040] With reference to Figure 1 , Figure 3 In some embodiments, the pushing piece 230 includes a pushing rod 231 and a pushing handle 232. The base 210 is provided with a first mounting block 212. The pushing rod 231 passes through the first mounting block 212 along the X-axis direction, so as to mount the pushing piece 230 on the base 210. The pushing rod 231 is facilitated to move along the X-axis direction, thereby ensuring the stability and directivity of the movement of the pushing rod 231 along the X-axis direction, and simplifying the connection mode of the pushing piece 230 and the base 210, facilitating assembly and maintenance. In addition, one end of the pushing rod 231 is connected with the movable clamping piece 220, and the other end of the pushing rod 231 is connected with the pushing handle 232. During use, the pushing handle 232 drives the pushing rod 231 to move along the side close to the fixed clamping piece 211, thereby pushing the movable clamping piece 220 to move close to the fixed clamping piece 211. The sample tissue can be quickly clamped and fixed, thereby improving the practicality and operation convenience of the sample clamp 200.

[0041] With reference to Figure 1 , Figure 3In some embodiments, the base 210 is further provided with a second mounting block 213, and the pushing handle 232 comprises a first rod portion 2321 and a second rod portion 2322, one end of the first rod portion 2321 is hinged to the pushing rod 231, the other end of the first rod portion 2321 is connected to the second rod portion 2322, and the second rod portion 2322 is hinged to the second mounting block 213. Specifically, the first rod portion 2321 is arc-shaped, which can adapt to the rotation track of the pushing handle 232 and ensure effective force transmission. When it is needed to remove the sample tissue from the sample clamp 200, the second rod portion 2322 is rotated clockwise, the second rod portion 2322 drives the first rod portion 2321 to rotate, thereby driving the pushing rod 231 to move away from the side of the fixed clamping member 211, and further driving the movable clamping member 220 to move away from the fixed clamping member 211, so as to increase the distance between the movable clamping member 220 and the fixed clamping member 211, facilitating the removal of the sample tissue. When it is needed to clamp the sample tissue, the second rod portion 2322 is rotated counterclockwise, the second rod portion 2322 drives the first rod portion 2321 to rotate, thereby driving the pushing rod 231 to move along the side close to the fixed clamping member 211, and further driving the movable clamping member 220 to move close to the fixed clamping member 211, so as to reduce the distance between the movable clamping member 220 and the fixed clamping member 211, facilitating the clamping of the sample tissue between the movable clamping member 220 and the fixed clamping member 211.

[0042] With reference to Figure 1 , Figure 3 In some embodiments, the pushing rod 231 is provided with a limiting portion 2311 on the side close to the fixed clamping member 211, and the limiting portion 2311 is used to abut against the first mounting block 212 to limit the pushing handle 232. Specifically, the limiting portion 2311 is sleeved on the outside of the first rod portion 2321, when the pushing rod 231 moves to a first preset position away from the side of the fixed clamping member 211, the limiting portion 2311 abuts against the first mounting block 212, which can prevent the pushing rod 231 from driving the movable clamping member 220 to move excessively away from the fixed clamping member 211 due to excessive rotation of the pushing handle 232, avoid the excessive distance between the movable clamping member 220 and the fixed clamping member 211 affecting the convenience of subsequent clamping operation, and prevent the pushing rod 231 from being detached from the first mounting block 212, thereby ensuring the stability and connection reliability of the whole structure of the pushing member 230. In addition, the limiting portion 2311 is in a cylindrical shape, so that the abutting contact area between the limiting portion 2311 and the first mounting block 212 is moderate, which improves the force uniformity of the limiting portion 2311, reduces the local wear on the pushing rod 231 or the first mounting block 212, and prolongs the service life of the limiting portion 2311. Of course, the limiting portion 2311 can also be provided in other shapes, and in actual design, the shape of the limiting portion 2311 can be designed according to actual needs.

