Cryogenic plasma ablation system and control method

Abstract

The application is suitable for the technical field of medical equipment, and provides a low-temperature plasma ablation system and a control method.The system comprises an integrated main control module, a linear foot pedal module, a bipolar electrode with a built-in temperature sensor, a temperature acquisition module and a multi-channel sampling module.The integrated main control module is built-in with four-dimensional coupled adaptive control logic, which is configured to: calculate a three-dimensional coupled adaptive time constant according to an operation intention signal collected by the linear foot pedal module, a real-time temperature signal and an initial tissue impedance change rate calculated from a tissue impedance signal;correct the initial tissue impedance change rate based on the time constant;and finally, calculate a final output power based on the corrected tissue impedance change rate, the operation intention signal, the real-time temperature signal and the time constant to drive the bipolar electrode.The application improves the control precision and safety, and enhances the system stability and flexibility by deeply fusing multi-dimensional information and dynamically adapting the core control parameters.

Description

Technical Field

[0001] This application belongs to the field of medical device technology, and in particular relates to a low-temperature plasma ablation system and control method. Background Technology

[0002] Low-temperature plasma radiofrequency ablation technology uses a high-frequency electric field to excite plasma, which is then used to drive bipolar electrodes to generate plasma to act on tissues. Due to its advantages such as minimal trauma and high precision, it is widely used in clinical medicine.

[0003] However, existing low-temperature plasma ablation devices generally suffer from some inherent drawbacks. First, many systems use feedback based on temperature and tissue impedance to adjust output power, but their control logic is relatively simple, typically based on fixed control parameters (such as fixed closed-loop gain and control cycle). This fixed-parameter control method cannot adapt to the dynamic changes in tissue state during ablation. When tissue characteristics change rapidly, it can easily lead to power overshoot or lag, affecting the stability and consistency of the ablation effect. Second, existing temperature control is mostly hysteresis feedback, meaning that power adjustment is only made after the temperature exceeds the safe range. This may not react promptly to rapid tissue heating, posing a risk of accidental thermal damage. Furthermore, the human-machine interface is usually quite simple; for example, a foot switch only serves as a simple start / stop signal, failing to incorporate the operator's precise operational intentions (such as whether to quickly reach the target power or proceed smoothly) into the closed-loop control, resulting in insufficient flexibility in device control. Summary of the Invention

[0004] This application provides a low-temperature plasma ablation system and control method, aiming to solve the technical problems of existing low-temperature plasma ablation equipment, such as insufficient control accuracy, large power fluctuations, risk of thermal damage, and poor control flexibility caused by fixed control parameters, slow response, failure to integrate the operator's intentions.

[0005] In a first aspect, embodiments of this application provide a low-temperature plasma ablation system, comprising: an integrated main control module; a linear foot pedal module for acquiring operator intention signals and sending them to the integrated main control module; a bipolar electrode with an integrated temperature sensor; a temperature acquisition module connected to the temperature sensor for acquiring real-time temperature signals and sending them to the integrated main control module; and a multi-channel sampling module for acquiring tissue impedance signals and sending them to the integrated main control module. The integrated main control module incorporates four-dimensional coupled adaptive control logic, and is configured as follows: Based on the operation intention signal, the real-time temperature signal, and the initial tissue impedance change rate calculated from the tissue impedance signal, the three-dimensional coupling adaptive time constant is calculated. Based on the three-dimensional coupling adaptive time constant, the initial tissue impedance change rate is corrected to obtain the corrected tissue impedance change rate. Based on the corrected tissue impedance change rate, the operation intention signal, the real-time temperature signal, and the three-dimensional coupling adaptive time constant, the final output power is calculated to drive the bipolar electrode to work.

[0006] In one possible implementation of the first aspect, the calculation of the final output power based on the corrected tissue impedance change rate, the operational intent signal, the real-time temperature signal, and the three-dimensional coupling adaptive time constant to drive the bipolar electrode includes: The real-time adaptive closed-loop gain is determined based on the corrected tissue impedance change rate, the operation intention signal, the real-time temperature signal, and the three-dimensional coupling adaptive time constant. The final output power is calculated based on the difference between the real-time temperature signal and the preset target temperature, as well as the real-time adaptive closed-loop gain, to drive the bipolar electrode to work.

[0007] In one possible implementation of the first aspect, the integrated master control module is configured to calculate the three-dimensional coupled adaptive time constant using the following formula: t auto = T base × (1 - K pedal × |G T × (dZ / dt init )| / Z nom ); Among them, t auto T is the three-dimensional coupling adaptive time constant. base K is the preset reference time constant. pedal G is the pedal operation dynamics coefficient calculated based on the aforementioned operation intention signal. T The temperature safety gradient, dZ / dt, is calculated based on the real-time temperature signal. init Z represents the rate of change of the initial tissue impedance. nom This is the preset nominal tissue impedance.

[0008] In one possible implementation of the first aspect, the integrated main control module is further configured to calculate the foot pedal operation dynamics coefficient and the temperature safety gradient using the following formula: K pedal = (Vpedal / Vmax) × e (-a×|Vpedal - Vpedal-1|) ; G T = (T tgt- T real ) / (T real - 37 + ε); Among them, K pedal Vpedal is the pedal operation dynamics coefficient, Vpedal is the real-time pedal pressing voltage corresponding to the operation intention signal, Vmax is the maximum output voltage of the linear pedal module, a is the preset exponential smoothing coefficient, and Vpedal-1 is the pedal pressing voltage of the previous control cycle. Among them, G T For the temperature safety gradient, T tgt For the preset target temperature, T real The real-time temperature signal is ε, which is a preset non-zero small constant.

[0009] In one possible implementation of the first aspect, the integrated main control module is further configured as follows: The total constraint coefficient is determined based on the foot pedal operation dynamics coefficient, the temperature safety gradient, the three-dimensional coupling adaptive time constant, and the corrected tissue impedance change rate. The real-time adaptive closed-loop gain is determined based on the total constraint coefficient, the preset reference closed-loop gain, the three-dimensional coupling adaptive time constant, and the preset reference time constant.

[0010] In one possible implementation of the first aspect, the integrated main control module is further configured as follows: The three-dimensional coupling adaptive time constant is used as a dynamic smoothing coefficient to smooth the initial tissue impedance change rate, so as to obtain the corrected tissue impedance change rate.

