An ultrasonic scalpel energy output control system and ultrasonic scalpel energy output control method

Abstract

The embodiment of the present application provides an ultrasonic knife energy output control system and an ultrasonic knife energy output control method. The ultrasonic knife energy output control system comprises an ultrasonic knife, a motor, a measuring unit, a controller and an ultrasonic host, wherein the motor is used for controlling the closure of the jaw of the ultrasonic knife; the measuring unit is used for measuring the motor parameter of the motor in the process of the closure of the jaw; the controller is used for determining the target energy output mode of the ultrasonic knife based on the motor parameter; and the ultrasonic host is used for controlling the delivery of energy matched with the target energy output mode to the ultrasonic knife. Based on this, the target energy output mode of the ultrasonic knife is determined according to the motor parameter measured in the process of the closure of the jaw of the ultrasonic knife, and the ultrasonic host is used for controlling the delivery of energy matched with the target energy output mode to the ultrasonic knife, so that the target energy output mode of the ultrasonic knife can be determined before the ultrasonic knife is excited, and the operation quality is improved.

Description

Technical Field

[0001] This application relates to the field of medical technology, specifically to an ultrasonic scalpel energy output control system and an ultrasonic scalpel energy output control method. Background Technology

[0002] During surgery using an ultrasonic scalpel, surgeons typically provide a fixed energy output, such as a fixed amplitude level, both during and after activation. However, if the ultrasonic scalpel outputs a fixed amplitude level of energy in all surgical scenarios, it can affect the quality of the surgery and may prevent it from proceeding normally. Summary of the Invention

[0003] This application provides an ultrasonic scalpel energy output control system, an ultrasonic scalpel energy output control method, a computer device, a computer-readable storage medium, and a computer program product. Based on motor parameters measured during the jaw closure process of the ultrasonic scalpel, the target energy output mode of the ultrasonic scalpel can be determined, enabling the ultrasonic host to control the delivery of energy matching the target energy output mode to the ultrasonic scalpel, thereby improving surgical quality.

[0004] This application provides an ultrasonic scalpel energy output control system, which includes an ultrasonic scalpel, a motor, a measurement unit, a controller, and an ultrasonic main unit, wherein:

[0005] The motor is used to control the closing of the jaws of the ultrasonic scalpel;

[0006] The measuring unit is used to measure the motor parameters of the motor during the closing of the jaws;

[0007] The controller is used to determine the target energy output mode of the ultrasonic scalpel based on the motor parameters;

[0008] The ultrasound host is used to control the delivery of energy matching the target energy output mode to the ultrasonic scalpel.

[0009] Accordingly, embodiments of this application provide a method for controlling the energy output of an ultrasonic scalpel, including:

[0010] During the closing process of the ultrasonic scalpel jaws, the motor parameters of the motor controlling the closing of the ultrasonic scalpel jaws are measured;

[0011] Based on the motor parameters, the target energy output mode of the ultrasonic scalpel is determined;

[0012] The ultrasonic host is controlled to deliver energy matching the target energy output mode to the ultrasonic scalpel.

[0013] This application embodiment also provides an ultrasonic scalpel energy output control system, which includes an ultrasonic scalpel, a motor, a measuring unit, a controller, and an ultrasonic host, wherein:

[0014] The motor is used to control the closing of the jaws of the ultrasonic scalpel;

[0015] The measuring unit is used to measure the motor parameters of the motor during the closing of the jaws;

[0016] The controller is used to identify the type of object held in the jaws based on the motor parameters, determine whether the current energy output mode of the ultrasonic scalpel matches the type of the object held, obtain a matching result, and determine the target energy output mode of the ultrasonic scalpel based on the matching result.

[0017] The ultrasound host is used to control the delivery of energy matching the target energy output mode to the ultrasonic scalpel.

[0018] Accordingly, embodiments of this application also provide a method for controlling the energy output of an ultrasonic scalpel, comprising:

[0019] During the closing process of the ultrasonic scalpel jaws, the motor parameters of the motor controlling the closing of the ultrasonic scalpel jaws are measured;

[0020] Based on the motor parameters, the type of object being held in the jaws is identified, and it is determined whether the current energy output mode of the ultrasonic scalpel matches the type of the object being held, thus obtaining a matching result.

[0021] The target energy output mode of the ultrasonic scalpel is determined based on the matching results;

[0022] The ultrasonic host is controlled to deliver energy matching the target energy output mode to the ultrasonic scalpel.

[0023] Furthermore, this application also provides a computer device, which includes a memory and a processor. The memory stores a computer program, and the processor executes the steps in any of the above-described ultrasonic scalpel energy output control methods by calling the computer program stored in the memory.

[0024] Furthermore, embodiments of this application also provide a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps in any of the above-described ultrasonic scalpel energy output control methods.

[0025] This application also provides a computer program product, which stores a computer program. When the computer program is executed by a processor, it implements the steps in any of the above-described ultrasonic scalpel energy output control methods.

[0026] In this embodiment, the ultrasonic scalpel energy output control system includes an ultrasonic scalpel, a motor, a measuring unit, a controller, and an ultrasonic host. The motor controls the closing of the ultrasonic scalpel's jaws; the measuring unit measures the motor parameters during jaw closure; the controller determines the target energy output mode of the ultrasonic scalpel based on the motor parameters; and the ultrasonic host controls the delivery of energy matching the target energy output mode to the ultrasonic scalpel. Based on this, the target energy output mode of the ultrasonic scalpel is determined according to the motor parameters measured during jaw closure, and the ultrasonic host controls the delivery of energy matching the target energy output mode to the ultrasonic scalpel. This allows the target energy output mode of the ultrasonic scalpel to be determined based on the motor parameters measured during jaw closure before activation, enabling the ultrasonic scalpel to control its energy output based on information identifiable during the current jaw closure process, thereby improving surgical quality and efficiency. Attached Figure Description

[0027] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying 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.

[0028] Figure 1 This is a schematic diagram of the ultrasonic scalpel energy output control system provided in an embodiment of this application;

[0029] Figure 2 This is a schematic diagram of an ultrasonic scalpel in the ultrasonic scalpel energy output control system provided in an embodiment of this application;

[0030] Figure 3 This is a schematic diagram of the current-displacement curve of the ultrasonic scalpel energy output control system provided in the embodiments of this application;

[0031] Figure 4 This is a schematic flowchart of the ultrasonic scalpel energy output control method provided in the embodiments of this application;

[0032] Figure 5 This is a schematic flowchart of a specific process for controlling the energy output of an ultrasonic scalpel provided in an embodiment of this application;

[0033] Figure 6This is another specific flowchart illustrating the ultrasonic scalpel energy output control method provided in the embodiments of this application;

[0034] Figure 7 This is another schematic flowchart of the ultrasonic scalpel energy output control method provided in the embodiments of this application. Detailed Implementation

[0035] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0036] It should be understood that, although in some cases the terms "first," "second," etc., are used in this document to describe various elements or other objects, these elements or objects should not be limited by these terms. These terms are only used to distinguish one element / object from another.

[0037] This application provides an ultrasonic scalpel energy output control system, an ultrasonic scalpel energy output control method, a computer device, a computer-readable storage medium, and a computer program product. The ultrasonic scalpel energy output control method is executed by a computer device, which can be integrated into the computer device. This computer device can be a server, such as a medical server, a terminal, such as an ultrasound host, or a medical device that controls the operation of the ultrasound host and motor, etc.

[0038] Before providing a detailed description of the solutions in the embodiments of this application, we will first analyze the existing problems.

[0039] An ultrasonic scalpel is an energy device used in surgical settings. It converts electrical energy into mechanical vibration and transmits it to the scalpel head. The vibrating scalpel head comes into contact with the tissue and uses mechanical impact to cut the tissue or coagulate it.

[0040] The high-frequency mechanical vibration of the ultrasonic scalpel head causes the liquid in the center of the tissue to evaporate, creating a cavitation effect that cuts off the tissue near the scalpel head, thus achieving the cutting function. Under high temperature and vibration, proteins begin to denature and hydrogen bonds break, and the cellular matrix in the tissue begins to transform into liquid, forming a very viscous complex coagulate, which forms a semi-gel-like glue. Under the action of high temperature and the pressure of the ultrasonic scalpel jaws, it produces an adhesive effect on the severed ends of the blood vessel. At the same time, some bridging structures shuttle through it, mainly the links in the collagen fiber molecules in the original blood vessel are broken. Under the action of high temperature and vibration, new links are reformed between the upper and lower blood vessel walls, and the adhesive complex layer gradually thickens towards the tip, thus achieving the coagulation function.

[0041] During surgery using an ultrasonic scalpel, surgeons consistently provide a fixed energy output, such as a fixed amplitude level. However, if the ultrasonic scalpel outputs energy at a fixed amplitude level in all situations, it can negatively impact surgical quality. For example, when the ultrasonic scalpel is gripping a hard object like metal, if the surgeon does not stop energizing the scalpel, it will continue to output energy at the fixed amplitude level, potentially damaging the scalpel tip. Similarly, if there is no tissue between the ultrasonic scalpel and a tissue pad (also known as a support), continuing to output energy at a fixed amplitude level can burn through the tissue pad, disrupting the procedure.