[0043] With reference to Figure 1 ,Figure 3 In some embodiments, the pushing member 230 further comprises an adjusting rod 2323 and an adjusting member 2324, the pushing rod 231 is provided with an adjusting groove, the adjusting rod 2323 is arranged in the adjusting groove at least in part, and the adjusting rod 2323 is movable in the adjusting groove along the X-axis direction to adjust the length of the pushing member 230. Specifically, the outer side of the adjusting rod 2323 is provided with a first thread, the inner side wall of the adjusting groove is provided with a second thread, and the adjusting rod 2323 is rotated to make the first thread cooperate with the second thread, so that the adjusting rod 2323 is movable in the adjusting groove, thereby adjusting the length of the adjusting rod 2323 protruding out of the adjusting groove, and the distance between the adjusting movable clamping member 220 and the fixed clamping member 211 can be finely adjusted, so as to avoid the sample tissue from being displaced in the cutting process due to loose clamping or deformed due to tight clamping, improve the stability of clamping the sample tissue, and facilitate the detection of temperature and mechanical data in the subsequent cutting experiment.

[0044] Referring to Figure 1 , Figure 3 In addition, the adjusting member 2324 is sleeved on the outer side of the adjusting rod 2323, and the adjusting member 2324 is used to abut against the end of the first rod part 2321 to limit the adjusting rod 2323. Specifically, the adjusting member 2324 is provided with a third thread, the third thread cooperates with the first thread on the outer side of the adjusting rod 2323, so that the adjusting member 2324 is movable on the adjusting rod 2323 along the X-axis direction. When it is needed to adjust the length of the adjusting rod 2323 protruding out of the adjusting groove, the adjusting member 2324 is rotated to make the adjusting member 2324 not in contact with the end of the first rod part 2321, then the adjusting rod 2323 is rotated to move in the adjusting groove of the pushing rod 231 to the required position, and then the adjusting member 2324 is rotated to abut against the end of the first rod part 2321, thereby limiting the adjusting rod 2323, preventing the adjusting rod 2323 from loosening due to external force in the clamping or cutting process, causing the distance between the adjusting movable clamping member 220 and the fixed clamping member 211 to change, and ensuring the stability of the clamping state after fine adjustment.

[0045] Referring to Figure 1 , Figure 3In some embodiments, the adjusting rod 2323 is provided with a buffer portion 2325 near one end of the movable clamp 220, which is in abutment with the movable clamp 220 to avoid direct rigid contact between the adjusting rod 2323 and the movable clamp 220. In addition, the buffer portion 2325 can be made of rubber material, which has good elasticity and deformation capacity. When the push rod 231 and the adjusting rod 2323 drive the movable clamp 220 to move to clamp the sample tissue, the buffer portion 2325 can absorb part of the acting force by its own deformation, play a role of buffering and shock absorption, prevent the adjusting rod 2323 from producing hard impact on the movable clamp 220 to cause the movable clamp 220 or the adjusting rod 2323 to wear or deform, and prolong the service life of the components; at the same time, when the buffer portion 2325 made of rubber material is in contact with the movable clamp 220, the friction between them can be increased, which helps the movable clamp 220 to keep stable during clamping and avoids affecting the clamping precision due to the relative sliding between the adjusting rod 2323 and the movable clamp 220.

[0046] With reference to Figure 1 , Figure 3 In some embodiments, the movable clamp 220 includes a sliding portion 221 and a clamping portion 222 connected with the sliding portion 221. The sliding portion 221 is arranged along the X-axis direction and can move along the X-axis direction on the base 210 to provide stable guidance for the movement of the movable clamp 220 and ensure that the movable clamp 220 can approach or move away from the fixed clamp 211 along the X-axis direction. The clamping portion 222 is arranged along the Z-axis direction and is arranged opposite to the fixed clamp 211 to clamp the sample tissue. The clamping portion 222 is arranged along the Z-axis direction and opposite to the fixed clamp 211 to increase the contact area between the movable clamp 220 and the sample tissue and improve the stability of clamping to avoid the sample from tilting or shifting during cutting. In addition, the sliding portion 221 is provided with a relief opening 223, and the first mounting block 212 and the second mounting block 213 are arranged in the relief opening 223 to avoid mechanical interference of the first mounting block 212 and the second mounting block 213 during the movement of the sliding portion 221, ensuring the smoothness and continuity of the movement of the sliding portion 221 along the X-axis direction.