[0011] In one possible implementation of the first aspect, the four dimensions of the four-dimensional coupled adaptive control logic include: The dimensions represent the operator's intent, the real-time temperature status of the tissue, the trend of tissue impedance changes, and the dynamic response characteristics of the system itself.

[0012] In one possible implementation of the first aspect, the built-in temperature sensor is a K-type thermocouple.

[0013] In one possible implementation of the first aspect, the low-temperature plasma ablation system further includes: High-voltage power supply module; The high-voltage drive module is electrically connected to the high-voltage power supply module; An LC output matched filter module is disposed between the high voltage drive module and the bipolar electrode.

[0014] Secondly, embodiments of this application provide a control method for a low-temperature plasma ablation system, including: Acquire operational intent signals, real-time temperature signals, and tissue impedance signals; Based on the operation intention signal, the real-time temperature signal, and the initial tissue impedance change rate calculated from the tissue impedance signal, the three-dimensional coupling adaptive time constant is calculated. Based on the three-dimensional coupling adaptive time constant, the initial tissue impedance change rate is corrected to obtain the corrected tissue impedance change rate. Based on the corrected tissue impedance change rate, the operation intention signal, the real-time temperature signal, and the three-dimensional coupling adaptive time constant, the final output power is calculated to drive the bipolar electrode to work.

[0015] This application's embodiment introduces a foot pedal operation dynamics coefficient and a temperature safety gradient, deeply coupling these two with the tissue impedance change rate to generate an adaptive time constant and adaptive gain, achieving multi-dimensional collaborative control of the ablation process. This approach breaks through the limitations of traditional fixed-parameter control, enabling real-time adjustment of the control strategy based on operational intent, temperature trends, and tissue state, improving control accuracy. Furthermore, by pre-judging the temperature safety gradient, it effectively avoids temperature overshoot and reduces the risk of thermal damage. In addition, by dynamically calculating the three-dimensional coupled adaptive time constant and real-time adaptive closed-loop gain, the device's control rhythm and response characteristics can match changes in operating conditions in real time. When rapid response is required, the system can automatically shorten the response time; when stable output is required, the system can automatically suppress power fluctuations. This solves the problems of response lag and power overshoot that traditional fixed-gain devices easily encounter under dynamic loads, making the device operate more smoothly and the control more flexible. Moreover, by adopting an integrated main control module, all core control logic is integrated, eliminating the separate temperature control module and power control module in traditional solutions. This simplifies the hardware control link, reduces the probability of failure caused by multi-module communication and synchronization issues, and improves the overall reliability and practicality of the device. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the structure of a low-temperature plasma ablation system provided in an embodiment of this application; Figure 2A schematic flowchart of a low-temperature plasma ablation system control method provided in an embodiment of this application; Figure 3 This is a timing diagram illustrating the signaling interaction of a low-temperature plasma ablation system provided in an embodiment of this application. Detailed Implementation

[0018] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0019] It should be understood that, when used in this application specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or a collection thereof.

[0020] It should also be understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0021] As used in this application specification and the appended claims, the term "if" may be interpreted, depending on the context, as "when," "once," "in response to determination," or "in response to detection." Similarly, the phrase "if determined" or "if detected [the described condition or event]" may be interpreted, depending on the context, as meaning "once determined," "in response to determination," "once detected [the described condition or event]," or "in response to detection [the described condition or event]."

[0022] Furthermore, in the description of this application and the appended claims, the terms "first," "second," "third," etc., are used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0023] References to "one embodiment" or "some embodiments" as described in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0024] It should be noted that the low-temperature plasma ablation system and its control method provided in this application belong to the field of medical device control technology. The method adjusts the output power through a control algorithm and does not involve limitations on the treatment process or surgical steps. Specific ablation operations are performed by the physician according to the clinical situation; this application does not contain any treatment methods performed on living organisms.

[0025] Please see Figure 1 and Figure 2 This application provides a low-temperature plasma ablation system and its control method, aiming to solve the problems of insufficient control accuracy, large power fluctuations, and the risk of thermal damage caused by fixed control parameters, delayed response, and failure to integrate operator intent in the prior art. This technical solution constructs a four-dimensional coupled adaptive control system that can deeply integrate operator intent, tissue temperature state, tissue impedance trend, and the system's own dynamic response characteristics to achieve precise, safe, and flexible control of the ablation process.

[0026] In a basic implementation, the low-temperature plasma ablation system includes an integrated main control module 100, a linear foot pedal module 160, a bipolar electrode 200 with a built-in temperature sensor, a temperature acquisition module 140 connected to the temperature sensor, and a multi-channel sampling module 150 for acquiring tissue impedance signals. The integrated main control module 100 serves as the control core of the system, receiving sensor signals from various peripheral modules.

[0027] Specifically, the integrated main control module 100 executes a novel control logic. First, it acquires the operation intention signal from the linear foot pedal module 160, the real-time temperature signal from the temperature acquisition module 140, and the tissue impedance signal from the multi-channel sampling module 150. Based on these inputs, the integrated main control module 100 first calculates a key intermediate control parameter, namely the three-dimensional coupling adaptive time constant, according to the operation intention signal, the real-time temperature signal, and the initial tissue impedance change rate calculated from the tissue impedance signal. Through this step, the dynamic changes of the external environment and the operator are transformed into the basis for adjusting the internal control cycle of the system, solving the problem of fixed control cycle in existing technologies.

[0028] The operator intent signal refers to the signal acquired by the linear foot pedal module that reflects the operator's desired power output intensity or response speed. Specifically, it can be the voltage signal corresponding to the pedal's pressing depth or pressing rate. This signal quantifies the operator's subjective intent, making it an endogenous variable of the closed-loop control system, thus achieving human-machine collaborative control.

[0029] Three-dimensional coupled adaptive time constant: This refers to a dynamically calculated time parameter used to adjust the response speed or control cycle of a control system. By coupling information from three dimensions—operational intent, temperature safety, and tissue impedance change trends—it enables the system to automatically shorten the time constant when a rapid response is needed and automatically lengthen the time constant when stable control is required, thereby dynamically adjusting the system's inertia.

