Methods, devices, equipment, and media for determining bone tissue parameters in laser minimally invasive ablation.

Abstract

This invention discloses a method, apparatus, device, and medium for determining parameters of laser-induced minimally invasive ablation of bone tissue. The method includes: preparing multiple ex vivo bone tissue samples and pre-processing the bone tissue samples; dividing the pre-processed bone tissue samples into at least two groups, setting different ablation parameters for each group of bone tissue samples, and using an ultrashort pulse laser surgical device and the set ablation parameters to create the same shape feature on the corresponding group of bone tissue samples; analyzing and evaluating the shape feature on each group of bone tissue samples according to preset evaluation criteria to determine the optimal ablation parameters for the bone tissue samples. The above scheme can successfully screen the laser parameters for bone tissue ablation through in vitro experiments, and has advantages such as precision, safety, efficiency, and cleanliness, and verifies the application potential of ultrashort pulse laser surgical devices in bone tissue surgery.

Description

Technical Field

[0001] This invention relates to the medical field and can be applied to the design of surgical instruments in dentistry, ENT, orthopedics, and neurosurgery. Specifically, it relates to a method, device, equipment, and medium for determining parameters of laser minimally invasive ablation of bone tissue. Background Technology

[0002] In bone surgeries such as orthognathic surgery, dental implantology, bone tumor resection, joint replacement, and neurosurgical craniotomy, the use of precise, safe, efficient, and clean surgical instruments to cut bone tissue and create ideal incisions is crucial. The advent of lasers has provided new technical means for bone tissue cutting, and researchers have experimented with various lasers for this purpose. For example, femtosecond lasers, which are ultrashort pulse lasers with pulse widths on the order of femtoseconds, have been widely used in the medical field. When an ultrashort pulse laser acts on bone or other tissues, it generates a high energy density in an extremely short time, causing rapid tissue ionization. Because the pulse width of an ultrashort pulse laser is much smaller than the thermal diffusion time, the tissue is rapidly ablated when the laser acts on it, resulting in minimal thermal and mechanical damage.

[0003] There are few reports on the use of ultrashort pulse lasers to ablate bone tissue. The parameters of ultrashort pulse lasers directly affect their ablation effect. Therefore, how to screen and optimize ultrashort pulse laser parameters is crucial to achieving the best balance between efficient ablation and biosafety. Summary of the Invention

[0004] In view of the above problems, the present invention is proposed to provide a method, apparatus, device and medium for determining bone tissue parameters by laser minimally invasive ablation to overcome or at least partially solve the above problems.

[0005] According to one aspect of the present invention, a method for determining parameters of bone tissue in laser minimally invasive ablation is provided, the method comprising:

[0006] Multiple isolated bone tissue samples were prepared, and the bone tissue samples were pretreated.

[0007] The pre-processed bone tissue samples are divided into at least two groups, and different ablation parameters are set for each group of bone tissue samples. Using an ultra-short pulse laser surgical device and the set ablation parameters, the same shape features are created on the bone tissue samples of the corresponding groups.

[0008] The shape characteristics of each group of bone tissue samples are analyzed and evaluated according to the preset evaluation criteria to determine the optimal ablation parameters for the bone tissue samples.

[0009] In some embodiments, preparing multiple ex vivo bone tissue samples and pretreating the bone tissue samples includes:

[0010] Obtain fresh bone, remove the soft tissues on the bone surface, and wash the blood on the bone surface with physiological saline to obtain bone tissue samples.

[0011] In some embodiments, before using an ultrashort pulse laser surgical device and set ablation parameters to create the same shape feature on the bone tissue samples of the corresponding groups, the following steps are further included:

[0012] Use the ultrashort pulse laser surgical device to prepare holes for fixing thermocouple sensors on the surface of the bone tissue samples, and the holes are adjacent to the shape feature;

[0013] Install and fix the thermocouple sensors in the holes, so as to use the thermocouple sensors to monitor the temperature change on the surface of the bone tissue samples in real time.

[0014] In some embodiments, the ultrashort pulse laser surgical device includes: an ultrashort pulse laser, a light guiding arm, a mirror assembly, a three-dimensional translation stage and a controller;

[0015] Set at least one of the following ablation parameters in the controller: the repetition frequency, scanning rate, scanning path or scanning time of the ultrashort pulse laser.

[0016] In some embodiments, analyze and evaluate the shape features on the bone tissue samples of each group according to a preset evaluation criterion, and determine that the optimal ablation parameters for the bone tissue samples include at least one of the following:

[0017] Use a microscope to clearly display the shape features of the bone tissue samples of each group, and use a camera system配套 with the microscope to take pictures of the shape features to obtain images of the shape features;

[0018] Place the bone tissue samples of each group after ablation under a laser profilometer microscope for observation, use the three-dimensional measurement software配套 with the laser profilometer microscope to measure the depth value of the shape feature, and determine the ablation efficiency according to the depth value;

[0019] Detect and determine the roughness of the shape features on the bone tissue samples of each group;

[0020] Place the bone tissue samples of each group in ethanol for dehydration, spray gold on the surface of the bone tissue samples after dehydration to enhance the conductivity of the bone tissue samples of each group, and use a field emission scanning electron microscope to observe and obtain the microscopic morphology of the surface of the shape feature;

[0021] Use energy dispersive spectroscopy to analyze the mass percentage of at least one of the elements carbon, oxygen, calcium or phosphorus on the surface of the bone tissue samples of each group;

[0022] Decalcify, dehydrate and / or stain some groups of bone tissue samples and then section them for future analysis.