[0047] With reference to Figure 1 , Figure 3In some embodiments, the clamping part 222 and the fixed clamping part 211 are provided with clamping teeth 240 on the opposite sides, respectively, to increase the friction force on the sample tissue, prevent the sample tissue from slipping during cutting, ensure the cutting position is always accurate, avoid the cutting path deviating from the preset track due to the sample tissue slipping, and thus ensure the stability of the cutting process. At the same time, the stable clamping state of the sample tissue can facilitate the detection of the cutting force by the mechanical sensing module 500 and the detection of the cutting temperature by the infrared thermal imager 600, reduce the detection error caused by the sample tissue slipping, and improve the accuracy and reliability of the experimental data.

[0048] With reference to Figure 1 , Figure 2 In some embodiments, the surgical knife clamp 300 comprises a first mounting plate 320 and a switch pressing assembly 310. The first mounting plate 320 is connected to the moving end of the Z-axis moving module 120. The first mounting plate 320 is provided with a mounting position 321. At least a part of the handle of the ultrasonic surgical knife 400 is arranged on the mounting position 321, so as to clamp the ultrasonic surgical knife 400 on the surgical knife clamp 300. In addition, the switch pressing assembly 310 is connected to the first mounting plate 320. The switch pressing assembly 310 is used to press the switch part of the ultrasonic surgical knife 400, so as to open the ultrasonic surgical knife 400, and thus simulate the holding action of the ultrasonic surgical knife 400 by the doctor during the operation.

[0049] With reference to Figure 1 , Figure 2 Specifically, the first mounting plate 320 comprises a first plate part 322 and a second plate part 323. The first plate part 322 is arranged perpendicularly to the second plate part 323. The first plate part 322 is connected to the moving end of the Z-axis moving module 120. The mounting position 321 is arranged on the first mounting plate 320. The switch pressing assembly 310 comprises a driving part 312 and a moving part 313. The driving part 312 is arranged along the Z-axis direction. One side of the driving part 312 along the Z-axis direction is connected to the first plate part 322. One side of the driving part 312 along the X-axis direction is connected to the second plate part 323. The moving part 313 is connected to the driving end of the driving part 312. The moving part 313 is provided with a pressing plate 314. The driving part 312 drives the pressing plate 314 to move along the Z-axis direction through the moving part 313, so that the pressing plate 314 presses the switch part of the ultrasonic surgical knife 400, thereby simulating the holding action of the ultrasonic surgical knife 400 by the doctor during the operation, and thus opening the ultrasonic surgical knife 400, which facilitates the cutting action of the ultrasonic surgical knife 400.

[0050] With reference to Figure 1 , Figure 2In some embodiments, the pressing plate 314 is provided with a pressing portion 311, when the driving member 312 drives the pressing plate 314 to move along the Z-axis direction, the pressing portion 311 contacts the ultrasonic scalpel 400 and presses the switch portion of the ultrasonic scalpel 400 to a preset position, so as to open the head of the ultrasonic scalpel 400.

[0051] With reference to Figure 1 , Figure 2 In some embodiments, the switch pressing assembly 310 is connected with the controller 900, the movement of the switch pressing assembly 310 is controlled by the controller 900, so as to press the switch portion of the ultrasonic scalpel 400 to simulate the action of cutting during the operation of the doctor. In addition, the switch pressing assembly 310 is provided as a stepping motor, of course, in actual design, the structure of the switch pressing assembly 310 can be designed according to actual needs. It should be noted that the movement of the controller 900 to control the switch pressing assembly 310 is prior art, and the present application does not improve this part, so the principle and process are not described in detail.

[0052] With reference to Figure 1 , Figure 2 In some embodiments, the scalpel clamp 300 further comprises a third mounting plate 330 arranged along the X-axis direction, the third mounting plate 330 is connected with the first mounting plate 320, and the third mounting plate 330 is provided with a limiting hole, and the blade rod of the ultrasonic scalpel 400 passes through the limiting hole.

[0053] With reference to Figure 4 The cutting parameter detection method of the second aspect embodiment of the present application uses the ultrasonic scalpel 400 cutting experiment platform of the first aspect embodiment of the present application, which comprises the following steps: Step S1: install the ultrasonic scalpel 400 on the scalpel clamp 300, and clamp the sample tissue on the sample clamp 200.