[0030] Real-time temperature signal: refers to the original electrical signal acquired by the temperature acquisition module from the temperature sensor integrated inside the bipolar electrode and sent to the integrated main control module, which corresponds to the real-time temperature value after conversion.

[0031] Tissue impedance signal: refers to the original electrical signal acquired by the multi-channel sampling module through bipolar electrodes and sent to the integrated main control module, which corresponds to the tissue impedance value after conversion.

[0032] Initial tissue impedance change rate: refers to the change in tissue impedance per unit time directly calculated based on the original sampling period, used to preliminarily characterize the dynamic change trend of tissue state.

[0033] Next, the integrated main control module 100 uses the three-dimensional coupling adaptive time constant calculated in the previous step to correct the initial rate of change of tissue impedance. The rate of change of tissue impedance is only meaningful when evaluated on a timescale that matches the current response beat of the system. By recalculating the rate of change using a dynamic time constant, an indicator that better reflects the true state of the tissue can be obtained, avoiding misjudgments caused by a fixed sampling period, thereby achieving a more accurate perception of changes in tissue state.

[0034] Finally, the integrated main control module 100 calculates the final output power to be applied to the bipolar electrode 200 based on the corrected tissue impedance change rate, the original operation intention signal, the real-time temperature signal, and the three-dimensional coupling adaptive time constant. This step couples all key dynamic information to calculate the most suitable power value. In this way, the output power is no longer a simple response to a single variable (such as temperature), but the result of the synergistic effect of multiple dimensions of information, thereby achieving fine control of the ablation process and improving stability and safety.

[0035] Among them, the corrected tissue impedance change rate refers to the change rate obtained after correcting the initial tissue impedance change rate by using the three-dimensional coupling adaptive time constant as a dynamic smoothing coefficient, which is used to more accurately reflect the tissue state change that matches the current response beat of the system.

[0036] In one optional implementation, to constitute a complete and practically working hardware platform, the system further includes a high-voltage power supply module 110, a high-voltage drive module 120 electrically connected to the high-voltage power supply module 110, and an LC output matching filter module 130 disposed between the high-voltage drive module 120 and the bipolar electrode 200. The high-voltage power supply module 110 is responsible for providing the high-voltage DC power required by the system. The high-voltage drive module 120 converts the DC power into high-frequency AC power according to the instructions of the integrated main control module 100. The LC output matching filter module 130 performs impedance matching and waveform filtering to ensure efficient and pure energy delivery to the bipolar electrode 200. By adding these modules, a complete energy chain is constructed, solving the complete technical problem from control command generation to precise energy application to the tissue, and ensuring the effective execution of the control algorithm.

[0037] In another optional implementation, the temperature sensor integrated within the bipolar electrode 200 can specifically be a type K thermocouple. Type K thermocouples have advantages such as a wide measurement range, good linearity, high sensitivity, and fast response speed, and are widely used in the field of medical devices. Using a type K thermocouple as the temperature feedback element can provide the integrated main control module 100 with a high-precision, low-latency real-time temperature signal, which is an important foundation for achieving precise temperature control and ensuring safety. By specifying this optional sensor type, a reliable hardware guarantee is provided for achieving high-performance temperature closed-loop control.

[0038] Furthermore, the four-dimensional coupled adaptive control logic built into the integrated main control module 100 is described. This four-dimensional coupled adaptive control logic is a control strategy that dynamically and collaboratively integrates information from four dimensions to adjust control behavior. This logic achieves adaptive adjustment of the control strategy by coupling multi-dimensional states in real time. The four coupled dimensions specifically include: a dimension representing the operator's intention, a dimension representing the organization's real-time temperature state, a dimension representing the organization's impedance change trend, and a dimension representing the system's own dynamic response characteristics. The operator's intention dimension is introduced through quantified foot pedaling behavior; the organization's temperature state dimension is introduced through real-time temperature and its difference from the target temperature; the organization's impedance change trend dimension is introduced through its rate of change; and the system's own dynamic response characteristics dimension is reflected through dynamically calculated adaptive time constants and adaptive gains. By clearly defining these four dimensions, the completeness of the control strategy of this application is revealed from a theoretical perspective. It tightly links humans, machines, and the target organization into a collaborative whole, solving the problem of traditional control logic having a single information dimension and being unable to coordinate.

[0039] In one optional implementation, the process of calculating the final output power by the integrated main control module 100 is refined. This process specifically includes two steps: First, a real-time adaptive closed-loop gain is determined based on the corrected tissue impedance change rate, the operational intent signal, the real-time temperature signal, and the three-dimensional coupling adaptive time constant. All factors affecting the system's response sensitivity are then integrated into a single, dynamically changing gain coefficient. This solves the problem of fixed gain parameters in traditional PID control, which cannot adapt to changes in operating conditions.

[0040] Among them, the real-time adaptive closed-loop gain refers to a dynamically calculated gain coefficient used to adjust the output power response to temperature errors. It integrates operator intent, tissue temperature, tissue impedance, and system dynamic response characteristics, enabling the power regulation sensitivity to match the current operating conditions in real time, avoiding the power overshoot or response hysteresis problems commonly found in traditional fixed-gain control.

[0041] Subsequently, the integrated main control module 100 calculates the final output power based on the difference between the real-time temperature signal and the preset target temperature (i.e., the temperature error) and the real-time adaptive closed-loop gain calculated in the previous step. This step adopts a basic framework similar to proportional control (P control), but its core proportional gain is dynamically adaptive. By multiplying the dynamic gain by the real-time temperature error, the system can respond quickly with a larger gain when the temperature deviation is large, and fine-tune with a smaller gain when approaching the target temperature, thus achieving a control effect that balances response speed and steady-state control accuracy.

[0042] In another alternative implementation, the process of correcting the initial tissue impedance change rate is described. Specifically, the integrated main control module 100 uses the calculated three-dimensional coupling adaptive time constant as a dynamic smoothing coefficient or filter time window to smooth or recalculate the initial tissue impedance change rate to obtain the corrected tissue impedance change rate. Specifically, when the system is in a state requiring stable control (e.g., t...), auto (For larger impedances), impedance changes should be observed on a longer timescale to filter out high-frequency noise; when the system requires a fast response (e.g., t...), auto If the value is smaller, then observations should be made on a shorter timescale. By using t... auto As a dynamic smoothing coefficient, it enables the system to adaptively adjust its perspective on changes in organizational state, thereby obtaining more reliable input signals and improving the robustness of the entire control system.