[0042] Currently, ultrasonic scalpels generally use impedance data to identify different scenarios and control energy output accordingly. However, this method has limitations; the ultrasonic scalpel must first be activated to output energy before abnormal operating scenarios can be detected, increasing the probability of blade breakage and gasket burn-through. Furthermore, incorrect identification reduces cutting efficiency or necessitates re-inspection of the scalpel, impacting the surgical process. During surgery, surgeons desire higher cutting efficiency and shorter operation times. Therefore, while ensuring cutting efficiency, more accurate identification of different cutting scenarios, extending scalpel lifespan, and improving the surgeon's experience are crucial.

[0043] The solutions in this application embodiment can solve at least one of the problems mentioned above, improving surgical quality and efficiency. The ultrasonic scalpel in this application embodiment can be a multi-degree-of-freedom ultrasonic scalpel, or other types of ultrasonic scalpels; this application embodiment uses a multi-degree-of-freedom ultrasonic scalpel as an example for illustration.

[0044] The solutions provided in this application are specifically illustrated through the following embodiments. It should be noted that the order of description of the following embodiments is not intended to limit the preferred order of the embodiments.

[0045] Please see Figure 1 , Figure 1This is a schematic diagram of the architecture of an ultrasonic scalpel energy output control system provided in an embodiment of this application.

[0046] like Figure 1 As shown, the ultrasonic scalpel energy output control system 100 provided in this application embodiment includes an ultrasonic scalpel 101, a motor 102, a measurement unit 103, a controller 104, and an ultrasonic host 105.

[0047] The ultrasonic scalpel 101 is used to process tissue. The ultrasonic scalpel 101 includes a blade and a clamping arm, which together form a jaw.

[0048] The blade is the actuating component of the ultrasonic scalpel 101, capable of performing surgical procedures including but not limited to drilling, back cutting, trimming, clamping and cutting, or coagulation. During surgical procedures, the blade comes into contact with the patient's tissue. The clamping arms are used to hold the tissue.

[0049] Tissue pads are typically located inside or on the surface of the clamping arms to enhance tissue gripping. Tissue pads provide better contact and fixation of the tissue, thereby improving coagulation and cutting efficiency. Tissue pads may have serrations or other structures to increase friction with the tissue, thus further securing it.

[0050] It should be noted that the ultrasonic scalpel energy output control system 100 is also equipped with a transducer. The transducer converts the received electrical energy into kinetic energy and transmits this kinetic energy to the scalpel head. The vibrating scalpel head contacts the tissue, utilizing mechanical impact to cut the tissue or perform procedures such as coagulation, perforation, back cutting, and trimming. In one embodiment, the ultrasonic scalpel 101 may further include a scalpel handle assembly, which is connected to both the transducer and the scalpel head.

[0051] The motor 102 is used to control the opening and / or closing of the jaws of the ultrasonic scalpel 101.

[0052] It should be noted that there are various ways in which the motor 102 can control the opening and / or closing of the jaws of the ultrasonic scalpel 101, and the specific implementation can be adjusted according to the actual situation. This application embodiment does not impose any restrictions.

[0053] For example, such as Figure 2 As shown, Figure 2 This is a schematic diagram of a structure provided in an embodiment of this application for realizing the opening and / or closing of the jaws of a motor-controlled ultrasonic scalpel. For example... Figure 2As shown, the ultrasonic scalpel energy output control system 100 is also equipped with a drive wire and a guide wheel. The drive wire connects the motor 102, the guide wheel, and the jaws. The motor 102 pulls the drive wire to control the direction of the guide wheel, thereby controlling the opening and / or closing of the jaws of the ultrasonic scalpel 101. For example, when a current is applied to the motor 102, the controller 104 controls the motor 102 to rotate, thereby controlling the jaws to close and / or open, thus achieving clamping.

[0054] The aforementioned measuring unit 103 is used to measure the motor parameters of the motor 102 during the jaw closing process. The motor parameters refer to parameters obtained through real-time measurement of the motor during the jaw closing process, or parameters obtained through analysis based on the measured parameters.

[0055] It should be noted that the above-described jaw closing process indicates that the overall trend of the jaws is a closing trend.

[0056] To put it simply, the overall tendency of the jaws to close can mean that the jaws are continuously closed by motor control. Alternatively, the overall tendency of the jaws to close can also mean that the jaws open and close during the closing process. For example, during the closing process controlled by the motor, the jaws might first open and then continue to close.

[0057] The specific details of the motor parameters and the specific process of jaw closure can be adjusted according to the actual situation, and the embodiments in this application do not impose any restrictions.

[0058] The controller 104 described above is used to determine the target energy output mode of the ultrasonic scalpel 101 based on the motor parameters.

[0059] The target energy output mode is used to indicate the desired energy output mode of the ultrasonic scalpel 101.

[0060] The ultrasonic scalpel 101 is equipped with multiple energy output modes. Specifically, the target energy output mode is determined from these modes based on motor parameters. It should be noted that different energy output modes differ in aspects such as the power output by the ultrasonic scalpel and whether the ultrasonic scalpel is activated.

[0061] For example, the ultrasonic scalpel 101 is equipped with multiple energy output modes, including a limited energy output mode, a normal output mode, and a low energy output mode. The ultrasonic scalpel 101 cannot be activated in the limited energy output mode, but it can be activated in the normal and low energy output modes. However, the energy output by the ultrasonic scalpel 101 differs between the normal and low energy output modes. The normal output mode includes at least a first operating mode and a second operating mode. The energy output by the ultrasonic scalpel in the first operating mode is higher than that in the second operating mode, and the energy output by the ultrasonic scalpel in the low energy output mode is lower than that in the second operating mode.

[0062] The aforementioned ultrasound host 105 is used to control the delivery of target energy output mode matching energy to the ultrasonic scalpel 101.

[0063] The ultrasonic host 105 provides electrical energy to the transducer that matches the target energy output mode, converts the received electrical energy into kinetic energy, and transmits the kinetic energy to the cutter head through the cutter handle assembly, thereby enabling the ultrasonic scalpel 101 to output energy that matches the target energy output mode.

[0064] Therefore, the ultrasonic scalpel energy output control system provided in this application determines the target energy output mode of the ultrasonic scalpel based on the motor parameters measured during the jaw closure process. It also controls the delivery of energy matching the target energy output mode to the ultrasonic scalpel via the ultrasonic host. This allows the ultrasonic scalpel to control its energy output based on the motor parameters measured during jaw closure before activation, preventing unexpected situations during surgery. For example, it avoids situations where the jaws clamp foreign objects (such as hard objects) causing the ultrasonic scalpel to activate and output fixed energy, potentially leading to scalpel tip breakage; or where the ultrasonic scalpel is activated by directly closing the tissue pad, accelerating tissue pad burn-through. This significantly improves the clinical lifespan of the ultrasonic scalpel, ensuring that surgical procedures are not affected by damage to the ultrasonic scalpel, thus improving surgical quality and efficiency.

[0065] In some embodiments, the motor parameters mentioned above include the mechanical parameters of the motor 102 and / or the first electrical parameters of the motor 102.

[0066] Among them, mechanical parameters refer to the relevant parameters of the motor 102 that involve mechanical characteristics, and the first electrical parameter refers to the relevant parameters of the motor 102 that involve electrical characteristics.

[0067] Specifically, the aforementioned mechanical parameters include at least one of the following: the angle of rotation of the motor 102, the speed of rotation of the motor 102, the angular velocity of rotation of the motor 102, and the jaw displacement corresponding to the opening and / or closing of the jaws when the motor 102 rotates.

[0068] The rotation angle of motor 102 refers to the angle rotated by motor 102 per unit time, or the angle rotated by motor 102 during operation, i.e., during the closing of the jaws. The rotation speed of motor 102 refers to the speed at which motor 102 rotates per unit time, or the speed at which motor 102 rotates during operation, i.e., during the closing of the jaws. The angular velocity of motor 102 refers to the rate of change of angle per unit time when motor 102 rotates, usually expressed in radians per second (rad / s). Jaw displacement refers to the distance the drive wire moves during the opening and / or closing of the jaws caused by the rotation of motor 102.

[0069] The rotation angle, speed, angular velocity, and jaw displacement of motor 102 can be interchanged. Specifically, during motor 102 operation, the longer the drive lead is pulled, the tighter the jaws close, resulting in a larger jaw displacement. The jaw displacement corresponds to the number of rotations of motor 102; it can be determined based on the number of rotations, or by using the rotation angle and radius of motor 102. Furthermore, the number of rotations of motor 102 is also related to its rotation angle and speed.

[0070] The aforementioned first electrical parameter includes at least one of the following: voltage, current, voltage change rate, and current change rate of motor 102.