[0023] In some embodiments, the method further includes:

[0024] The same shape features were created on each group of bone tissue samples using traditional mechanical cutting methods, and the characteristics of the shape features were determined for comparative analysis with the shape features created by the ultra-short pulse laser surgical device.

[0025] In some embodiments, the ablation parameters include ultrashort pulse laser energy density. The optimal ablation parameters for each group of bone tissue samples are determined by analyzing and evaluating the shape characteristics according to preset evaluation criteria, including:

[0026] The optimal ultrashort pulse laser energy density is determined based on at least one of the following: temperature during the ablation process, ablation efficiency, roughness of the shape features after ablation, microstructure, or elemental mass percentage.

[0027] According to another aspect of the present invention, a device for determining parameters of laser minimally invasive ablation of bone tissue is provided, the device comprising:

[0028] The sample preparation module is suitable for preparing multiple isolated bone tissue samples and preprocessing the bone tissue samples.

[0029] The group ablation module is suitable for dividing the pre-processed bone tissue sample into at least two groups, setting different ablation parameters for each group of bone tissue samples, and using an ultra-short pulse laser surgical device and the set ablation parameters to create the same shape feature on the bone tissue samples of the corresponding groups.

[0030] The parameter selection module is suitable for analyzing and evaluating the shape characteristics of each group of bone tissue samples according to preset evaluation criteria, and determining the optimal ablation parameters for the bone tissue samples.

[0031] According to another aspect of the present invention, an electronic device is provided, comprising: a processor; and a memory arranged to store computer-executable instructions, which, when executed, cause the processor to perform a method for determining parameters of laser minimally invasive ablation of bone tissue according to any one of the preceding claims.

[0032] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores one or more programs, which, when executed by a processor, implement a method for determining parameters of laser minimally invasive ablation of bone tissue according to any one of the preceding claims.

[0033] As can be seen from the above, the laser parameters for bone tissue ablation can be successfully screened through in vitro experiments according to the technical solution disclosed in this invention. It has advantages such as precision, safety, efficiency and cleanliness, and verifies the application potential of ultra-short pulse laser surgical equipment in bone tissue surgery.

[0034] The above description is merely an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of the present invention more apparent and understandable, specific embodiments of the present invention are described below. Attached Figure Description

[0035] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0036] Figure 1 A flowchart illustrating a method for determining bone tissue parameters by laser minimally invasive ablation according to some embodiments of the present invention is shown.

[0037] Figure 2 A schematic diagram of the structure of an ultrashort pulse laser surgical device according to some embodiments of the present invention is shown;

[0038] Figure 3 A schematic diagram illustrating the temperature change over time on the surface of a bone tissue sample during laser ablation according to some embodiments of the present invention is shown.

[0039] Figure 4 Schematic diagrams of various groups of ablation efficiency and shape characteristics of laser ablation according to some embodiments of the present invention are shown;

[0040] Figure 5 The diagram illustrates microscopic images, roughness, and elemental content of various groups of laser ablation according to some embodiments of the present invention;

[0041] Figure 6 A comparative schematic diagram of laser ablation and mechanical cutting according to some embodiments of the present invention is shown;

[0042] Figure 7 Histological images of laser ablation and mechanical cutting of bone tissue samples according to some embodiments of the present invention are shown;

[0043] Figure 8 A schematic diagram of a device for determining bone tissue parameters by laser minimally invasive ablation according to some embodiments of the present invention is shown;

[0044] Figure 9A schematic diagram of the structure of an electronic device according to some embodiments of the present invention is shown. Detailed Implementation

[0045] Exemplary embodiments of the invention will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this invention will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.

[0046] This invention relates to an independently developed ultrashort pulse laser surgical robot device. The research explored parameters such as the repetition frequency, scanning speed, and scanning path of ultrashort pulse laser ablation of bone tissue, and preliminarily screened suitable laser parameters for bone tissue ablation. Furthermore, this invention focuses on laser energy density, a parameter of utmost concern in clinical use. Through in vitro experiments, this parameter was systematically optimized to achieve more precise, safe, efficient, and clean bone tissue ablation, thereby providing research data support for the clinical application of ultrashort pulse laser surgical robot devices in bone tissue surgery.

[0047] Figure 1 A flowchart illustrating a method for determining bone tissue parameters using laser minimally invasive ablation according to an embodiment of the present invention is shown, comprising the following steps:

[0048] Step S110: Prepare multiple isolated bone tissue samples and preprocess the bone tissue samples;

[0049] The aforementioned pretreatment includes removing other tissues from the bone surface and cleaning.

[0050] Step S120: Divide the pre-processed bone tissue sample into at least two groups, set different ablation parameters for each group of bone tissue samples, and use an ultra-short pulse laser surgical device and the set ablation parameters to create the same shape feature on the bone tissue samples of the corresponding groups.

[0051] The shape features include incisions, cavities, etc. Different ablation parameters are used for each group of bone tissue samples, and the different parameters are matched with each other. The parameters include ultrashort pulse laser repetition frequency, scanning rate, scanning path or scanning time, etc. The ultrashort pulse laser can be femtosecond, picosecond, attosecond laser, etc.

[0052] Step S130: Analyze and evaluate the shape characteristics of each group of bone tissue samples according to the preset evaluation criteria, and determine the optimal ablation parameters for the bone tissue samples.

[0053] The evaluation criteria include characteristics during the ablation process, such as ablation temperature and ablation efficiency, as well as characteristics obtained by detecting the shape features after laser ablation, such as flatness, roughness, micromorphology, and the impact on micro-elements.