[0043] In one alternative implementation, the integrated main control module 100 is configured to calculate the three-dimensional coupling adaptive time constant using a specific mathematical formula. The formula is as follows: t auto = T base × (1 - K pedal × |G T × (dZ / dt init )| / Z nom ) Among them, t auto T is the three-dimensional coupling adaptive time constant. base The preset reference time constant refers to a fixed time constant preset by the system, which serves as the basic reference value for the three-dimensional coupling adaptive time constant. In actual control, it is dynamically adjusted according to real-time operating conditions. K pedal G is the pedal operation dynamics coefficient calculated based on the aforementioned operation intention signal. T The temperature safety gradient, dZ / dt, is calculated based on the real-time temperature signal. init Z represents the rate of change of the initial tissue impedance. nom The preset nominal tissue impedance refers to a reference impedance value preset for the target tissue type, used to normalize the rate of change of tissue impedance. This formula is coupled with K, representing the operator's intention. pedal G represents the trend of temperature safety. T and dZ / dt representing changes in organizational state init When the product of these three factors (representing the degree of disturbance or change in the system) increases, t auto It will decrease, making the system response faster; conversely, when the system is stable, t auto It will approach the baseline value T baseThis makes the system response smoother. This formula enables quantitative adaptive adjustment of the control cycle.

[0044] Furthermore, specific calculation methods are provided for the foot pedal operation dynamics coefficient and temperature safety gradient in the above formula. The integrated main control module is configured to perform the calculations using the following formula: K pedal = (Vpedal / Vmax) × e (-a×|Vpedal - Vpedal-1|) Among them, K pedal The foot pedal operation dynamics coefficient refers to a comprehensive coefficient calculated based on the real-time foot pedal pressure voltage and its rate of change. Its value is between 0 and 1, used to quantify the intensity of the operator's intention and the smoothness of the operation. Vpedal is the real-time foot pedal pressure voltage corresponding to the operation intention signal, referring to the real-time analog voltage value output by the linear foot pedal module that is proportional to the operator's pedal depth, used to quantify the operation intention signal. Vmax is the maximum output voltage of the linear foot pedal module, referring to the maximum voltage value that the linear foot pedal module can output during full-scale pedaling, used to normalize the real-time foot pedal pressure voltage. 'a' is a preset exponential smoothing coefficient, a preset positive number used to adjust the sensitivity of the foot pedal operation dynamics coefficient to changes in pedaling rate; the larger the value of 'a', the stronger the suppression of rate changes. Vpedal-1 is the foot pedal pressure voltage of the previous control cycle, referring to the real-time foot pedal pressure voltage value recorded at the end of the previous control cycle, used to compare with the value of the current cycle to calculate the pedaling rate. The first part of this formula (Vpedal / Vmax) reflects the depth of the operator's pedaling, while the second part e (-a×|Vpedal - Vpedal-1|) This reflects the pedaling speed; the faster the pedaling, the smaller this value. By simultaneously quantifying the operator's intention regarding the depth and speed of pedaling, the limitation of traditional foot pedals serving only as on / off signals is overcome.

[0045] G T = (T tgt - T real ) / (T real - 37 + ε) Among them, G T For the temperature safety gradient, T tgt The preset target temperature refers to the desired tissue temperature value set according to surgical needs, which serves as the target value for closed-loop control. (T) real For the real-time temperature signal, ε is a preset non-zero small constant, which is a very small positive number (e.g., 0.01), added to the denominator of the temperature safety gradient formula to avoid calculation errors caused by the denominator being zero when the real-time temperature is close to the basal body temperature (37). The numerator of this formula (T tgt - T realThe denominator (T) represents the distance between the current temperature and the target. real -37 + ε) represents the increase in temperature compared to the basal body temperature. When the real-time temperature T real Much lower than the target temperature T tgt At that time, G T A larger value allows the system to heat up in a more aggressive manner; when T real Approaching or even exceeding T tgt At that time, G T It will rapidly decrease or even turn negative, thus strongly suppressing power output. This is equivalent to establishing a predictive safety boundary, solving the problem of hysteresis in traditional temperature control.

[0046] In one optional implementation, the calculation process for the real-time adaptive closed-loop gain is defined. The integrated main control module is further configured to first determine a total constraint coefficient based on the foot pedal operation dynamics coefficient, temperature safety gradient, three-dimensional coupling adaptive time constant, and corrected tissue impedance change rate. Then, based on this total constraint coefficient, a preset reference closed-loop gain, the three-dimensional coupling adaptive time constant, and the preset reference time constant, the real-time adaptive closed-loop gain is finally determined. In this implementation, all dimensions of information (human, machine, tissue, system beat) are first fused into a normalized total constraint coefficient, and then this total constraint coefficient is used to modulate a reference gain. This two-step method makes the gain calculation logic clearer and the physical meaning more explicit, achieving comprehensive and deep adaptive adjustment of the system response sensitivity.

[0047] Specifically, the calculation formula is: K p = K p0 ×K total ×(T base / t auto The real-time adaptive closed-loop gain K is obtained by using this formula for adaptive correction. p Among them, K p0 The preset benchmark closed-loop gain refers to a fixed gain coefficient preset by the system, which serves as the basic reference value for the real-time adaptive closed-loop gain and is dynamically adjusted according to the real-time constraint coefficient in actual control.

[0048] Wherein, the total constraint coefficient K total =K pedal ×(G T ×t auto ) / (1+|dZ / dt|). Total constraint coefficient K totalIt refers to a normalized coefficient obtained by comprehensively calculating the foot pedal operation dynamics coefficient, temperature safety gradient, three-dimensional coupling adaptive time constant and the corrected tissue impedance change rate, which is used to modulate the reference closed-loop gain to obtain the real-time adaptive closed-loop gain.