[0071] The voltage change rate is used to indicate the speed and / or extent of voltage change in motor 102, and the current change rate is used to indicate the speed and / or extent of current change in motor 102.

[0072] By measuring the mechanical parameters and / or the first electrical parameters of the motor 102 during the clamping process, the target energy output mode of the ultrasonic scalpel 101 is determined based on the mechanical parameters and / or the first electrical parameters of the motor 102. This allows the target energy output mode of the ultrasonic scalpel to be determined before the ultrasonic scalpel 101 is excited, improving the accuracy of determining the target energy output mode of the ultrasonic scalpel 101. This enables precise control of the energy output of the ultrasonic scalpel, avoiding situations such as blade breakage caused by clamping a hard object while exciting the ultrasonic scalpel with a fixed energy, and tissue pad burn-through caused by directly closing the tissue pad.

[0073] In one embodiment, the aforementioned motor parameters include the mechanical parameters of motor 102. Correspondingly, the target energy output mode of ultrasonic scalpel 101 is determined based on the mechanical parameters of motor 102. For example, the target energy output mode of ultrasonic scalpel 101 can be determined based on the absolute value of the mechanical parameters of motor 102 or based on the rate of change of the mechanical parameters of motor 102. By determining the target energy output mode of ultrasonic scalpel 101 through the mechanical parameters of motor 102, control over the energy output of ultrasonic scalpel is achieved, thereby improving surgical quality and efficiency.

[0074] Let's take the speed of motor 102 as an example to illustrate the concept. When the motor outputs constant power and does not actively adjust its rotational speed, if the speed measured by the measuring unit 103 is lower and the rate of speed change is higher, it means that the object being held in the jaws is harder. If the measured speed is higher and the rate of speed change is lower, it means that the object being held in the jaws is softer.

[0075] Correspondingly, based on the mechanical parameters of the motor 102, the target energy output mode of the ultrasonic scalpel 101 is determined, including: if the speed of the motor 102 decreases from high to low and the speed is lower than a first speed threshold, and / or the rate of change of the speed of the motor 102 is within the first rate of change of speed range, then the target energy output mode is determined to be a limited energy output mode; if the speed of the motor 102 decreases from high to low and the speed is between the first and second speed thresholds, and / or the rate of change of the speed of the motor 102 is within the second rate of change of speed range, then the target energy output mode is determined to be a first operating mode under normal output mode; if the speed of the motor 102 decreases from high to low and the speed is between the second and third speed thresholds, and / or the rate of change of the speed of the motor 102 is within the third rate of change of speed range, then the target energy output mode is determined to be a second operating mode under normal output mode; if the speed of the motor 102 is between the third and fourth speed thresholds, and / or the rate of change of the speed of the motor 102 is within the fourth rate of change of speed range, then the target energy output mode is determined to be a low energy output mode.

[0076] Among them, the first speed threshold, the second speed threshold, the third speed threshold, and the fourth speed threshold increase sequentially, while the maximum value of the first speed change rate range, the maximum value of the second speed change rate range, the maximum value of the third speed change rate range, and the maximum value of the fourth speed change rate range decrease sequentially.

[0077] Since speed can be converted into angular velocity, angle, etc., when the mechanical parameter is the angular velocity or angle of motor 102, the principle is the same as when the mechanical parameter is the speed of motor 102, and will not be explained again.

[0078] The jaw displacement of motor 102, a mechanical parameter, will be used as an example for explanation. Under the condition of constant power output of motor and no active adjustment of rotation speed, if the jaw displacement measured by measuring unit 103 is smaller and the jaw displacement change rate is higher, it means that the clamped object in the jaw is harder. If the measured jaw displacement is larger and the jaw displacement change rate is lower, it means that the clamped object in the jaw is softer.

[0079] Correspondingly, based on the mechanical parameters of the motor 102, the target energy output mode of the ultrasonic scalpel 101 is determined, including: if the jaw displacement change rate is within a first displacement change rate range, and / or, the jaw displacement change rate suddenly increases while remaining relatively stable, and the jaw displacement change rate is within the first displacement change rate range, then the target energy output mode is determined to be a limited energy output mode; if the jaw displacement change rate is within a second displacement change rate range, and / or, the jaw displacement change rate suddenly increases while remaining relatively stable, and the jaw displacement change rate is within the second displacement change rate range, then the target energy output mode is determined to be the first operating mode under normal output mode. If the jaw displacement rate of change is within the range of the third displacement rate of change, and / or, the jaw displacement rate of change suddenly increases while remaining relatively stable, and is within the range of the third displacement rate of change, then the target energy output mode is determined to be the second operating mode under the normal output mode; if the jaw displacement rate of change is within the range of the fourth displacement rate of change, and / or, the jaw displacement rate of change suddenly increases while remaining relatively stable, and is within the range of the fourth displacement rate of change, and / or the jaw displacement is close to or equal to the jaw displacement from the maximum opening to the fully closed position, then the target energy output mode is determined to be the low energy output mode.

[0080] Among them, the maximum value of the first displacement rate range, the maximum value of the second displacement rate range, the maximum value of the third displacement rate range, and the maximum value of the fourth displacement rate range decrease in sequence.

[0081] In one embodiment, the aforementioned motor parameters include first electrical parameters of motor 102. Correspondingly, the target energy output mode of ultrasonic scalpel 101 is determined based on the first electrical parameters of motor 102. For example, the target energy output mode of ultrasonic scalpel 101 can be determined based on the absolute value of the first electrical parameters of motor 102 or based on the rate of change of the first electrical parameters of motor 102. By determining the target energy output mode of ultrasonic scalpel 101 through the first electrical parameters of motor 102, control over the energy output of ultrasonic scalpel is achieved, thereby improving surgical quality and efficiency.

[0082] Taking the first electrical parameter as current as an example, when the motor outputs constant power and does not actively adjust the rotation speed, if the current measured by the measuring unit 103 is larger and the current change rate is higher, it means that the object being held in the jaws is harder. If the measured current is smaller and the current change rate is lower, it means that the object being held in the jaws is softer.

[0083] Correspondingly, based on the first electrical parameters of the motor 102, the target energy output mode of the ultrasonic scalpel 101 is determined, including: if the current of the motor 102 increases from a stable state and is higher than a first current threshold within a first preset time, and / or the rate of change of the current of the motor 102 is within the first current rate of change range, then the target energy output mode is determined to be a limited energy output mode; if the current of the motor 102 increases from a stable state and is higher than a second current threshold within a first preset time, and / or the rate of change of the current of the motor 102 is within the second current rate of change range, then the target energy output mode is determined to be a first operating mode under normal output mode; if the current of the motor 102 increases from a stable state and is higher than a third current threshold within a first preset time, and / or the rate of change of the current of the motor 102 is within the third current rate of change range, then the target energy output mode is determined to be a second operating mode under normal output mode; if the current of the motor 102 increases from a stable state and is higher than a fourth current threshold within a first preset time, and / or the rate of change of the current of the motor 102 is within the fourth current rate of change range, then the target energy output mode is determined to be a low energy output mode.

[0084] Among them, the first current threshold, the second current threshold, the third current threshold, and the fourth current threshold decrease in sequence, and the maximum value of the first current change rate range, the maximum value of the second current change rate range, the maximum value of the third current change rate range, and the maximum value of the fourth current change rate range decrease in sequence.

[0085] Since there is a corresponding relationship between the current and voltage of motor 102, the target energy output mode of ultrasonic scalpel 101 can be determined based on the voltage of motor 102. This can be done by considering the corresponding relationship between current and voltage, as well as by determining the target energy output mode of ultrasonic scalpel 101 based on the current of motor 102 mentioned above.

[0086] In some embodiments, the motor parameters mentioned above include the mechanical parameters of the motor 102 and the first electrical parameters of the motor 102. The relevant descriptions of the mechanical parameters and the first electrical parameters can be found in the above embodiments and will not be repeated here.

[0087] Based on this, the steps for determining the target energy output mode of the ultrasonic scalpel based on motor parameters include: determining the target energy output mode of the ultrasonic scalpel based on the correlation between the first electrical parameter and the mechanical parameter. The correlation indicates the relationship determined based on the first electrical parameter and the mechanical parameter at the same time. Determining the target energy output mode of the ultrasonic scalpel simultaneously based on both the first electrical parameter and the mechanical parameter—that is, using parameters from two different aspects simultaneously—improves the accuracy of determining the target energy output mode.

[0088] By measuring the mechanical parameters and primary electrical parameters of the motor, and based on the correlation between these parameters, the target energy output mode of the ultrasonic scalpel can be determined, thereby improving the accuracy of determining the target energy output mode of the ultrasonic scalpel.

[0089] There are multiple opportunities to determine the correlation between the first electrical parameter and the mechanical parameter, and this application does not impose any limitations on the implementation. For example, during the jaw closing process, when the first electrical parameter in the motor parameters reaches the corresponding preset electrical parameter threshold, the correlation between the first electrical parameter and the mechanical parameter at the same time is determined. Alternatively, the correlation between the first electrical parameter and the mechanical parameter at the same time can be determined starting when the jaws close.