[0054] According to embodiments of the present invention, laser parameters for bone tissue processing can be successfully screened through in vitro experiments, which has advantages such as precision, safety, efficiency, and cleanliness, and verifies the application potential of ultra-short pulse laser surgical equipment in bone tissue surgery.

[0055] In some embodiments, step S110 involves preparing multiple ex vivo bone tissue samples and preprocessing the bone tissue samples, including:

[0056] Fresh bone was obtained, soft tissue was removed from the bone surface, and blood was washed off the bone surface with saline to obtain bone tissue samples.

[0057] Specifically, the type of bone is determined based on the type of bone in the target surgery. In an optional example, a fresh sheep tibia can be selected as the test sample.

[0058] In some embodiments, before creating the same shape feature on the bone tissue samples of the corresponding group using the ultrashort pulse laser surgical device and the set ablation parameters in step S120, the following steps may also be included:

[0059] Using the aforementioned ultrashort pulse laser surgical device, a hole for fixing a thermocouple sensor is prepared on the surface of a bone tissue sample, and the hole is adjacent to the aforementioned shape feature;

[0060] The thermocouple sensor is installed and fixed inside the hole, thereby enabling real-time monitoring of surface temperature changes of the bone tissue sample using the thermocouple sensor.

[0061] For example, before laser ablation begins, a 1.5mm diameter circular hole is first prepared on the bone tissue surface using an ultrashort pulse laser surgical device to fix a thermocouple sensor. After fixing the thermocouple, the distance between the thermocouple sensor and the edge of the prepared cavity is adjusted to 0.5mm using a calibrated galvanometer system. During the bone tissue ablation process using the ultrashort pulse laser surgical device, the installed thermocouple sensor is used to monitor and record changes in bone surface temperature in real time.

[0062] In some embodiments, combined with Figure 2 As shown, the ultrashort pulse laser surgical device includes: an ultrashort pulse laser, a light guide arm, a mirror assembly, a three-dimensional translation stage, and a controller;

[0063] Set at least one of the following ablation parameters in the controller: repetition frequency of the ultrashort pulse laser, scan rate, scan path, or scan time.

[0064] The ultrashort pulse laser, the light guide arm, the mirror assembly, and the three-dimensional translation stage are arranged such that the laser emitted by the ultrashort pulse laser can form a complete processing transmission path. The mirror assembly includes a Galvo scanning mirror, an F-θ lens, and a reflecting mirror respectively arranged in the X and Y directions. The bone tissue sample is fixed on the three-dimensional translation stage.

[0065] In addition, the scanning path can be selected as a serpentine scanning path.

[0066] In some embodiments, in step S130, the shape features on each group of bone tissue samples are analyzed and evaluated according to a preset evaluation criterion, and the optimal ablation parameters for the bone tissue samples are determined to include at least one of the following:

[0067] The shape features of each group of bone tissue samples are clearly displayed by a microscope, and the shape features are photographed using a camera system配套 with the microscope to obtain an image of the shape features;

[0068] Each group of bone tissue samples after ablation is placed under a laser profilometer for observation, and the depth value of the shape features is measured using a three-dimensional measurement software配套 with the laser profilometer, and the ablation efficiency is determined according to the depth value;

[0069] The roughness of the shape features on each group of bone tissue samples is detected and determined;

[0070] Each group of bone tissue samples is dehydrated in ethanol, and after dehydration, gold is sprayed on the surface of each group of bone tissue samples to enhance the conductivity of each group of bone tissue samples, and the microscopic morphology of the surface of the shape features is observed and obtained using a field emission scanning electron microscope;

[0071] The mass percentage of at least one of carbon, oxygen, calcium, or phosphorus elements on the surface of each group of bone tissue samples is analyzed using energy dispersive spectroscopy;

[0072] Some groups of bone tissue samples are decalcified, dehydrated, and / or stained and then sectioned for later analysis.

[0073] It should be noted that in the above calculations, such as calculating ablation efficiency, roughness, element mass percentage, etc., generally multiple data can be collected simultaneously, and then their average values are obtained.

[0074] It should be pointed out that in practical applications, the above items can be comprehensively considered according to specific situations to reasonably determine the optimal ablation parameters.

[0075] In some embodiments, the method further includes:

[0076] The same shape features were created on each group of bone tissue samples using traditional mechanical cutting methods, and the characteristics of the shape features were determined for comparative analysis with the shape features created by the ultra-short pulse laser surgical device.

[0077] By comparing different processing methods, we can better identify the differences between them and thus determine the characteristics and advantages of laser ablation.

[0078] In some embodiments, the ablation parameters include ultrashort pulse laser energy density. Step S130 analyzes and evaluates the shape characteristics on each group of bone tissue samples according to preset evaluation criteria, and determines the optimal ablation parameters for the bone tissue samples, including:

[0079] The optimal ultrashort pulse laser energy density is determined based on at least one of the following: temperature during the ablation process, ablation efficiency, roughness of the shape features after ablation, microstructure, or elemental mass percentage.

[0080] For example, taking the aforementioned fresh sheep tibia as an example, considering both ablation efficiency and the safety of clinical application, a repetition frequency of 100 kHz and an energy density of 1.05 J / cm³ were used. 2 The ultrashort pulse laser surgical device ablated the sheep tibia, achieving an ablation efficiency of 0.145 mm. 3 / s can create a neater, continuous, and cleaner incision without causing thermal damage to bone and surrounding tissues, which can meet the needs of clinical medical use.