[0049] like Figure 1 As shown in the figure, this application embodiment provides a low-temperature plasma ablation system. This system addresses the problems of insufficient control accuracy and safety in existing technologies, such as sluggish control system response, fixed parameters, and inability to incorporate operator intent. The system includes an integrated main control module 100 as the control core, and multiple peripheral modules connected to the main control module.

[0050] Specifically, these peripheral modules include: a linear foot pedal module 160, which collects the operator's intention signals, such as by detecting the depth or speed of the foot pedal press, and converts them into voltage signals to be sent to the integrated main control module 100; a bipolar electrode 200, the tip of which is used to generate plasma to ablate the target tissue, and integrates a temperature sensor to monitor the temperature of the ablation area in real time; a temperature acquisition module 140, which is physically connected to the temperature sensor in the bipolar electrode 200, and is responsible for amplifying, filtering, and converting the weak signals detected by the sensor (such as the microvolt-level voltage of a thermocouple) into a digital real-time temperature signal, and sending it to the integrated main control module 100; and a multiplexing module 150, which applies a weak probe current to the tissue through the bipolar electrode 200, measures the generated voltage, calculates the current impedance value of the tissue, and sends the tissue impedance signal to the integrated main control module 100.

[0051] The integrated main control module 100 is the core of this application, and it can be a high-performance microcontroller (MCU), digital signal processor (DSP), or field-programmable gate array (FPGA). It internally integrates the four-dimensional coupled adaptive control logic proposed in this application. During operation, the integrated main control module 100 receives operation intention signals from the linear foot pedal module 160, real-time temperature signals from the temperature acquisition module 140, and tissue impedance signals from the multi-channel sampling module 150.

[0052] Based on this multi-dimensional input information, the integrated main control module 100 performs a series of calculations. First, it integrates the operational intent, real-time temperature, and tissue impedance trends to calculate a dynamically changing three-dimensional coupled adaptive time constant. This time constant determines the cycle time of the current control period and is the basis for the system's adaptive response. Unlike the fixed control cycle in existing technologies, the time constant of this application is dynamically changing, allowing the system to accelerate the cycle time when a rapid response is needed and slow down the cycle time when a stable output is required.

[0053] Next, the integrated main control module 100 uses this dynamic time constant to correct or reinterpret the rate of change of tissue impedance, obtaining a corrected rate of change of tissue impedance. This step ensures that the assessment of tissue status is performed on a timescale adapted to the current system cycle, avoiding misjudgment.

[0054] Finally, the integrated main control module 100 performs comprehensive coupling calculations on all key information, including the corrected tissue impedance change rate, operation intention signal, real-time temperature signal, and three-dimensional coupling adaptive time constant, to derive the final output power command. This command is sent to the power drive section to precisely control the energy applied to the bipolar electrode 200. In this way, the system proposed in this application can achieve closed-loop, adaptive, and multi-dimensional collaborative control of the ablation process, improving the accuracy, safety, and stability of ablation.

[0055] In one alternative implementation, based on the above embodiments, in order to construct a complete hardware platform, such as... Figure 1 As shown, the low-temperature plasma ablation system further includes a high-voltage power supply module 110, a high-voltage drive module 120, and an LC output matching filter module 130. The integrated main control module 100 is connected to the high-voltage power supply module 110 and the high-voltage drive module 120 via control commands. The high-voltage power supply module 110 provides stable and isolated high-voltage DC power to the entire power output link. The high-voltage drive module 120, typically composed of an H-bridge or half-bridge circuit, receives control signals such as PWM (Pulse Width Modulation) from the integrated main control module 100 and chops the high-voltage DC power into a high-frequency square wave. The LC output matching filter module 130 is located between the high-voltage drive module 120 and the bipolar electrode 200. It consists of inductors and capacitors, filtering out high-order harmonics in the high-frequency square wave to make it a smooth sine wave, reducing interference to surrounding electronic equipment. Furthermore, it performs impedance matching, ensuring efficient energy transfer from the drive circuit to biological tissues with different impedances. The collaborative work of these hardware modules forms a complete pathway from digital control commands to the final analog energy output applied to the tissue, ensuring the precise execution of the control algorithm. Furthermore, in one specific implementation, the temperature sensor integrated within the bipolar electrode 200 can be a type K thermocouple, which is connected to the integrated main control module 100 via the temperature acquisition module 140, providing accurate and reliable temperature feedback to the system.

[0056] Furthermore, the four-dimensional coupled adaptive control logic within the integrated main control module 100 in the above embodiments is described in detail. For its specific implementation, please refer to [reference needed]. Figure 2 The control flow is shown. This flow executes cyclically within a very short control cycle (e.g., 1 millisecond). Figure 3The signaling interaction timing shown indicates that at the beginning of each control cycle, the integrated main control module acquires multi-dimensional synchronous signals (S101), obtains the pedal signal (i.e., obtains the real-time pedal pressing voltage Vpedal), and obtains the sensor signal (i.e., the real-time temperature T). real and tissue impedance Z n ).

[0057] After receiving the input, the integrated main control module 100 begins a series of calculations to determine the final output power. This process specifically includes the following steps: Specifically, the integrated main control module 100 first calculates the pedal operation dynamics coefficient K using the following formula. pedal (S102) and calculate the temperature safety gradient G T (S103): K pedal =(Vpedal / Vmax)×e (-a×|Vpedal - Vpedal-1|) Among them, K pedal Here, K represents the pedal operation dynamics coefficient, Vpedal is the real-time pedal pressure voltage corresponding to the operation intention signal, Vmax is the maximum output voltage of the linear pedal module, a is a preset exponential smoothing coefficient, and Vpedal-1 is the pedal pressure voltage of the previous control cycle. The effect of this formula is that when the operator smoothly presses the pedal (|Vpedal - Vpedal-1| is relatively small), K... pedal The value is primarily determined by the depth of pedal application; however, when the operator presses down hard or releases the pedal abruptly (|Vpedal - Vpedal-1| is larger), the exponential term decreases rapidly, thus suppressing K. pedal The value of ...