[0090] Based on this, the controller 104 is further configured to, during the clamping process, when the first electrical parameter in the motor parameters reaches the corresponding preset electrical parameter threshold, acquire the first electrical parameter and the mechanical parameter, and determine the correlation between the first electrical parameter and the mechanical parameter. Each acquired first electrical parameter and each acquired mechanical parameter are acquired at the same time point; this is used as an example in this embodiment. Alternatively, they may not be acquired at a specific time point, but the time interval between the acquired time points is small and the influence of this time interval can be ignored.

[0091] The preset electrical parameter threshold refers to the threshold value of the electrical parameter that can distinguish the different correlations between the first electrical parameter and the mechanical parameter. It is easy to understand that when the first electrical parameter in the motor parameters does not reach the corresponding preset electrical parameter threshold, the correlation between the first electrical parameter and the mechanical parameter at this time cannot distinguish different energy output modes. When the first electrical parameter in the motor parameters reaches the corresponding preset electrical parameter threshold, the correlation between the first electrical parameter and the mechanical parameter at this time can distinguish different energy output modes.

[0092] Alternatively, it can be understood that when the first electrical parameter of the motor is small, the obtained first electrical parameter cannot be used for accurate analysis, or even if it can be used for analysis, it is not very meaningful. For example, at the beginning of the clamping phase, the jaws do not touch the object being clamped, so the first electrical parameter at this time has no substantial meaning, and even if it is used for analysis, no substantial results can be obtained.

[0093] By acquiring the first electrical parameter and mechanical parameter during the jaw closing process when the first electrical parameter in the motor parameters reaches the corresponding preset electrical parameter threshold, the amount of data processed by the controller 104 can be reduced, improving processing efficiency. At the same time, it can also reduce the impact of the first electrical and mechanical data before reaching the preset electrical parameter threshold on subsequent data analysis. Based on the acquired first electrical and mechanical parameters, the correlation between the first electrical parameter and mechanical parameter can be determined. Based on the correlation, the target energy output mode can be determined from multiple energy output modes, improving the accuracy of determining the target energy output mode of the ultrasonic scalpel 101.

[0094] In some embodiments, the first electrical parameter includes the motor current, and the mechanical parameter includes the jaw displacement; based on this, the relationship between the first electrical parameter and the mechanical parameter includes: during the jaw closing process, a current-displacement curve is formed based on the mapping relationship between current and jaw displacement in the time dimension.

[0095] The current-displacement curve refers to the curve constructed on a coordinate system with current as one coordinate axis and jaw displacement as another coordinate axis, based on the current and jaw displacement measured at the same time in the motor parameters.

[0096] Please see Figure 3 , Figure 3 This is a schematic diagram of a current-displacement curve provided in an embodiment of this application, wherein curves A-D represent a correlation between a first electrical parameter and a mechanical parameter, respectively.

[0097] Based on this, the steps for determining the target energy output mode of the ultrasonic scalpel based on the correlation between the first electrical parameter and the mechanical parameter include: determining the target energy output mode of the ultrasonic scalpel based on the characteristics of the current-displacement curve.

[0098] The characteristics of the current-displacement curve include the slope and / or the rate of change of the slope, which can be determined according to the actual situation. This application does not impose any restrictions on the embodiments.

[0099] Please see Figure 3For example, for curve A, if the average slope of curve A is greater than the first preset average, or the rate of change of the slope of curve A is within the first preset range, it means that the identification result of the clamped object in the jaw is that the type of the clamped object is a hard object, and the target energy output mode is determined to be the limited energy output mode. That is, in this case, the ultrasonic scalpel 101 cannot be excited, so as to avoid damage to the scalpel head and affect the efficiency of the operation.

[0100] For curve B, if the mean slope of curve B is greater than the second preset mean, or the rate of change of the slope of curve B is within the second preset range, it means that the identification result of the clamped object in the jaw is that the clamped object is the first type of target tissue, such as a tougher tissue, and the target energy output mode is determined to be the first operating mode under the normal output mode, that is, under this condition, the ultrasonic scalpel 101 is controlled to output with higher energy.

[0101] For curve C, if the average slope of curve C is greater than the third preset average, or the rate of change of the slope of curve C is within the third preset range, it means that the identification result of the clamped object in the jaw is that the clamped object is the second type of target tissue, such as softer tissue. The target energy output mode is determined to be the second operating mode under the normal output mode, that is, under this case, the ultrasonic scalpel is controlled to output with lower energy.

[0102] For curve D, if the average slope of curve D is not greater than the third preset average, or the rate of change of the slope of curve D is within the fourth preset range, it means that the identification result of the clamping object in the jaws is that there is no clamping object, and the target energy output mode is determined to be the low energy output mode, that is, in this case, the minimum energy is output to avoid the tissue pad being burned through. This case is used as an example in the embodiments of this application. In other embodiments, when it is determined that there is no clamping object in the jaws, the target energy output mode can also be determined to be the limited energy output mode, that is, in this case, the ultrasonic scalpel cannot be activated to avoid the tissue pad being damaged.

[0103] Wherein, the thickness of the first type of target tissue is greater than the thickness of the second type of target tissue, and the slopes of curves A, B, C, and D decrease sequentially when the current is the same; the first preset mean, the second preset mean, and the third preset mean decrease sequentially; and the maximum value in the first preset range, the maximum value in the second preset range, the maximum value in the third preset range, and the maximum value in the fourth preset range decrease sequentially.

[0104] By identifying the current-displacement curve formed by the mapping relationship between current and jaw displacement in the time dimension during the jaw closure process, and the target energy output mode of the ultrasonic scalpel determined based on the characteristics of the current-displacement curve, the accuracy of determining the target energy output mode of the ultrasonic scalpel is improved.

[0105] In some embodiments, the process of determining the target energy output mode of the ultrasonic scalpel based on motor parameters may include: determining the target identification result of identifying the clamping object in the jaws based on the motor parameters, wherein the target identification result includes whether there is a clamping object in the jaws, and the type of clamping object when there is a clamping object in the jaws; and determining the target energy output mode of the ultrasonic scalpel based on the target identification result.

[0106] The motor parameters include the aforementioned mechanical parameters and / or the first electrical parameters. The type of object to be held includes, but is not limited to, hard objects (such as metals) and different tissue types.

[0107] It should be noted that the mechanical parameters may include mechanical data obtained through real-time measurement, or mechanical change data determined based on the measured mechanical parameters. The first electrical parameter may include first electrical data obtained through real-time measurement, or electrical change data determined based on the measured first electrical parameter.

[0108] The method for determining the target identification result of the clamped object of the jaws based on motor parameters may include: determining the target identification result of the clamped object of the jaws based on mechanical data and / or mechanical change data; or, determining the target identification result of the clamped object of the jaws based on first electrical data and / or first electrical change data; or, determining one identification result of the clamped object of the jaws based on mechanical data and / or mechanical change data, determining another identification result of the clamped object of the jaws based on first electrical data and / or first electrical change data, and determining the target identification result of the clamped object of the jaws based on the two determined identification results.

[0109] By using motor parameters, the target recognition result for identifying the object being held by the jaws is determined, and the target energy output mode of the ultrasonic scalpel is determined based on the target recognition result, so as to make the energy output control of the ultrasonic scalpel more precise and thus improve the quality of surgery.

[0110] In one embodiment, if the motor parameters include mechanical parameters, taking the speed of motor 102 as an example, the process of determining the target identification result for recognizing the object held by the jaws based on the motor parameters, and determining the target energy output mode of the ultrasonic scalpel based on the target identification result, includes:

[0111] If the speed of motor 102 changes from high to low and the speed is lower than the first speed threshold, and / or the speed change rate of motor 102 is within the first speed change rate range, then the target identification result of the clamped object is determined to be a hard object, and the target energy output mode of ultrasonic scalpel 101 is determined to be the limited energy output mode. In this way, the ultrasonic scalpel cannot be activated, avoiding damage to the scalpel head by hard objects and affecting surgical efficiency.

[0112] If the speed of motor 102 changes from high to low and the speed is between the first speed threshold and the second speed threshold, and / or the speed change rate of motor 102 is within the range of the second speed change rate, then the target identification result of the clamped object of the jaws is determined to be the first type of target tissue, which is a relatively tough tissue. The target energy output mode of ultrasonic scalpel 101 is determined to be the first operating mode under normal output mode, so as to control ultrasonic scalpel 101 to output higher energy to process the relatively tough tissue.

[0113] If the speed of motor 102 changes from high to low and the speed is between the second speed threshold and the third speed threshold, and / or the speed change rate of motor 102 is within the range of the third speed change rate, then the target identification result of the clamped object is determined to be the second type of target tissue, which is a relatively soft tissue. The target energy output mode of ultrasonic scalpel 101 is determined to be the second operating mode under normal output mode, so as to control ultrasonic scalpel 101 to output at a lower energy to process the relatively soft tissue.