[0081] The above embodiments will be further described below through specific examples. The method of these specific embodiments includes the following steps:

[0082] 1. Preparation of ex vivo bone samples

[0083] Fresh sheep tibia bones were ordered from a local slaughterhouse. The skin, muscle, and other soft tissues on the bone surface were removed, and the bone surface was cleaned of blood using saline solution. The detached sheep tibia bones were then fixed in place using a silicone rubber impression material, ensuring the upper surface of the bone was level with the fixation base. Laser ablation of the bone tissue was completed within 2 hours.

[0084] 2. Ultrashort pulse laser ablation of bone tissue and temperature monitoring

[0085] The system utilizes a self-developed ultrashort pulse laser surgical robot system. (See schematic diagram below.) Figure 2The system mainly consists of an ultrashort pulse laser, a light guide arm, a laser working end, a three-dimensional translation stage, and ultrashort pulse laser surgical robot system control software. The ultrashort pulse laser can be a femtosecond laser with a wavelength of 1030 nm. The laser scanning path and scanning time are planned in the robot system control software, and the laser parameters are set sequentially: ultrashort pulse laser repetition frequency of 100 kHz, scanning rate of 1900 mm / s, serpentine scanning path, and scanning time of 80 seconds. Based on different laser energy densities, the samples are randomly divided into four groups: 0.58 J / cm², 0.58 J / cm², and 0.58 J / cm², respectively. 2 (Group 1), 0.81 J / cm 2 (Group 2), 1.05 J / cm 2 (Group 3), 1.28 J / cm 2 (Group 4). Adjust the position of the three-dimensional translation stage so that the upper surface of the bone tissue sample is at the same level as the laser focus. Use the laser scanning path and laser parameters described above to ablate the sample and prepare a cavity with a diameter of 4 mm (n=10 per group). Before starting cavity preparation, first use the ultrashort pulse laser surgical robot system to prepare a 1.5 mm diameter circular hole on the bone tissue surface to fix the thermocouple sensor. After fixing the thermocouple, adjust the distance between the thermocouple sensor and the edge of the cavity to be prepared by calibrating the galvanometer system to 0.5 mm. During the ablation of bone tissue by the ultrashort pulse laser surgical robot, the installed thermocouple sensor is used to monitor and record the temperature changes of the bone surface in real time.

[0086] 3. Observation under a stereomicroscope

[0087] Bone samples with completed cavity preparation (n=10 per group) were placed on the working plate of a stereomicroscope. The illumination intensity of the microscope was adjusted, and the focus was adjusted so that the entire top view of the sample could be clearly displayed. Images were taken using the microscope's high-resolution camera system, and all images were saved in TIF format.

[0088] 4. Ablation efficiency and surface roughness analysis

[0089] After observation under a stereomicroscope, the samples were then observed under a laser morphology microscope (10×). The depth of the cylindrical cavities was measured using the microscope's accompanying three-dimensional measurement software (n=10 per group). Three sites were randomly selected from each sample, and each site was measured three times, with the average value taken. The ablation efficiency (volume of bone tissue removed by laser per unit time) was then calculated using the following formula:

[0090] η = V / t (1)

[0091] V=πd2h / 4 (2)

[0092] η represents the laser ablation efficiency, V represents the volume of bone tissue removed, t represents the laser ablation time, d represents the bottom diameter of the cylindrical cavity formed, and h represents the depth of the cavity.

[0093] For each cavity (n=10 per group), three regions were randomly selected to test the arithmetic mean roughness (Ra). The surface roughness of each region was measured using five 100μm×100μm grids, and the average value was taken.

[0094] 5. Microscopic morphology and elemental content analysis of bone surface

[0095] For each cavity (n=10), three regions were randomly selected to measure the arithmetic mean roughness (Ra). The surface roughness of each region was measured using five 100μm×100μm grids, and the average value was taken. After completing the above observations and measurements, the bone samples were sequentially placed in 70% ethanol for 24 hours, 90% ethanol for 1 hour, and 100% ethanol for 1 hour for dehydration. The surface was then sputtered with gold to enhance the conductivity of the samples. The microstructure of the cavity surface was observed using field emission scanning electron microscopy (SEM) (n=10 per group). By adjusting the magnification and focusing, clear images of the cavity surface morphology at different magnifications were obtained.

[0096] Energy dispersive spectroscopy (EDS) was used to analyze the mass percentages of carbon (C), oxygen (O), calcium (Ca), and phosphorus (P) on the bone surface after ultrashort pulse laser ablation. Three areas of the same size were randomly selected from each cavity for testing, and the average value of the measurement results was taken.

[0097] 6. Pores were prepared using both ultrashort pulse laser and conventional mechanical drill bits, and their surface morphology was observed.

[0098] Using the selected ultrashort pulse parameters and the aforementioned laser ablation method, cavities with a diameter of 4 mm and a depth of 2 mm (n=10) were prepared. Using a dental implant machine and implant drill, cavities of the same size (n=10) were prepared step-by-step according to conventional methods. After preparation, the samples were photographed under a stereomicroscope. A portion of the samples (n=5) were dehydrated in a gradient of alcohol using the same method, observed and photographed under a scanning electron microscope, and the cavity diameter was measured and recorded (each cavity was measured 3 times, and the average value was taken). Another portion of the samples (n=5 per group) were decalcified in 10% EDTA decalcification solution for subsequent histological section preparation.