[0058] G T = (T tgt - T real ) / (T real - 37 + ε) Among them, G T The temperature safety gradient refers to the gradient value calculated based on the difference between the current real-time temperature and the preset target temperature, as well as the increase in temperature relative to the baseline body temperature. It is used to predict the temperature rise trend and suppress power output in advance when approaching the target temperature, forming an advanced safety boundary. T tgt For the preset target temperature, T real Let T be the real-time temperature signal, and ε be a preset non-zero small constant. This formula establishes a dynamic safety boundary. real Much lower than T tgt At that time, G T A large positive number allows the system to heat up rapidly; when T real Approaching T tgtAt that time, G T As T approaches 0, the system tends to be conservative; if T real More than T tgt G T When the value becomes negative, the output power will be forcibly reduced, thereby achieving temperature safety control that is ahead of traditional hysteresis feedback.

[0059] Next, the rate of change of initial tissue impedance dZ / dt was calculated. init (S104), and using K pedal and G T Calculate the three-dimensional coupled adaptive time constant t auto (S105): t auto = T base × (1 - K pedal × |G T × (dZ / dt init )| / Z nom ) Among them, t auto T is the three-dimensional coupling adaptive time constant. base The preset reference time constant is dZ / dt init Z represents the initial tissue impedance change rate. nom The preset nominal tissue impedance, dZ / dt init = (Z n - Z n-1 ) / Δt, where Δt is a fixed sampling period. Here, t... auto It is the system's dynamic beat, which adjusts in real time based on operational intent, temperature risk, and the severity of tissue changes. Then, using t auto As a dynamic smoothing coefficient, the initial tissue impedance change rate is corrected to obtain the corrected tissue impedance change rate dZ / dt(S106), and its calculation formula is as follows: (dZ / dt) = (Z n - Z n-1 ) / t auto Among them, Z n Z represents the tissue impedance in the current cycle. n-1 This step involves determining the tissue impedance from the previous cycle. This step ensures that the assessment of the tissue state matches the current response rhythm of the system. Subsequently, the integrated main control module 100 synthesizes all dimensional information into a total constraint coefficient K. total (S107), and use it to correct the reference closed-loop gain K. p0 The real-time adaptive closed-loop gain K is obtained. p (S108). Finally, the final output power P is calculated based on the adaptive gain and temperature error. out(S109): P out = K p × (T tgt - T real ) Among them, P out For the final output power, K p This is for real-time adaptive closed-loop gain. The calculated P... out The command is ultimately sent to hardware such as the high-voltage power supply module for integrated hardware drive execution (S110), completing one closed-loop control cycle. The entire process repeats continuously, achieving continuous adaptive adjustment of the ablation process.

[0060] It should be noted that the signals mentioned in this application refer to the raw electrical signals collected from each module, such as the analog voltage signal output by the linear pedal module (reflecting the operating intention) and the voltage / current signal output by the multi-channel sampling module (reflecting tissue impedance). These signals are converted to obtain corresponding physical quantity values, namely, the real-time pedal pressure voltage Vpedal and the tissue impedance Z. n These numerical values ​​are used in calculations, comparisons, and formula operations within the control logic. For brevity, numerical symbols (such as Z) are used directly in the algorithm description and formulas. n (This information is provided in the original text and can be understood by those skilled in the art as having a connection with the corresponding acquired signal, without causing ambiguity.)

[0061] In another alternative implementation, the integrated main control module 100 can be implemented using a field-programmable gate array (FPGA). Unlike the sequential execution method based on a microcontroller (MCU), the FPGA utilizes its inherent parallel processing capabilities to... Figure 2 Multiple computational steps without direct data dependencies (e.g., S102, S103, and S104) are completed in parallel within the same clock cycle. This hardware-level parallel computation shortens the execution time of the entire control algorithm. The technical effect is that the control cycle can be compressed from milliseconds (e.g., 1ms) in MCU solutions to sub-milliseconds or even microseconds (e.g., 0.5ms or lower). Shorter control cycles mean the system can react more frequently to changes in tissue state and operator intent, thus achieving higher control precision and faster dynamic response, which is significant for delicate surgical procedures requiring rapid response. This also demonstrates the versatility of the integrated main control module feature in this application, which can be implemented using different processing units depending on cost and performance requirements.

[0062] To illustrate the application of this application more specifically, a complete product embodiment is provided below. This product is a low-temperature plasma surgical device, and its hardware configuration is as follows: Figure 1As shown. The integrated main control module 100 uses a 32-bit STM32F407 microcontroller; the high-voltage power supply module 110 provides an adjustable isolated DC voltage of 0-400V; the high-voltage drive module 120 adopts a half-bridge topology and operates at a frequency of 100kHz; the LC output matching filter module 130 is designed to match the impedance range (50-500Ω) of common human tissues; the bipolar electrode 200 integrates a K-type thermocouple as a temperature sensor within its blade tip; and the linear foot pedal module 160 is a Hall effect sensor-type foot pedal that can output a linear voltage signal of 0-5V. The system has a set of preset standard operating parameters: reference time constant T... base =10ms, nominal tissue impedance Z nom =200Ω, maximum foot pedal output voltage Vmax=5V, reference closed-loop gain K p0 =0.8, exponential smoothing coefficient a=1.0, non-zero small constant ε=0.01.

[0063] The product's workflow is as follows: After the doctor turns on the device, they set the preset target temperature T on the touchscreen. tgt For example, 70℃. When the doctor presses the linear foot pedal module 160, the system is activated. The integrated main control module 100 begins to execute in a 1ms cycle. Figure 2 The control flow is shown. Within each cycle, as... Figure 3 As shown, the integrated main control module collects the real-time foot pedal press voltage Vpedal and real-time temperature T. real and tissue impedance Z n Then, all calculations from S102 to S109 are executed sequentially to calculate the final power P that should be output in the current cycle. out The power command is transmitted to the high-voltage drive module 120 via a PWM signal, controlling its duty cycle and thus regulating the energy output to the bipolar electrode 200. When the doctor lifts his foot, Vpedal becomes 0, causing K to... pedal and P out The value immediately becomes 0, and the system stops outputting. This embodiment demonstrates a specific implementation of the technical solution of this application, which can achieve safe, stable, and precise ablation control that responds to the operator's intentions.