[0114] If the speed of motor 102 is between the third speed threshold and the fourth speed threshold, and / or the speed change rate of motor 102 is within the range of the fourth speed change rate, then the target identification result of the clamping jaws is determined to be no clamping object, and the target energy output mode of ultrasonic scalpel 101 is determined to be low energy output mode, so as to control ultrasonic scalpel 101 to output with lower energy to avoid tissue pad being burned through.

[0115] In one embodiment, if the motor parameters include mechanical parameters, taking jaw displacement as an example, the process of determining the target identification result for recognizing the object held by the jaws based on the motor parameters, and determining the target energy output mode of the ultrasonic scalpel based on the target identification result, includes:

[0116] If the jaw displacement change rate is within the first displacement change rate range, and / or the jaw displacement change rate suddenly increases under relatively stable conditions, and the jaw displacement change rate is within the first displacement change rate range, then the target identification result of the clamped object is determined to be a hard object, and the target energy output mode of the ultrasonic scalpel 101 is determined to be the limited energy output mode. In this way, the ultrasonic scalpel cannot be activated, avoiding damage to the scalpel head by hard objects and affecting surgical efficiency.

[0117] If the jaw displacement change rate is within the second displacement change rate range, and / or the jaw displacement change rate suddenly increases under relatively stable conditions, and the jaw displacement change rate is within the second displacement change rate range, then the target identification result of the clamped object is determined to be the first type of target tissue, which is a relatively tough tissue. The target energy output mode of the ultrasonic scalpel 101 is determined to be the first operating mode under the normal output mode, so as to control the ultrasonic scalpel 101 to output higher energy to process the relatively tough tissue.

[0118] If the jaw displacement change rate is within the range of the third displacement change rate, and / or, the jaw displacement change rate suddenly increases under relatively stable conditions, and the jaw displacement change rate is within the range of the third displacement change rate, and the target identification result of the clamped object is determined to be the second type of target tissue, which is a relatively soft tissue, then the target energy output mode of the ultrasonic scalpel 101 is determined to be the second operating mode under the normal output mode, so as to control the ultrasonic scalpel 101 to output at a lower energy to process the relatively soft tissue;

[0119] If the jaw displacement change rate is within the range of the fourth displacement change rate, and / or, the jaw displacement change rate suddenly increases under relatively stable conditions, and the jaw displacement change rate is within the range of the fourth displacement change rate, and / or the jaw displacement is close to or equal to the jaw displacement from the maximum opening to the complete closing, then the target identification result of the jaw clamping object is determined to be no clamping object, and the target energy output mode of the ultrasonic scalpel 101 is determined to be the low energy output mode, so as to control the ultrasonic scalpel 101 to output with lower energy and avoid the tissue pad being burned through.

[0120] In one embodiment, if the motor parameters include the first electrical parameters of the motor 102, taking the first electrical parameters including the current of the motor 102 as an example, the process of determining the target identification result for recognizing the clamped object of the jaws based on the motor parameters, and determining the target energy output mode of the ultrasonic scalpel based on the target identification result, includes:

[0121] If the current of motor 102 changes from steady to high and the current is higher than the first current threshold within a first preset time, and / or the rate of change of current of motor 102 is within the first rate of change of current, then the target identification result of the clamped object is determined to be a hard object, and the target energy output mode of ultrasonic scalpel 101 is determined to be the limited energy output mode. In this way, ultrasonic scalpel 101 cannot be excited, thus avoiding damage to the blade head by hard objects and affecting surgical efficiency.

[0122] If the current of motor 102 increases from steady to high and the current is higher than the second current threshold within a first preset time, and / or the rate of change of current of motor 102 is within the range of the second rate of change of current, then the target identification result of the clamped object of the jaws is determined to be the first type of target tissue, and the target energy output mode of ultrasonic scalpel 101 is determined to be the first operating mode under normal output mode, so as to control ultrasonic scalpel 101 to output higher energy to process more tough tissue.

[0123] If the current of motor 102 increases from steady to high, and the current is higher than the third current threshold within a first preset time, and / or the rate of change of current of motor 102 is within the range of the third rate of change of current, then the target identification result of the clamped object is determined to be the second type of target tissue, and the target energy output mode of ultrasonic scalpel 101 is determined to be the second operating mode under normal output mode, so as to control ultrasonic scalpel 101 to output at a lower energy to process softer tissue.

[0124] If the current of motor 102 increases from steady to high and the current is higher than the fourth current threshold within a first preset time, and / or the rate of change of current of motor 102 is within the range of the fourth rate of change of current, then the target energy output mode is determined to be the low energy output mode, so as to control the ultrasonic scalpel 101 to output with lower energy and avoid the tissue pad being burned through.

[0125] In some embodiments, the process of determining the target identification result of the clamped object of the jaws based on motor parameters includes: determining a first identification result of the clamped object of the jaws based on the mechanical parameters in the motor parameters; determining a second identification result of the clamped object of the jaws based on the first electrical parameters in the motor parameters; determining the target identification result of the clamped object of the jaws based on the first identification result and the second identification result; or, determining the target identification result of the clamped object of the jaws based on the characteristics of the first electrical parameter-mechanical parameter curve determined by the first electrical parameter and the mechanical parameters in the motor parameters.

[0126] The first identification result indicates the identification result of the clamped object of the jaws based solely on the first electrical parameters, the second identification result indicates the identification result of the clamped object of the jaws based solely on the mechanical parameters, and the target identification result indicates the identification result of the clamped object of the jaws determined by combining the first electrical parameters and the mechanical parameters.

[0127] It should be noted that both the first electrical parameter and the mechanical parameter can independently determine the identification result of the clamped object in the jaws, and the accuracy of the identification result obtained based on the first electrical parameter is higher than that obtained based on the mechanical parameter. However, when there is a clamped object in the jaws, and the clamped object is tissue-type, and the ultrasonic scalpel is in an excited state, it will gradually harden as the ultrasonic scalpel operates on the target tissue. In this case, if the identification result of the clamped object in the jaws is determined solely based on the measured first electrical parameter, there is a possibility of misjudgment. For example, the clamped object in the jaws may be misjudged as a hard object instead of a tissue-type object, which may interfere with the energy output mode delivered by the ultrasonic host to the ultrasonic scalpel, causing surgical interruption or other adverse experiences.

[0128] Therefore, it is necessary to combine mechanical parameters with the first electrical parameter to determine the identification result of the clamped object in the jaws. When there is a clamped object in the jaws, and the clamped object is tissue-type, and the ultrasonic scalpel is in an excited state, it will gradually harden as the ultrasonic scalpel operates on the target tissue. In this case, combining mechanical parameters with the first electrical parameter to determine the identification result of the clamped object in the jaws avoids misjudgment of the clamped object and thus improves the surgical experience.

[0129] The first electrical parameter-mechanical parameter curve can be determined based on the specific contents of the first electrical parameter and the mechanical parameter. For example, if the first electrical parameter includes the motor current and the mechanical parameter includes the jaw displacement, then the first electrical parameter-mechanical parameter curve indicates the current-displacement curve.

[0130] The characteristics of the first electrical parameter-mechanical parameter curve can be adjusted according to actual conditions, and the embodiments of this application are not limited thereto. For example, the characteristics of the first electrical parameter-mechanical parameter curve include the slope of the curve and / or the rate of change of the slope of the curve.

[0131] Please see Figure 3 Curves A through D represent different first electrical parameter-mechanical parameter curves, and the slopes and / or rates of change of the slopes in curves A through D are not the same. Each first electrical parameter-mechanical parameter curve corresponds to an identification result.

[0132] By utilizing the characteristics of the first electrical parameter-mechanical parameter curve determined based on the first electrical parameter and mechanical parameter in the motor parameters, the target identification result of the clamped object of the jaws is determined, so as to quickly and accurately determine the target identification result, so as to accurately determine the target energy output mode of the ultrasonic scalpel by combining the target identification result.

[0133] In some embodiments, the process of determining the target identification result of the clamped object of the jaws based on the first identification result and the second identification result may include: if the first identification result and the second identification result match, then the first identification result or the second identification result is taken as the target identification result of the clamped object of the jaws; if the first identification result and the second identification result do not match, then the target identification result is determined to be an abnormal identification result.

[0134] Specifically, a match between the first and second identification results can mean that the content indicated by the first and second identification results is completely identical, or that the content indicated by the first and second identification results is partially identical. In this case, the inconsistency should be considered a misjudgment. Conversely, a mismatch between the first and second identification results can mean that the content indicated by the first and second identification results is completely different, or that the content indicated by the first and second identification results is partially identical. In this case, the inconsistency is not considered a misjudgment.

[0135] By determining whether the first and second identification results match, and based on whether they match, the target identification result is determined. Two different identification results are obtained through two different methods, and the two different identification results are compared to quickly and accurately determine the target identification result. This allows for the subsequent combination of the target identification result to accurately determine the target energy output mode of the ultrasonic scalpel.