[0054] In step S1, before the ultrasonic scalpel 400 is installed on the scalpel clamp 300, the transducer 700 needs to be connected with the handle of the ultrasonic scalpel 400, and the transducer 700 is connected with the energy main machine 800. At the same time, press the foot pedal 810, the energy main machine 800 enters the detection program, and the high-frequency current output by the energy main machine 800 is converted into high-frequency mechanical vibration through the transducer 700, and the mechanical vibration is amplified and transmitted to the head of the ultrasonic scalpel 400 through the amplitude lever, so as to detect whether the head of the ultrasonic scalpel 400 starts normally.

[0055] In step S1, the sample tissue is provided as a standard block sample tissue, and the standard block sample tissue has a size of 80mmx4mmx40mm.

[0056] Step S2: Start the three-axis moving assembly 100, the Y-axis moving module 130 and the Z-axis moving module 120 to move the ultrasonic scalpel 400 to the second preset position, and the X-axis moving module 110 to move the sample clamp 200 to the working area of the ultrasonic scalpel 400.

[0057] Step S3: Start the ultrasonic scalpel 400, move the ultrasonic scalpel 400 through the Y-axis moving module 130 to perform the cutting action, simultaneously detect the cutting temperature of the ultrasonic scalpel 400 in real time through the infrared thermal imager 600, and detect the cutting force of the ultrasonic scalpel 400 in real time through the mechanical sensing module 500.

[0058] In step S3, before starting the energy host 800 of the ultrasonic scalpel 400, it further includes: adjusting the position and focusing parameters of the infrared thermal imager 600, so that the blade head of the ultrasonic scalpel 400 and the sample tissue on the sample clamp 200 are both within the temperature measurement range of the infrared thermal imager 600, and the blade head of the ultrasonic scalpel 400 and the sample tissue on the sample clamp 200 are located in the middle of the temperature measurement view and are clearly visible. At the same time, adjust the temperature measurement parameters of the infrared thermal imager 600, so that the initial temperature measurement of the blade head of the ultrasonic scalpel 400 is accurate, and the subsequent temperature measurement is ensured to be accurate.

[0059] In step S3, the energy gear of the energy host 800 is selected to be the highest gear 5, the emissivity of the infrared thermal imager 600 is set to 0.98, and the running assignment speed of the switch pressing assembly 310 is set to 3KHZ.

[0060] In step S3, the controller 900 is started, the switch pressing assembly 310 is controlled by the controller 900 to control the pressing plate 314 to move along the Z-axis direction according to the set program, so as to make a pressing action on the handle of the ultrasonic scalpel 400, at the same time, step on the foot pedal 810, so that the blade head of the ultrasonic scalpel 400 starts to work, the Y-axis moving module 130 drives the ultrasonic scalpel 400 to move along the Y-axis direction, and the cutting of the sample tissue is realized.

[0061] Step S4: generate a cutting temperature-time curve based on the detection data of the infrared thermal imager 600, and generate a cutting force-time curve based on the detection data of the mechanical sensing module 500.

[0062] In step S4, when the sample tissue on the sample clamp 200 is cut, the infrared thermal imager 600 detects and records the cutting temperature of the ultrasonic scalpel 400, and generates a cutting temperature-time curve; at the same time, the mechanical sensing module 500 synchronously detects the cutting force of the ultrasonic scalpel 400, and generates a cutting force-time curve according to the detection data.

[0063] Reference Figure 5 , Figure 5This is a temperature-time curve (cutting temperature-time curve) showing the temperature change of the ultrasonic scalpel 400 during a single cut of the sample tissue. This curve determines the maximum temperature reached by the ultrasonic scalpel 400 during the cutting process and the temperature changes of the scalpel 400 before and after cutting. Specifically, as the ultrasonic scalpel 400 begins cutting the sample tissue, the temperature of the scalpel tip increases rapidly with the cutting time, reaching a maximum temperature of 226.9℃ at 2.2 seconds. At this point, the cutting is complete, the high-frequency mechanical vibration of the ultrasonic scalpel 400 stops, and the temperature of the scalpel tip drops rapidly, rapidly decreasing to approximately 160℃ in about 1 second. Subsequently, it cools down slowly through heat exchange with the surrounding environment. Therefore, in clinical surgery, after the cutting is completed, care should be taken to avoid contact between the ultrasonic scalpel 400 and other biological tissues to prevent thermal damage.