[0064] The following describes a specific implementation that integrates the aforementioned optional technical features to demonstrate the technical effect of the synergistic operation of these features. The hardware platform of this embodiment is identical to the physical product embodiment described above, including an integrated main control module 100 based on an STM32F407, and complete components such as a high-voltage power supply module 110, a high-voltage drive module 120, an LC output matching filter module 130, a temperature acquisition module 140, a multi-channel sampling module 150, a linear foot pedal module 160, and a bipolar electrode 200 with a built-in K-type thermocouple. Its core control logic is a four-dimensional coupled adaptive control logic, explicitly integrating four dimensions: representing the operator's intent, the real-time temperature status of the tissue, the trend of tissue impedance changes, and the system's own dynamic response characteristics.

[0065] The complete working process of this embodiment can simulate a precise tissue ablation scenario. The doctor sets the target temperature to 70°C and begins the procedure. In the initial stage, the doctor gently and smoothly presses the foot pedal, and Vpedal slowly rises from 0V to 2.5V. Due to the smooth pressing, the term |Vpedal - Vpedal-1| is very small, making K... pedal The value is high, and the system responds positively. At this time, T... real Lower, much lower than T tgt Therefore G T The value is large, further enhancing the system's willingness to respond. System power P out A rapid and steady ascent allows the tissue temperature to quickly approach the target level. When T... real When it rises to 68℃, G T The value decreases sharply, through t auto and K p The computational chain effectively suppressed P out Further growth of the temperature avoids overshoot and keeps the temperature precisely stable around 70°C, achieving high-precision steady-state temperature control.

[0066] During the surgery, the surgeon needed to quickly remove a small piece of tissue, so they swiftly pressed the foot pedal to the floor (Vpedal abruptly changed from 2.5V to 5V). At that instant, |Vpedal - Vpedal-1| became extremely large, causing K to... pedal The exponent term e in the formula (-a×|…|) It became very small, thus instantly lowering K. pedal The value of P. This mechanism allows the system to recognize and inhibit the forceful pressing behavior, even though the doctor's intention is to quickly increase the power. out The increase was constrained, avoiding accidental tissue damage or electrode adhesion that could be caused by a sudden power surge, demonstrating the system's ability to proactively limit safety by recognizing the operating rate. After the doctor stabilized the foot pedal at 5V, |Vpedal - Vpedal-1| returned to its minimum value, Kpedal After a rebound, the power gradually rose back to its maximum value.

[0067] This embodiment achieves the following comprehensive technical effect by combining all the above-mentioned technical features: First, through K pedal and G T The introduction and coupling of [the technology / mechanism] enables collaborative control of human-machine intent and safety boundaries, improving both control accuracy and safety compared to systems with only temperature feedback. Secondly, through dynamic calculation of t... auto and K p This allows the system's response time and sensitivity to match the operating conditions in real time, solving the problem of response mismatch in fixed-parameter systems under dynamic loads, thus enhancing system stability and flexibility. Finally, the integrated main control module 100 integrates all core algorithms, and together with a complete peripheral power link, constitutes a highly reliable, low-latency hardware system. Therefore, the synergistic effect of these technical features achieves efficient, precise, safe, and flexible cryogenic plasma ablation control.

[0068] The low-temperature plasma ablation system and its control method provided in this application can be flexibly applied to various clinical scenarios. By adjusting preset parameters, the system can be optimized to adapt to different surgical needs. For example, multiple working modes can be preset for doctors to choose from.

[0069] One application scenario is the standard ablation mode. The system parameters in this mode are consistent with the above-mentioned product entity implementation examples (e.g., K). p0 =0.8, a=1.0). This mode is designed to provide a balanced response speed and stability, suitable for most routine tissue resection, ablation, and hemostasis procedures, such as tonsillectomy and adenoidectomy in otolaryngology, or arthroscopic synovial debridement. In this mode, the system responds well to the physician's routine procedures and provides reliable temperature control.

[0070] Another application scenario is the fine dissection mode. This mode is specifically designed for delicate operations near critical tissues such as nerves and blood vessels, with safety and stability as its primary goals. In this mode, the system loads a more conservative set of parameters, for example, by adjusting the baseline closed-loop gain K. p0 Adjust the value to a lower level (e.g., 0.6) to reduce the overall system response sensitivity; simultaneously, adjust the exponential smoothing coefficient 'a' to a higher level (e.g., 1.2) to enhance the suppression of changes in pedal operation rate. Additionally, preset the target temperature T. tgtIt may also be limited to a lower level (e.g., 55°C). In this mode, the system's power output curve becomes smooth and gentle, maintaining a highly stable output power with almost no overshoot even with slight foot tremors, thus minimizing the risk of thermal damage to surrounding critical tissues. This mode is suitable for delicate anatomical and dissection procedures in fields such as neurosurgery and spinal surgery. However, it should be noted that this system is a medical device, and its use must be performed by a physician.

[0071] Furthermore, a dynamic resection mode can be extended. This mode is suitable for scenarios requiring rapid, large-scale resection of tumors and other blocky tissues, with efficiency as its primary objective. In this mode, system parameters will be set to a combination of higher response gain and faster response speed; for example, the baseline closed-loop gain K will be increased. p0 Increase the power response (e.g., to 1.0); decrease the exponential smoothing coefficient 'a' (e.g., to 0.5) to make the system respond more directly and sensitively to pedal changes. Target temperature T tgt It can also be set to a higher level (e.g., 85°C). In this mode, the system can quickly reach and maintain a high output power, achieving efficient tissue vaporization and resection. These three modes provide doctors with flexible options, enabling the same device to handle different types of surgical needs and expanding the device's application range.

[0072] Corresponding to the low-temperature plasma ablation system described in the above embodiments, this application also provides a control method for a low-temperature plasma ablation system, including: Acquire operational intent signals, real-time temperature signals, and tissue impedance signals; Based on the operation intention signal, the real-time temperature signal, and the initial tissue impedance change rate calculated from the tissue impedance signal, the three-dimensional coupling adaptive time constant is calculated. Based on the three-dimensional coupling adaptive time constant, the initial tissue impedance change rate is corrected to obtain the corrected tissue impedance change rate. Based on the corrected tissue impedance change rate, the operation intention signal, the real-time temperature signal, and the three-dimensional coupling adaptive time constant, the final output power is calculated to drive the bipolar electrode to work.

[0073] This application also provides a computer device, which includes: at least one processor, a memory, and a computer program stored in the memory and executable on the at least one processor, wherein the processor executes the computer program to implement the steps in any of the above method embodiments.