[0136] In some embodiments, the process of determining the target energy output mode of the ultrasonic scalpel based on the target recognition result may include: if the target recognition result indicates that the type of object held in the jaws is a hard object, determining the target energy output mode of the ultrasonic scalpel as a limited energy output mode, wherein the ultrasonic scalpel cannot be activated in the limited energy output mode; if the target recognition result indicates that the type of object held in the jaws is tissue, determining the target energy output mode of the ultrasonic scalpel as a normal output mode; if the target recognition result indicates that there is no object held in the jaws, determining the target energy output mode of the ultrasonic scalpel as a low energy output mode, wherein the energy output by the ultrasonic scalpel in the low energy output mode is lower than the energy output by the ultrasonic scalpel in the normal output mode; if the target recognition result indicates an abnormal recognition result, determining the target energy output mode of the ultrasonic scalpel as a low energy output mode or a limited energy output mode.

[0137] The type of material held in the jaws is tissue, which can be further subdivided. The specific tissue type can be adjusted according to the actual situation.

[0138] Because different organization types exist, different normal output modes can be set for different organization types.

[0139] For example, the tissue type may include a first type and a second type, and the normal output mode may include a first operating mode and a second operating mode. The first type of tissue indicates a tissue with a thickness greater than a predetermined thickness and / or a toughness greater than a predetermined toughness. The first operating mode indicates an energy output mode adapted to the first type of tissue.

[0140] The second type of tissue indicates a tissue with a thickness not exceeding a predetermined thickness and / or a toughness not exceeding a predetermined toughness. The second operating mode indicates the energy output mode adapted to the second type of tissue.

[0141] The predetermined thickness and predetermined toughness can be set according to the specific content and location of the tissue, and this application embodiment does not impose any restrictions.

[0142] Based on this, if the target identification result indicates that the type of object held in the jaws is tissue, determining the target energy output mode of the ultrasonic scalpel as the normal output mode may include: when the target identification result indicates that the type of object held in the jaws is a first type of tissue, determining the target energy output mode of the ultrasonic scalpel as the first operating mode in the normal output mode; if the target identification result indicates that the type of object held in the jaws is a second type of tissue, determining the target energy output mode of the ultrasonic scalpel as the second operating mode in the normal output mode; wherein, the energy output by the ultrasonic scalpel in the first operating mode is higher than the energy output by the ultrasonic scalpel in the second operating mode.

[0143] By analyzing the specific content of the target identification results, the target energy output mode of the ultrasonic scalpel is determined, so that the ultrasonic host can control the delivery of energy matching the target energy output mode to the ultrasonic scalpel, thereby improving the quality of surgery.

[0144] In some embodiments, the controller 104 is further configured to control the operation of the motor 102 based on the target identification result; wherein: if the target identification result indicates that the type of object being clamped in the jaws is a hard object, the controller stops the motor and / or controls the output of an alarm message; if the target identification result indicates that the type of object being clamped in the jaws is tissue, the controller continues to operate; if the target identification result indicates that there is no object being clamped in the jaws, or if the target identification result indicates an abnormal identification result, the controller stops the motor.

[0145] By combining the target recognition results with the motor operation, the ultrasonic host can control the delivery of energy to the ultrasonic scalpel that matches the target energy output mode, thereby improving the quality of surgery.

[0146] In the above embodiments, the target energy output mode of the ultrasonic scalpel 101 is determined based on the motor parameters. This is performed when the ultrasonic scalpel 101 is not activated. In this way, the target energy output mode of the ultrasonic scalpel 101 can be predicted or determined based on the motor parameters before the ultrasonic scalpel 101 is activated. This allows for different energy outputs or alarm prompts to be given for different surgical scenarios, thereby significantly improving the service life of the ultrasonic scalpel 101 in clinical practice and improving surgical quality and efficiency.

[0147] In some embodiments, if the target energy output mode of the ultrasonic scalpel is determined to be the normal output mode, when the ultrasonic scalpel 101 is activated and the ultrasonic scalpel 101 is running in the normal output mode, the measuring unit 103 is also used to measure a second electrical parameter in the electrical circuit formed between the ultrasonic scalpel 101 and the target tissue being held; the second electrical parameter includes at least one of the following: admittance circle parameter, voltage and current, impedance, power, phase, active power, frequency, and energy in the electrical circuit.

[0148] During the procedure, the ultrasound unit 105 supplies electrical energy to the transducer. This energy is processed by an amplifier and / or transformer before being output and applied to the target tissue via a cable. Typically, the transducer, amplifier and / or transformer, cable, and target tissue can be represented as an equivalent circuit including resistance and / or capacitance. When the transducer outputs energy and applies it to the target tissue, an electrical circuit is formed between the ultrasonic scalpel 101 and the target tissue. The measurement unit 103 also measures a second electrical parameter within this electrical circuit formed by the ultrasonic scalpel 101 and the held target tissue.

[0149] The measuring unit 103 actively or passively sends the measured second electrical parameter to the ultrasonic host 105, or the ultrasonic host 105 actively or passively acquires the second electrical parameter measured by the measuring unit 103.

[0150] The ultrasound host 105 is also used to control the energy delivered to the ultrasonic scalpel according to a second electrical parameter.

[0151] The energy delivered to the ultrasonic scalpel 101 is controlled according to the second electrical parameter, which includes controlling the energy delivered to the ultrasonic scalpel 101 to be maintained, or controlling the energy delivered to the ultrasonic scalpel 101 to be reduced, or controlling the energy delivered to the ultrasonic scalpel 101 to be increased.

[0152] For example, the state of the tissue inside the jaws is identified based on the admittance circle parameters, voltage and current, impedance, power, phase, active power, frequency, energy, and other parameters in the electrical circuit formed between the ultrasonic scalpel 101 and the target tissue being clamped. When the tissue inside the jaws is identified as thicker and tougher, the ultrasonic scalpel is set to a high-energy output state and can output ultrasonic energy at a higher power. Otherwise, it continues to output ultrasonic energy at a preset power.

[0153] The characteristics of admittance circle parameters, voltage and current, impedance, power, phase, active power, frequency, and energy in the electrical circuit for identifying the tissue state within the jaws can be found in the specific solutions in related technologies, which will not be described in detail here.

[0154] By measuring the second electrical parameter in the electrical circuit formed between the ultrasonic scalpel and the target tissue in real time, and controlling the energy delivered to the ultrasonic scalpel based on the second electrical parameter, the energy of the ultrasonic scalpel can be controlled according to the tissue state of the clamped material while the ultrasonic scalpel is in the excited state. This avoids the ultrasonic scalpel's energy output failing to adapt to changes in the tissue state of the clamped material, which could negatively impact the surgical experience and thus improve surgical quality. Essentially, after determining the target energy output mode of the ultrasonic scalpel based on motor parameters, after normal ultrasonic scalpel activation, the tissue state within the clamps is re-identified based on the second electrical parameter obtained from the ultrasonic host. The tissue type is then determined by combining the motor identification result with the identification result obtained from the ultrasonic host, allowing the ultrasonic scalpel to ultimately output the desired energy level.

[0155] In some embodiments, the ultrasound host 105 is further configured to determine the target tissue type of the target tissue based on the second electrical parameters, and to control the energy delivered to the ultrasound scalpel based on the target tissue type.

[0156] The target tissue type indicates the tissue state of the material held by the jaws. The tissue state of the material held by the jaws can refer to the change in tissue state from type one to type two after ultrasonic scalpel treatment; or it can refer to the tissue type identified by a second electrical parameter.

[0157] Specifically, based on the second electrical parameter in the electrical circuit formed between the ultrasonic scalpel and the target tissue being clamped, the tissue state of the clamped object is further identified, and the energy delivered to the ultrasonic scalpel is controlled according to the identification result.

[0158] By determining the target tissue type based on the second electrical parameter and controlling the energy delivered to the ultrasonic scalpel according to the target tissue type, the energy of the ultrasonic scalpel can be controlled according to the tissue state of the clamped object while the ultrasonic scalpel is in the excited state. This avoids the situation where the energy output of the ultrasonic scalpel is not adaptively adjusted as the tissue state of the clamped object changes, which would affect the surgical experience and thus improve the quality of surgery.

[0159] In some embodiments, when the ultrasonic scalpel is in an excited state, the process of determining the target energy output mode of the ultrasonic scalpel based on motor parameters may further include: based on the measured new motor parameters, continuing to identify the clamped object in the jaws, determining whether the current energy output mode of the ultrasonic scalpel matches the clamped object, and obtaining a matching result; and determining the target energy output mode of the ultrasonic scalpel based on the matching result.

[0160] The process of determining the target energy output mode of the ultrasonic scalpel based on the matching results includes: if the matching results indicate that the current energy output mode of the ultrasonic scalpel does not match the clamping object, then the current energy output mode of the ultrasonic scalpel is stopped, and the target energy output mode of the ultrasonic scalpel is switched to the energy output mode that matches the clamping object; if the matching results indicate that the current energy output mode of the ultrasonic scalpel matches the clamping object, then the current energy output mode of the ultrasonic scalpel is maintained.