[0099] 7. Tissue sections

[0100] After decalcification, the samples (n=5 per group) were successively immersed in 50%, 70%, 95%, and 100% ethanol for 1 hour each for dehydration. They were then cleared in xylene solution for 30 minutes, embedded in paraffin, and sections with a thickness of 7 μm were prepared. After dewaxing, the paraffin sections were stained with hematoxylin-eosin and masson's solution, dehydrated with graded alcohols, cleared in xylene, and then mounted.

[0101] The results of the above analysis are shown below:

[0102] 1. Compare the changes in bone surface temperature during laser ablation with different parameters.

[0103] Figure 3 The table shows the changes in bone surface temperature during ultrashort pulse laser ablation with four parameters recorded by thermocouples. After the laser ablation began, the bone surface temperature gradually increased, then remained at its highest level with slight fluctuations, before gradually returning to room temperature after the ablation process. Higher laser energy density resulted in a faster initial temperature rise of the bone surface and a higher average bone surface temperature during ablation. As shown in Table 1, the highest bone surface temperatures reached during ablation of sheep tibia with laser parameters 1-4 were 26.6℃, 33.2℃, 42.8℃, and 53.5℃, respectively.

[0104] Table 1. Maximum Temperature and Maximum Temperature Rise

[0105]

[0106] 2. Compare the ablation efficiency of lasers with different parameters.

[0107] Figure 4 (a) shows that the efficiency of bone tissue ablation increases with increasing laser energy density: after 80 seconds of scanning, the average depths of the cylindrical cavities with a bottom diameter of 4 mm formed by laser parameters 1-4 were 379.68 μm, 723.20 μm, 924.26 μm, and 1113.90 μm, respectively, and the corresponding average bone tissue ablation efficiencies were calculated to be 0.060 mm. 3 / s, 0.114mm 3 / s, 0.145mm 3 / s and 0.175mm 3 / s.

[0108] according to Figure 4 As shown, (a) compares the efficiency of laser ablation with four parameters, (b)-(e) are images of cylindrical cavities formed by laser ablation with four parameters under a stereomicroscope, and (f)-(i) are local 3D images of the edge of the cylindrical cavities (P<0.001, n=10 in each group).

[0109] 3. Compare the microscopic morphology and elemental composition of bone surface after laser ablation with different parameters.

[0110] like Figure 5 As shown in (a)-(h), the bone surface after laser ablation with the four parameters all exhibited a uniform, rough, porous structure, and no obvious cracks or defects caused by ablation were found. Figure 5As shown in (i)-(l), the arithmetic mean roughness (Ra) of the bone surface after laser ablation with the four laser parameters were 10.79 μm, 9.78 μm, 8.83 μm, and 8.86 μm, respectively. Intergroup comparisons showed no statistically significant difference in surface roughness among the groups (P > 0.05, n = 10). To clarify whether ultrashort pulse laser ablation affects the chemical properties of bone tissue, the Ca, O, and P elemental contents of the bone surface after ablation with the four laser parameters were compared in this embodiment. Figure 5 Table 2 (r)-(t) shows that the average mass percentages of oxygen on the bone tissue surface after ablation in groups 1-4 were 40.46%, 29.51%, 34.29%, and 37.08%, respectively; the average mass percentages of calcium were 30.58%, 29.64%, 33.29%, and 30.25%, respectively; and the average mass percentages of phosphorus were 6.57%, 8.33%, 10.42%, and 9.39%, respectively. There were no statistically significant differences among the groups (P>0.05, n=10). Figure 5 (m)-(p) shows that no carbon element was detected on the surface of bone tissue after ablation by EDS in each group of laser parameters.

[0111] according to Figure 5 As shown, (a)-(h) are representative images of the microscopic morphology of the bone surface under scanning electron microscopy after laser ablation, (i)-(l) are 3D images of the bone surface after laser ablation, (m)-(p) are elemental energy spectra of the bone surface after laser ablation with four parameters, (q) is a comparison of the roughness of the bone surface after laser ablation with four parameters, and (r)-(t) is a comparison of the mass percentage of O, Ca, and P elements on the bone surface after laser ablation with four parameters (P>0.05, n=10).

[0112] Table 2. Atomic mass percentage of bone tissue sample surface after laser ablation

[0113]

[0114]

[0115] Based on the comprehensive evaluation of results 1-3 above, the energy density parameter of the ultrashort pulse laser that meets clinical requirements is selected as 1.05 J / cm². 2 This parameter was used for subsequent experiments, and the corresponding average bone ablation efficiency was 0.145 mm. 3 / s.

[0116] Based on temperature monitoring results, when the energy density of the ultrashort pulse laser reaches 1.28 J / cm², 2During ablation, the highest temperature on the bone surface exceeds 50°C. Studies have shown that a bone surface temperature of 47°C for more than 60 seconds can cause irreversible damage to bone cells, while temperatures of 50°C and above can lead to denaturation of alkaline phosphatase in bone tissue, thus adversely affecting the healing and self-organization of the incision and nearby healthy bone tissue. Therefore, for safety reasons, laser parameter 4 is not suitable for bone tissue ablation.

[0117] 5. Compare the cutting precision and bone surface morphology and histological characteristics of laser and mechanical methods.