[0074] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps described in the above method embodiments.

[0075] This application provides a computer program product that, when run on a computer device, enables the computer device to execute the steps described in the method embodiments above.

[0076] The computer device in this application embodiment includes: at least one processor, a memory, and a computer program stored in the memory and executable on the at least one processor. When the processor executes the computer program, it implements the steps in any of the above-described low-temperature plasma ablation system embodiments.

[0077] This computer device may include, but is not limited to, a processor and memory. It may also include input / output devices, network access devices, etc.

[0078] The processor referred to can be a Central Processing Unit (CPU), but it can also be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor or any conventional processor.

[0079] In some embodiments, the memory may be an internal storage unit of the computer device, such as a hard drive or RAM. In other embodiments, the memory may be an external storage device of the computer device, such as a plug-in hard drive, Smart Media Card (SMC), Secure Digital (SD) card, or Flash Card. Furthermore, the memory may include both internal and external storage units of the computer device. The memory is used to store the operating system, applications, data, and other programs, such as the program code of the computer program. The memory can also be used to temporarily store data that has been output or will be output.

[0080] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments of this application can be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include at least: any entity or device capable of carrying computer program code to a device / computer equipment, a recording medium, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium. Examples include USB flash drives, portable hard drives, magnetic disks, or optical disks.

[0081] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0082] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0083] In the embodiments provided in this application, it should be understood that the disclosed apparatus / computer devices and methods can be implemented in other ways. For example, the apparatus / computer device embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual couplings or direct couplings or communication connections may be through some interfaces; indirect couplings or communication connections between devices or units may be electrical, mechanical, or other forms.

[0084] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0085] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A low-temperature plasma ablation system, characterized in that, include: Integrated main control module; A linear foot pedal module is used to collect the operator's intention signal and send it to the integrated main control module; bipolar electrodes have an integrated temperature sensor. A temperature acquisition module, connected to the temperature sensor, is used to acquire real-time temperature signals and send them to the integrated main control module; A multi-channel sampling module is used to acquire tissue impedance signals and send them to the integrated main control module; The integrated main control module incorporates a four-dimensional coupled adaptive control logic. The four dimensions of the four-dimensional coupled adaptive control logic include: a dimension representing the operator's intention, a dimension representing the real-time temperature status of the tissue, a dimension representing the trend of tissue impedance changes, and a dimension representing the dynamic response characteristics of the system itself. The integrated main control module is configured as follows: Based on the operation intention signal, the real-time temperature signal, and the initial tissue impedance change rate calculated from the tissue impedance signal, the three-dimensional coupling adaptive time constant is calculated. The three-dimensional coupling adaptive time constant is used as a dynamic smoothing coefficient to smooth the initial tissue impedance change rate, so as to obtain the corrected tissue impedance change rate. Based on the corrected tissue impedance change rate, the operation intention signal, the real-time temperature signal, and the three-dimensional coupling adaptive time constant, the real-time adaptive closed-loop gain is determined; based on the difference between the real-time temperature signal and the preset target temperature and the real-time adaptive closed-loop gain, the final output power is calculated to drive the bipolar electrode to work. The integrated main control module is configured to calculate the three-dimensional coupled adaptive time constant using the following formula: t auto = T base × (1 - K pedal × |G T × (dZ / dt init )| / Z nom ); where t auto T is the three-dimensional coupling adaptive time constant. base K is the preset reference time constant. pedal G is the pedal operation dynamics coefficient calculated based on the aforementioned operation intention signal. T The temperature safety gradient, dZ / dt, is calculated based on the real-time temperature signal. init Z represents the rate of change of the initial tissue impedance. nom This is the preset nominal tissue impedance; The integrated main control module is configured to calculate the foot pedal operation dynamics coefficient and the temperature safety gradient using the following formula: K pedal = (Vpedal / Vmax) × e (-a×|Vpedal - Vpedal-1|) ; G T = (T tgt - T real ) / (T real - 37 + ε); where K pedal Here, G is the pedal operation dynamics coefficient, Vpedal is the real-time pedal pressing voltage corresponding to the operation intention signal, Vmax is the maximum output voltage of the linear pedal module, a is a preset exponential smoothing coefficient, and Vpedal-1 is the pedal pressing voltage of the previous control cycle; where G T For the temperature safety gradient, T tgt For the preset target temperature, T real The real-time temperature signal is ε, which is a preset minimum non-zero constant used to avoid the denominator being zero in the temperature safety gradient calculation formula. The integrated main control module is configured to: determine the real-time adaptive closed-loop gain based on the total constraint coefficient, the preset reference closed-loop gain, the three-dimensional coupling adaptive time constant, and the preset reference time constant. The calculation formula for the real-time adaptive closed-loop gain is: K p = K p0 ×K total ×(T base / t auto ); where K p For real-time adaptive closed-loop gain, K p0 K is the reference closed-loop gain. total T is the total constraint coefficient. base t is the reference time constant. auto The adaptive time constant for three-dimensional coupling; The integrated main control module is configured to: determine the total constraint coefficient based on the foot pedal operation dynamics coefficient, the temperature safety gradient, the three-dimensional coupling adaptive time constant, and the corrected tissue impedance change rate; wherein the formula for calculating the total constraint coefficient is: K total =K pedal ×(G T ×t auto ) / (1+|dZ / dt|); where, K total K is the total constraint coefficient. pedal G is the dynamic coefficient of the pedal operation. T For the temperature safety gradient, t auto dZ / dt is the three-dimensional coupling adaptive time constant, and dZ / dt is the corrected rate of change of tissue impedance.

2. The low-temperature plasma ablation system according to claim 1, characterized in that, The built-in temperature sensor is a K-type thermocouple.

3. The low-temperature plasma ablation system according to claim 1, characterized in that, The low-temperature plasma ablation system also includes: High-voltage power supply module; The high-voltage drive module is electrically connected to the high-voltage power supply module; An LC output matched filter module is disposed between the high voltage drive module and the bipolar electrode.

4. A control method for a low-temperature plasma ablation system, characterized in that, The method is applied to the control system of the low-temperature plasma ablation system as described in any one of claims 1-3.

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