[0161] Based on this, the controller 104 is also used to determine the operation of the motor according to the matching result; wherein: if the matching result indicates that the current energy output mode of the ultrasonic scalpel does not match the clamping object, the controller stops the motor from running and / or outputs an alarm message. If the matching result indicates that the current energy output mode of the ultrasonic scalpel matches the clamping object, the controller continues to run the motor.

[0162] Those skilled in the art will understand that Figure 1 The ultrasonic scalpel energy output control system 100 shown does not constitute a limitation on the ultrasonic scalpel energy output control system 100, and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0163] Based on the above ultrasonic scalpel energy output control system, please refer to Figure 4 , Figure 4 This is a flowchart illustrating an embodiment of an ultrasonic scalpel energy output control method provided in this application. This ultrasonic scalpel energy output control method is applied to an ultrasonic scalpel energy output control system and may include the following steps S201 to S203:

[0164] S201. During the closing process of the ultrasonic scalpel jaws, measure the motor parameters of the motor that controls the closing of the ultrasonic scalpel jaws.

[0165] For details regarding the ultrasonic scalpel, jaws, motor parameters, etc., please refer to the corresponding descriptions in the ultrasonic scalpel energy output control system section above; they will not be repeated here.

[0166] For example, the motor parameters include the motor's mechanical parameters and / or the motor's first electrical parameters; the mechanical parameters include at least one of the motor's rotation angle, motor's rotation speed, motor's rotation angular velocity, and the jaw displacement corresponding to the opening and / or closing of the jaws when the motor rotates; the first electrical parameters include at least one of the motor's voltage, current, voltage change rate, and current change rate.

[0167] S202. Based on the motor parameters, determine the target energy output mode of the ultrasonic scalpel.

[0168] The method for determining the target energy output mode of the ultrasonic scalpel based on motor parameters, the relevant descriptions of the target energy output mode and the energy output mode of the ultrasonic scalpel, etc. can be found in the corresponding descriptions in the ultrasonic scalpel energy output control system above, and will not be repeated here.

[0169] For example, the target energy output mode of the ultrasonic scalpel is determined based on the correlation between the first electrical parameter and the mechanical parameter. Alternatively, the target identification result for identifying the object being held in the jaws is determined based on the motor parameters, wherein the target identification result includes whether there is an object being held in the jaws, and if so, the type of object being held; the target energy output mode of the ultrasonic scalpel is determined based on the target identification result.

[0170] S203, Control the ultrasonic host to deliver target energy output mode matching energy to the ultrasonic scalpel.

[0171] For details regarding the ultrasonic host and other related components, please refer to the corresponding description in the ultrasonic scalpel energy output control system section above; these details will not be repeated here.

[0172] Therefore, the ultrasonic scalpel energy output control method provided in this application measure the motor parameters of the motor controlling the jaw closure of the ultrasonic scalpel during the jaw closure process; determines the target energy output mode of the ultrasonic scalpel based on the motor parameters; and controls the ultrasonic host to deliver energy matching the target energy output mode to the ultrasonic scalpel. Based on this, by configuring multiple energy output modes for the ultrasonic scalpel, determining the target energy output mode of the ultrasonic scalpel based on the motor parameters measured during the jaw closure process, and controlling the delivery of energy matching the target energy output mode to the ultrasonic scalpel through the ultrasonic host, the energy output of the ultrasonic scalpel can be adapted to various situations, thereby improving surgical quality.

[0173] In some embodiments, the above-described ultrasonic scalpel energy output control method may further include: if the target energy output mode of the ultrasonic scalpel is determined to be the normal output mode, measuring in real time a second electrical parameter in the electrical circuit formed between the ultrasonic scalpel and the target tissue being held; the second electrical parameter includes at least one of the admittance circle parameter, voltage and current, impedance, power, active power, and frequency in the electrical circuit; and controlling the energy delivered to the ultrasonic scalpel by the ultrasonic host based on the second electrical parameter.

[0174] Specifically, in combination Figure 5 and Figure 6 The following is a specific embodiment to explain the ultrasonic scalpel energy output control method. Figure 5 As shown, the entire process of the ultrasonic scalpel energy output control method includes:

[0175] (1) The main hand end outputs a clamp closing signal.

[0176] Specifically, such as Figure 6 As shown, after determining the current energy output mode of the ultrasonic scalpel, a jaw closure signal is output through the main hand end.

[0177] (2) Measure the current of the motor and determine the jaw displacement based on the mechanical parameters of the motor.

[0178] Specifically, such as Figure 6 As shown, by monitoring the motor current signal in real time, when the motor current is greater than or equal to the set maximum threshold (i.e., ... Figure 6 When the predetermined current threshold is shown, record the current position of the jaws.

[0179] (3) Calculate the slope characteristics of the current-displacement curve composed of motor current and jaw displacement, and judge the identification result of the clamped object based on the slope characteristics.

[0180] Specifically, by calculating the slope characteristics of the current-displacement curve composed of motor current and jaw displacement, the presence of a clamping object in the jaw is determined based on different slope characteristics, and if a clamping object is present in the jaw, the type of the clamping object is determined.

[0181] When the clamping object is detected to be a hard object such as metal, the control output alarm message is sent and the motor stops. At this time, the ultrasonic scalpel is in a state of limited energy output. Under the condition of limited energy output, the ultrasonic scalpel cannot be activated.

[0182] When the jaws detect no object being held, i.e. no tissue is detected inside the jaws, the motor stops and no alarm is triggered. At this time, the ultrasonic scalpel is in a low-energy output state and can output ultrasonic energy at a lower power.

[0183] When the jaws detect a thicker, tougher tissue, the motor continues to run, using current to determine the clamping force required to achieve the desired clamping force without triggering an alarm.

[0184] In some embodiments, it is also necessary to determine whether the duration for which the identification result of the clamped object is the same is greater than a preset duration. If the duration for which the identification result of the clamped object is the same is not greater than the preset duration, it is necessary to continue detecting the current, recording the current position of the clamp, and calculating the slope characteristics of the current-displacement curve composed of the motor current and the clamp displacement, thereby determining the identification result of the clamped object. If the duration for which the identification result of the clamped object is the same is greater than the preset duration, the process of determining whether the tissue category matches the energy output mode is initiated.

[0185] For details, please refer to Figure 6 ,by Figure 6 For example, the preset duration can be set to 100 milliseconds.

[0186] (4) If the identification result is that there is a clamp and the clamp is a tissue type, the tissue type is determined a second time, and the energy output mode is controlled based on the tissue type.

[0187] Specifically, when the jaws detect thicker, tougher tissue, the motor continues to run, using current to ensure the jaws reach the expected clamping force without triggering an alarm. At this point, ultrasonic energy is output at a preset power. Based on the admittance circle parameters, voltage, impedance, power, and frequency characteristics within the electrical circuit formed between the ultrasonic scalpel and the clamped target tissue, the condition of the tissue within the jaws is identified. When the tissue is detected to be thicker, tougher, the ultrasonic scalpel is set to a high-energy output state, allowing for higher power ultrasonic energy output; otherwise, ultrasonic energy output continues at the preset power.

[0188] Please see Figure 1 , Figure 1 This is a schematic diagram of the architecture of an ultrasonic scalpel energy output control system provided in an embodiment of this application.

[0189] like Figure 1 As shown in the figure, this application embodiment also provides an ultrasonic scalpel energy output control system 100, including an ultrasonic scalpel 101, a motor 102, a measurement unit 103, a controller 104, and an ultrasonic host 105.

[0190] Motor 102 is used to control the closing of the jaws of ultrasonic scalpel 101.

[0191] The measuring unit 103 is used to measure the motor parameters of the motor 102 during the clamping process.

[0192] The controller 104 is used to identify the type of object being held in the jaws based on motor parameters, determine whether the current energy output mode of the ultrasonic scalpel 101 matches the type of object being held, obtain a matching result, and determine the target energy output mode of the ultrasonic scalpel 101 based on the matching result.

[0193] The ultrasonic host 105 is used to control the delivery of target energy output pattern matched to the ultrasonic scalpel 101.

[0194] It should be noted that the relevant content regarding the ultrasonic scalpel, jaws, motor parameters, and target energy output mode in the ultrasonic scalpel energy output control system of this embodiment corresponds to the relevant description of the ultrasonic scalpel energy output control system described above. Further details will not be repeated here.

[0195] It should be noted that the ultrasonic scalpel 101 in this embodiment is in an excited state. Therefore, the motor parameters identify the type of the object being held in the jaws, determine whether the current energy output mode of the ultrasonic scalpel 101 matches the type of the object being held, and obtain a matching result; and determine the target energy output mode of the ultrasonic scalpel 101 based on the matching result.

[0196] The matching result indicates whether the current energy output mode of the ultrasonic scalpel matches the type of the clamp.