[0064] Reference Figure 6 , Figure 6 This is a curve showing the cutting force versus time during a single cut of sample tissue by an ultrasonic scalpel 400, i.e., the cutting force-time curve. The positive direction of the cutting force is... Figure 1 The negative Z-axis direction is used to determine the maximum cutting force on the sample tissue during ultrasonic scalpel 400 cutting and the change in cutting force before and after cutting. Figure 6 As shown, as the ultrasonic scalpel 400 begins to cut the sample tissue, the cutting force of the ultrasonic scalpel 400 gradually increases, reaching a maximum of -0.29731N at 1.6 seconds, and then decreasing to -0.12553N upon completion of the cut. After the cut is completed, due to the influence of gravity, the cut portion of the sample tissue will have an acceleration in the negative Z-axis direction, causing the force collected by the force sensing module 500 to first increase in the negative Z-axis direction and then decrease to approach 0.

[0065] Step S5: Process the data of the cutting temperature-time curve and the cutting force-time curve.

[0066] In step S5, data processing is performed on the cutting temperature-time curve and the cutting force-time curve, including: calculating the thermal damage coefficient. and cutting damage coefficient ,in, This represents the highest temperature of the ultrasonic scalpel tip during the cutting process. This represents the maximum cutting force of the ultrasonic scalpel 400 tip during the cutting process. This represents the average temperature of the ultrasonic scalpel tip (400°C) during the cutting process. This represents the average cutting force of the ultrasonic scalpel tip (400mm) during the cutting process. Furthermore, ,in, The temperature of the blade head of the ultrasonic scalpel 400 during the cutting process; wherein, The cutting force of the blade head of the ultrasonic scalpel 400 during the cutting process.

[0067] Referring to Figure 5 As the ultrasonic scalpel 400 starts to cut the sample tissue, the temperature of the blade head of the ultrasonic scalpel 400 increases rapidly with the cutting time, and the maximum temperature The average temperature The thermal damage coefficient .

[0068] Referring to Figure 6 As the ultrasonic scalpel 400 starts to cut the sample tissue, the cutting force gradually increases, and the maximum cutting force The average cutting force The cutting damage coefficient = 1.7.

[0069] The cutting parameter detection method of the present application processes the generated cutting temperature-time curve and cutting force-time curve, which helps to study the cutting effect of the ultrasonic scalpel 400 under different parameters, provides experimental basis for optimizing the working parameters of the ultrasonic scalpel 400 and formulating standardized operation scheme, and helps to improve the scientificity and safety of the application of the ultrasonic scalpel 400. In addition, the entire test process of the present application is automatically run according to the set program, which can reduce human error, ensure the accuracy, repeatability and reliability of the data, and can complete the test at normal temperature and pressure, reduce the experimental cost, and further enhance the practicality of the present application in research and application.

[0070] The embodiments of the present application are described in detail above in combination with the drawings, but the present application is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the purpose of the present application. In addition, the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

Claims

1. An experimental platform for ultrasonic scalpel cutting, characterized in that, The utility model relates to a kind of surgical knife clamp and ultrasonic surgical knife, including: Triaxial moving component, the triaxial moving component includes X-axis moving module, Y-axis moving module and Z-axis moving module, and the Z-axis moving module is connected with the moving end of Y-axis moving module; Sample clamp, the sample clamp is connected with the moving end of X-axis moving module, and the sample clamp is used to clamp sample tissue; Surgical knife clamp, the surgical knife clamp is connected with the moving end of Z-axis moving module; Ultrasonic surgical knife, the ultrasonic surgical knife is connected with the surgical knife clamp, and the Z-axis moving module moves the ultrasonic surgical knife along Z-axis direction by the surgical knife clamp, to cut sample tissue on the sample clamp; Mechanical sensing module, the mechanical sensing module is arranged between the sample clamp and the X-axis moving module, and the mechanical sensing module is used to detect the ultrasonic surgical knife cutting force of the ultrasonic surgical knife; Infrared thermal imager, the knife head of the ultrasonic surgical knife and sample tissue on the sample clamp are located in the temperature measurement range of the infrared thermal imager, and the infrared thermal imager is used to detect the cutting temperature of the ultrasonic surgical knife.