[0118] Figure 6 As shown in (a) and (f), under a stereomicroscope, the edges of the cavities formed by ultrashort pulse laser ablation are more neat and continuous compared to those formed by mechanical drilling. Figure 6 In (b) and (g), obvious bone fragments can be seen at the bone defect incision formed by mechanical drilling, while the area around the incision formed by ultra-short pulse laser ablation is cleaner and no obvious bone fragments are seen. Figure 6 (c), (d), (h), and (i) are images of the Volkmann canals near the incision at different magnifications. Mechanical drilling produces a large amount of bone debris that blocks the Volkmann canals, while the Volkmann canals near the incision in the laser group maintain a normal shape and the opening is clearly visible. Figure 6 Images (e) and (j) show the morphology of the bone incision sidewall. Mechanical drilling creates an uneven, burr-filled sidewall, with Haversian canals blocked by bone fragments, and their normal morphology disrupted. Laser ablation, on the other hand, produces a clean, smooth sidewall, with the Haversian canal openings clearly visible. Haversian and Wolfmann canals house and interconnect blood vessels and nerves; maintaining their normal structure and function after ablation is crucial for bone tissue repair and regeneration. Furthermore, research indicates that if bone debris generated during mechanical drilling is not completely removed, it can clog the borehole, increasing drilling force, torque, and bone surface temperature. Figure 6 (i) The diameter of the cavity formed by bur cutting was 4080.09±45.45 μm, while the diameter of the cavity formed by laser ablation was 4006.58±18.09 μm. The precision and consistency of laser ablation were both higher than those of bur cutting, and the difference was statistically significant (P<0.001, n=5 per group). This may be related to factors such as vibration during mechanical cutting and wear of the bur. This result indicates that laser has significant advantages in preparing bone incisions with high precision requirements.

[0119] For details, see Figure 6Microscopic morphology of bone surface after laser and mechanical cutting: (a)(b) Images of cavities formed by mechanical drilling and ultrashort pulse laser ablation under a stereomicroscope; (c)(d) Images of bone cavities under a scanning electron microscope; (e)(f) Magnified images of the edge of the cavity and surrounding tissue; (e)(f) are magnified images of the white framed area in (c)(d), showing the Wolkemann tube at the edge of the cavity; (g)(h) are magnified images of the blue framed area in (c)(d), showing the Haver tube on the sidewall of the cavity; (i) Comparison of the diameter of cavities formed by bur and laser ablation (P<0.001, n=5 for each group).

[0120] in addition, Figure 7 Histological images of bone tissue obtained by laser ablation and mechanical cutting are shown. (a) and (b) HE-stained images of the cavity margin. (c) and (d) magnified images of the areas bounded in the boxes in (a) and (b). (e) and (f) Masson-stained images of the cavity margin. (g) and (h) magnified images of the areas bounded in the boxes in (e) and (f).

[0121] According to another aspect of the invention, see [link to other document]. Figure 8 As shown, a device for determining parameters of laser minimally invasive ablation of bone tissue is provided, the device 800 comprising:

[0122] The sample preparation module 810 is suitable for preparing multiple isolated bone tissue samples and preprocessing the bone tissue samples;

[0123] The group ablation module 820 is adapted to divide the pre-processed bone tissue sample into at least two groups, set different ablation parameters for each group of bone tissue samples, and use an ultra-short pulse laser surgical device and the set ablation parameters to create the same shape feature on the bone tissue samples of the corresponding groups.

[0124] The parameter selection module 830 is adapted to analyze and evaluate the shape characteristics of each group of bone tissue samples according to preset evaluation criteria, and determine the optimal ablation parameters for the bone tissue samples.

[0125] The laser minimally invasive ablation bone tissue parameter determination device provided in the above embodiments can successfully screen out the laser parameters for bone tissue processing through in vitro experiments. It has advantages such as precision, safety, efficiency, and cleanliness, and verifies the application potential of ultra-short pulse laser surgical equipment in bone tissue surgery.

[0126] In some embodiments, the sample preparation module 810 is further adapted to:

[0127] Fresh bone was obtained, soft tissue was removed from the bone surface, and blood was washed off the bone surface with saline to obtain bone tissue samples.

[0128] In some embodiments, the grouped ablation module 820 is further adapted to:

[0129] Use the ultrashort pulse laser surgical device to prepare holes for fixing the thermocouple sensor on the surface of the bone tissue sample, and the holes are adjacent to the shape feature;

[0130] Install and fix the thermocouple sensor in the holes, so as to use the thermocouple sensor to monitor the surface temperature change of the bone tissue sample in real time.

[0131] In some embodiments, the ultrashort pulse laser surgical device includes: an ultrashort pulse laser, a light guiding arm, a mirror assembly, a three-dimensional translation stage and a controller, and the control software is configured to:

[0132] Set at least one of the following ablation parameters in the controller: ultrashort pulse laser repetition frequency, scanning rate, scanning path or scanning time.

[0133] In some embodiments, the parameter evaluation module 830 is further adapted to:

[0134] Use a microscope to clearly display the shape features of each group of bone tissue samples, and use a camera system配套 with the microscope to take pictures of the shape features to obtain an image of the shape features;

[0135] Place the ablated bone tissue samples of each group under a laser profilometer microscope for observation, use the three-dimensional measurement software配套 with the laser profilometer microscope to measure the depth value of the shape feature, and determine the ablation efficiency according to the depth value;

[0136] Detect and determine the roughness of the shape features on each group of bone tissue samples;

[0137] Place the bone tissue samples of each group in ethanol for dehydration, spray gold on the surface of the bone tissue samples of each group after dehydration to enhance the conductivity of the bone tissue samples of each group, and use a field emission scanning electron microscope to observe and obtain the microscopic morphology of the surface of the shape feature;

[0138] Use energy dispersive spectroscopy to analyze the mass percentage of at least one of carbon, oxygen, calcium or phosphorus elements on the surface of each group of bone tissue samples;

[0139] Decalcify, dehydrate and / or stain some groups of bone tissue samples and then section them for later analysis.