2. The experimental platform for ultrasonic scalpel cutting according to claim 1, wherein, The sample clamp includes a base, a movable clamping member, and a pusher. The base is provided with a fixed clamping member. The movable clamping member is arranged opposite to the fixed clamping member along the X-axis direction. The pusher is in abutment with the movable clamping member. The pusher pushes the movable clamping member to move close to or away from the fixed clamping member to clamp the sample tissue.

3. The experimental platform for ultrasonic scalpel cutting according to claim 2, wherein, The pusher includes a push rod and a push handle. The base is provided with a first mounting block. The push rod passes through the first mounting block along the X-axis direction. One end of the push rod is connected with the movable clamping member. The other end of the push rod is connected with the push handle.

4. The ultrasonic scalpel cutting experiment platform according to claim 3, characterized in that, The base is further provided with a second mounting block. The push handle includes a first rod portion and a second rod portion. One end of the first rod portion is hinged with the push rod. The other end of the first rod portion is connected with the second rod portion. The second rod portion is hinged with the second mounting block.

5. The experimental platform for ultrasonic scalpel cutting according to claim 4, wherein, A limiting portion is arranged on the side of the push rod close to the fixed clamping member. The limiting portion is used to abut with the first mounting block to limit the push handle.

6. The experimental platform for ultrasonic scalpel cutting according to claim 4, wherein, The pusher further includes an adjusting rod and an adjusting member. The push rod is provided with an adjusting groove. At least a part of the adjusting rod is arranged in the adjusting groove. The adjusting rod can move in the adjusting groove along the X-axis direction to adjust the length of the pusher. The adjusting member is sleeved on the outside of the adjusting rod. The adjusting member is used to abut with the end of the first rod portion to limit the adjusting rod.

7. The experimental platform for ultrasonic scalpel cutting according to claim 1, wherein, The surgical knife clamp includes a first mounting plate. The first mounting plate is connected with the moving end of the Z-axis moving module. The first mounting plate is provided with a mounting position. At least a part of the handle of the ultrasonic surgical knife is arranged on the mounting position.

8. The ultrasonic scalpel cutting experiment platform according to claim 7, characterized in that, The scalpel clamp further comprises a switch pressing assembly connected with the first mounting plate, the switch pressing assembly comprising a driving member and a moving member, the driving member being arranged along the Z-axis direction, the moving member being connected with a driving end of the driving member, the moving member being provided with a pressing plate, the driving member driving the moving member to move along the Z-axis direction so that the pressing plate presses the switch part of the ultrasonic scalpel.

9. A cutting parameter detection method characterized by, The experimental platform for cutting using the ultrasonic scalpel according to any one of claims 1 to 8 comprises the following steps: Step S1: installing the ultrasonic scalpel on the scalpel clamp and clamping the sample tissue on the sample clamp; Step S2: starting the three-axis moving assembly, the Y-axis moving module and the Z-axis moving module moving the ultrasonic scalpel to a preset position, and the X-axis moving module moving the sample clamp into the working area of the ultrasonic scalpel; Step S3: starting the ultrasonic scalpel, moving the ultrasonic scalpel to execute the cutting action by the Y-axis moving module, simultaneously detecting the cutting temperature of the ultrasonic scalpel in real time by the infrared thermal imager, and detecting the cutting force of the ultrasonic scalpel in real time by the mechanical sensing module; Step S4: generating a cutting temperature-time curve based on the detection data of the infrared thermal imager and a cutting force-time curve based on the detection data of the mechanical sensing module; Step S5: data processing of the cutting temperature-time curve and the cutting force-time curve.

10. The cutting parameter detection method of claim 9, wherein, In the step S5, the data processing of the cutting temperature-time curve and the cutting force-time curve comprises: calculating a thermal damage coefficient and a cutting damage coefficient wherein, is the maximum temperature of the ultrasonic scalpel tip during the cutting process; is the maximum cutting force of the ultrasonic scalpel tip during the cutting process; is the average temperature of the ultrasonic scalpel tip during the cutting process; is the average cutting force of the ultrasonic scalpel tip during the cutting process.

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