[0140] In some embodiments, the device 800 is further adapted to:

[0141] Use the traditional mechanical cutting method to make the same shape features on each group of bone tissue samples, and determine the characteristics of the shape features for comparative analysis with the shape features made by the ultrashort pulse laser surgical device.

[0142] In some embodiments, the ablation parameters include ultrashort pulse laser energy density, and the parameter evaluation module 830 is further adapted to:

[0143] The optimal ultrashort pulse laser energy density is determined based on at least one of the following: temperature during the ablation process, ablation efficiency, roughness of the shape features after ablation, microstructure, or elemental mass percentage.

[0144] It should be noted that the specific implementation methods of the above-mentioned device embodiments can be referred to the specific implementation methods of the corresponding methods described above, and will not be repeated here.

[0145] In summary, the following beneficial effects can be obtained according to the embodiments of the present invention:

[0146] First, experiments have shown that ultrashort pulse lasers, due to their advantages such as high processing precision, small thermal effect, and no shock waves, can truly achieve the biological effect of three-dimensional precise ablation and synergistic promotion of bone tissue healing.

[0147] Furthermore, considering both ablation efficiency and the safety of clinical applications, this invention optimized the energy density parameters of the ultra-short pulse laser surgical robot system for ablation of bone tissue through in vitro experiments. The cutting effects of the robot-controlled ultra-short pulse laser and traditional mechanical methods were compared in terms of ablation accuracy and the morphology and histological characteristics of the bone surface after ablation.

[0148] 1. Taking into account both cutting efficiency and safety for clinical application, a repetition frequency of 100kHz and an energy density of 1.05J / cm³ were used. 2 The ultrashort pulse laser surgical robot system ablated the sheep tibia, achieving an ablation efficiency of 0.145 mm. 3 / s can create a neater, continuous, and cleaner incision without causing thermal damage to bone and surrounding tissues, which can meet the needs of clinical medical use.

[0149] 2. In vitro experiments successfully screened out the most suitable laser parameters for ablation of sheep tibia. Due to its advantages of precision, safety, efficiency, and cleanliness, the application potential of the ultrashort pulse laser surgical robot in bone tissue surgery has been preliminarily verified.

[0150] It should be noted that:

[0151] The algorithms and displays provided herein are not inherently related to any particular computer, virtual device, or other equipment. Various general-purpose devices can also be used in conjunction with the teachings herein. The required structure for constructing such devices is apparent from the above description. Furthermore, this invention is not directed to any particular programming language. It should be understood that the contents of the invention described herein can be implemented using various programming languages, and the above description of specific languages ​​is for the purpose of disclosing the best mode of implementation of the invention.

[0152] Numerous specific details are set forth in the specification provided herein. However, it will be understood that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures, and techniques have not been shown in detail so as not to obscure the understanding of this specification.

[0153] Similarly, it should be understood that, in order to streamline the invention and aid in understanding one or more of the various aspects of the invention, features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof in the above description of exemplary embodiments of the invention. However, this disclosure should not be construed as reflecting an intention that the claimed invention requires more features than are expressly recited in each claim.

[0154] Those skilled in the art will understand that modules in the device of the embodiments can be adaptively changed and placed in one or more devices different from that embodiment. Modules, units, or components in the embodiments can be combined into a single module, unit, or component, and further, they can be divided into multiple sub-modules, sub-units, or sub-components. Except where at least some of such features and / or processes or units are mutually exclusive, any combination can be used to combine all features disclosed in this specification (including the accompanying claims, abstract, and drawings) and all processes or units of any method or device so disclosed. Unless expressly stated otherwise, each feature disclosed in this specification (including the accompanying claims, abstract, and drawings) may be replaced by an alternative feature that serves the same, equivalent, or similar purpose.

[0155] Furthermore, those skilled in the art will understand that although some embodiments described herein include certain features included in other embodiments but not others, combinations of features from different embodiments are meant to be within the scope of the invention and form different embodiments.

[0156] The various component embodiments of the present invention can be implemented in hardware, or as software modules running on one or more processors, or a combination thereof. Those skilled in the art will understand that microprocessors or digital signal processors (DSPs) can be used in practice to implement some or all of the functions of some or all of the components in the laser minimally invasive ablation bone tissue parameter determination device according to embodiments of the present invention. The present invention can also be implemented as a device or apparatus program (e.g., a computer program and computer program product) for performing part or all of the methods described herein. Such programs implementing the present invention can be stored on a computer-readable medium or can be in the form of one or more signals. Such signals can be downloaded from an Internet website, provided on a carrier signal, or provided in any other form.

[0157] This invention provides a non-volatile computer storage medium storing at least one executable instruction that can execute the method for determining bone tissue parameters by laser minimally invasive ablation in any of the above method embodiments.

[0158] Figure 9 The diagram shows a structural schematic of an embodiment of the electronic device of the present invention. The specific embodiments of the present invention do not limit the specific implementation of the electronic device.

[0159] like Figure 9 As shown, the electronic device may include: a processor 902, a communications interface 904, a memory 906, and a communications bus 908.

[0160] The processor 902, communication interface 904, and memory 906 communicate with each other via communication bus 908. Communication interface 904 is used to communicate with other network elements, such as clients or other servers. Processor 902 executes program 910, specifically performing the relevant steps in the embodiment of the method for determining laser minimally invasive ablation bone tissue parameters for electronic devices.

[0161] Specifically, program 910 may include program code that includes computer operation instructions.

[0162] The processor 902 may be a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement embodiments of the present invention. The airborne image processing board includes one or more processors, which may be processors of the same type, such as one or more CPUs; or processors of different types, such as one or more CPUs and one or more ASICs.

[0163] Memory 906 is used to store program 910. Memory 906 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0164] Specifically, program 910 can be used to enable processor 902 to perform the operations corresponding to the above-described method embodiment for determining the parameters of laser minimally invasive ablation of bone tissue.

[0165] It should be noted that the above embodiments are illustrative of the invention and not restrictive, and that those skilled in the art can devise alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses should not be construed as limiting the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention can be implemented by means of hardware comprising several different elements and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by the same item of hardware. The use of the words first, second, and third, etc., does not indicate any order. These words can be interpreted as names.

Claims

1. A method for determining parameters of laser minimally invasive ablation of bone tissue, the method comprising: Preparing a plurality of ex vivo bone tissue samples and preprocessing the bone tissue samples; Dividing the preprocessed bone tissue samples into at least two groups, setting different ablation parameters for each group of bone tissue samples, and using an ultrashort pulse laser surgical device and the set ablation parameters to create the same shape feature on the bone tissue samples corresponding to each group; Analyzing and evaluating the shape features on the bone tissue samples of each group according to a preset evaluation criterion to determine the optimal ablation parameters for the bone tissue samples.

2. The method of claim 1, wherein, Preparing a plurality of ex vivo bone tissue samples and preprocessing the bone tissue samples includes: Obtaining fresh bone, removing the soft tissue on the bone surface, and washing the blood on the bone surface with physiological saline to obtain bone tissue samples.

3. The method of claim 1, wherein, Before using the ultrashort pulse laser surgical device and the set ablation parameters to create the same shape feature on the bone tissue samples corresponding to each group, the following steps are further included: Using the ultrashort pulse laser surgical device to prepare holes for fixing thermocouple sensors on the surface of the bone tissue samples, and the holes are adjacent to the shape feature; Installing and fixing the thermocouple sensors in the holes, so as to use the thermocouple sensors to monitor the surface temperature change of the bone tissue samples in real time.

4. The method of claim 1, wherein, The ultrashort pulse laser surgical device includes: an ultrashort pulse laser, a light guiding arm, a mirror assembly, a three-dimensional translation stage and a controller; Setting at least one of the following ablation parameters in the controller: the repetition frequency of the ultrashort pulse laser, the scanning rate, the scanning path, and the scanning time.

5. The method according to any one of claims 1-4, characterized in that, Analyzing and evaluating the shape features on the bone tissue samples of each group according to a preset evaluation criterion to determine the optimal ablation parameters for the bone tissue samples includes at least one of the following: Using a microscope to clearly display the shape features of the bone tissue samples of each group, and using a camera system supporting the microscope to take pictures of the shape features to obtain images of the shape features; Placing the bone tissue samples of each group after ablation under a laser profilometer for observation, using a three-dimensional measurement software supporting the laser profilometer to measure the depth value of the shape feature, and determining the ablation efficiency according to the depth value; Detecting and determining the roughness of the shape features on the bone tissue samples of each group; Placing the bone tissue samples of each group in ethanol for dehydration, spraying gold on the surface of the bone tissue samples after dehydration to enhance the conductivity of the bone tissue samples of each group, and observing and obtaining the microscopic morphology of the surface of the shape feature by using a field emission scanning electron microscope; Using energy dispersive spectroscopy to analyze the mass percentage of at least one of carbon, oxygen, calcium or phosphorus elements on the surface of the bone tissue samples of each group; Decalcifying, dehydrating and / or staining some groups of bone tissue samples and then sectioning them for later analysis.

6. The method of claim 1, wherein, The method further includes: Using a traditional mechanical cutting method to create the same shape feature on the bone tissue samples of each group, and determining the characteristics of the shape feature for comparative analysis with the shape feature created by the ultrashort pulse laser surgical device.

7. The method according to any one of claims 1 to 4, characterized in that, The ablation parameters include the ultrashort pulse laser energy density. Analyzing and evaluating the shape features on the bone tissue samples of each group according to a preset evaluation criterion to determine the optimal ablation parameters for the bone tissue samples includes: The optimal ultrashort pulse laser energy density is determined based on at least one of the following: temperature during the ablation process, ablation efficiency, roughness of the shape features after ablation, microstructure, or elemental mass percentage.

8. A device for determining parameters of bone tissue in laser minimally invasive ablation, the device comprising: The sample preparation module is suitable for preparing multiple isolated bone tissue samples and preprocessing the bone tissue samples. The group ablation module is suitable for dividing the pre-processed bone tissue sample into at least two groups, setting different ablation parameters for each group of bone tissue samples, and using an ultra-short pulse laser surgical device and the set ablation parameters to create the same shape feature on the bone tissue samples of the corresponding groups. The parameter selection module is suitable for analyzing and evaluating the shape characteristics of each group of bone tissue samples according to preset evaluation criteria, and determining the optimal ablation parameters for the bone tissue samples.

9. An electronic device comprising: processor; And a memory configured to store computer-executable instructions, which, when executed, cause the processor to perform the method for determining bone tissue parameters for laser minimally invasive ablation according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores one or more programs, which, when executed by a processor, implement the method for determining bone tissue parameters by laser minimally invasive ablation according to any one of claims 1-7.

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