[0197] Therefore, the ultrasonic scalpel energy output control system provided in this application includes an ultrasonic scalpel, a motor, a measuring unit, a controller, and an ultrasonic host. The motor controls the closing of the ultrasonic scalpel's jaws; the measuring unit measures the motor parameters during jaw closure; the controller identifies the type of object held in the jaws based on the motor parameters, determines whether the current energy output mode of the ultrasonic scalpel matches the type of object held, and obtains a matching result; and determines the target energy output mode of the ultrasonic scalpel based on the matching result; the ultrasonic host controls the delivery of energy matching the target energy output mode to the ultrasonic scalpel. Based on this, by configuring multiple energy output modes for the ultrasonic scalpel, identifying the type of object held in the jaws based on the motor parameters measured during jaw closure, determining whether the current energy output mode of the ultrasonic scalpel matches the type of object held, obtaining a matching result, determining the target energy output mode of the ultrasonic scalpel based on the matching result, and controlling the delivery of energy matching the target energy output mode to the ultrasonic scalpel via the ultrasonic host, the energy output of the ultrasonic scalpel can be adapted to various situations, thereby improving surgical quality.

[0198] In some embodiments, the process of determining the target energy output mode of the ultrasonic scalpel based on the matching result may include: if the matching result indicates that the current energy output mode of the ultrasonic scalpel does not match the type of the clamping object, then stop the current energy output mode of the ultrasonic scalpel and switch the target energy output mode of the ultrasonic scalpel to an energy output mode that matches the type of the clamping object; if the matching result indicates that the current energy output mode of the ultrasonic scalpel matches the type of the clamping object, then maintain the current energy output mode of the ultrasonic scalpel.

[0199] By matching the results, it can be determined whether the current energy output mode of the ultrasonic scalpel matches the type of object being held. If they do not match, the energy output mode of the scalpel can be switched to match the type of object being held, so that the energy output of the ultrasonic scalpel can be adapted to various situations, thereby improving the quality of the surgery.

[0200] Based on the above embodiments, the controller 104 is further configured to determine the operation of the motor 102 according to the matching result; wherein: if the matching result indicates that the current energy output mode of the ultrasonic scalpel 101 does not match the type of the object being held, the controller stops the motor 102 from running and / or outputs an alarm message. If the matching result indicates that the current energy output mode of the ultrasonic scalpel 101 matches the type of the object being held, the controller continues to run the motor 102.

[0201] By controlling the motor's operation based on the matching results, the ultrasonic host can control the delivery of energy to the ultrasonic scalpel that matches the adapted energy output mode, thereby adapting the ultrasonic scalpel's energy output to various situations and improving surgical quality.

[0202] Those skilled in the art will understand that Figure 1 The ultrasonic scalpel energy output control system 100 shown does not constitute a limitation on the ultrasonic scalpel energy output control system 100, and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0203] Based on the above ultrasonic scalpel energy output control system, please refer to Figure 7 , Figure 7 This is a flowchart illustrating an embodiment of an ultrasonic scalpel energy output control method provided in this application. This ultrasonic scalpel energy output control method is applied in an ultrasonic scalpel energy output control system and may include the following steps S301 to S304:

[0204] S301. During the closing process of the ultrasonic scalpel jaws, measure the motor parameters of the motor that controls the closing of the ultrasonic scalpel jaws.

[0205] For details regarding the ultrasonic scalpel, jaws, motor parameters, etc., please refer to the corresponding descriptions in the ultrasonic scalpel energy output control system section above; they will not be repeated here.

[0206] For example, the motor parameters include the motor's mechanical parameters and / or the motor's first electrical parameters; the mechanical parameters include at least one of the motor's rotation angle, motor's rotation speed, motor's rotation angular velocity, and the jaw displacement corresponding to the opening and / or closing of the jaws when the motor rotates; the first electrical parameters include at least one of the motor's voltage, current, voltage change rate, and current change rate.

[0207] S302. Based on the motor parameters, identify the type of object being held in the jaws, determine whether the current energy output mode of the ultrasonic scalpel matches the type of object being held, and obtain the matching result.

[0208] The relevant descriptions of motor parameters, matching results, etc. can be found in the corresponding descriptions in the ultrasonic scalpel energy output control system above, and will not be repeated here.

[0209] For example, the matching results include whether the current energy output mode of the ultrasonic scalpel does not match the type of the clamp, and whether the current energy output mode of the ultrasonic scalpel matches the type of the clamp.

[0210] S303. Determine the target energy output mode of the ultrasonic scalpel based on the matching results.

[0211] The descriptions of the target energy output mode and the determination of the target energy output mode of the ultrasonic scalpel can be found in the corresponding descriptions in the ultrasonic scalpel energy output control system, and will not be repeated here.

[0212] For example, if the matching result indicates that the current energy output mode of the ultrasonic scalpel does not match the type of the clamping object, the current energy output mode of the ultrasonic scalpel is stopped, and the target energy output mode of the ultrasonic scalpel is switched to the energy output mode that matches the type of the clamping object; if the matching result indicates that the current energy output mode of the ultrasonic scalpel matches the type of the clamping object, the current energy output mode of the ultrasonic scalpel is maintained.

[0213] S304. Control the ultrasonic host to deliver target energy output mode matching energy to the ultrasonic scalpel.

[0214] For details regarding the ultrasonic host and other related components, please refer to the corresponding description in the ultrasonic scalpel energy output control system section above; these details will not be repeated here.

[0215] Therefore, the ultrasonic scalpel energy output control method provided in this application embodiment measures the motor parameters of the motor controlling the jaw closure of the ultrasonic scalpel during the jaw closure process; identifies the type of object being held in the jaws based on the motor parameters, determines whether the current energy output mode of the ultrasonic scalpel matches the type of object being held, and obtains a matching result; determines the target energy output mode of the ultrasonic scalpel based on the matching result; and controls the ultrasonic host to deliver energy matching the target energy output mode to the ultrasonic scalpel. Based on this, by configuring multiple energy output modes for the ultrasonic scalpel, determining whether the current energy output mode of the ultrasonic scalpel matches the type of object being held based on the motor parameters measured during the jaw closure process, determining the target energy output mode of the ultrasonic scalpel based on the matching result, and controlling the ultrasonic host to deliver energy matching the target energy output mode to the ultrasonic scalpel, the energy output of the ultrasonic scalpel can be adapted to various situations, thereby improving surgical quality.

[0216] This application also provides a computer device, which can be a server. The server can be a standalone server, a server network, or a server cluster, including but not limited to a computer, a network host, a single network server, a set of multiple network servers, or a cloud server composed of multiple servers. The computer device can also be a terminal such as an ultrasound host or an ultrasonic scalpel. The computer device may include one or more processors with processing cores, one or more storage media such as memory, a power supply, and input units. The specific structure of the computer device can combine certain components or arrange different components according to actual conditions. Wherein:

[0217] The processor is the control center of the computer device. It connects various parts of the computer device via various interfaces and lines, and performs various functions and processes data by running or executing computer programs and / or modules stored in memory, and by accessing data stored in memory. Optionally, the processor may include one or more processing cores; preferably, the processor may integrate an application processor and a modem processor, wherein the application processor mainly handles the operating system, user interface, and applications, while the modem processor mainly handles wireless communication. It is understood that the modem processor may also not be integrated into the processor.

[0218] The memory can be used to store computer programs and modules. The processor executes various functional applications and controls the energy output of the ultrasonic scalpel by running the computer programs and modules stored in the memory. The memory can mainly include a program storage area and a data storage area. The program storage area can store the operating system, computer programs required for at least one function (such as alarm functions), etc.; the data storage area can store data created according to the use of the computer device. In addition, the memory can include high-speed random access memory, and can also include non-volatile memory, such as at least one disk storage device, flash memory device, or other volatile solid-state storage device. Accordingly, the memory can also include a memory controller to provide the processor with access to the memory.

[0219] Computer equipment also includes a power supply for powering various components. Preferably, the power supply can be logically connected to the processor through a power management system, thereby enabling functions such as charging, discharging, and power consumption management through the power management system. The power supply may also include one or more DC or AC power sources, a recharging system, a power fault detection circuit, a power converter or inverter, a power status indicator, and any other components.

[0220] The computer device may also include an input unit that can be used to receive motor parameters of the motor measured by the measurement unit, or various energy output modes configured for the ultrasonic scalpel.

[0221] Although not shown, the computer device may also include a display unit, etc., which will not be described in detail here. Specifically, in this embodiment, the processor in the computer device loads the executable files corresponding to the processes of one or more computer programs into the memory according to the following instructions, and the processor runs the computer programs stored in the memory to realize various functions, such as:

[0222] During the closing process of the ultrasonic scalpel jaws, the motor parameters of the motor controlling the closing of the ultrasonic scalpel jaws are measured.

[0223] Based on the motor parameters, determine the target energy output mode of the ultrasonic scalpel;

[0224] Control the ultrasound host to deliver target energy output mode matching energy to the ultrasonic scalpel.

[0225] For example:

[0226] During the closing process of the ultrasonic scalpel jaws, the motor parameters of the motor controlling the closing of the ultrasonic scalpel jaws are measured.

[0227] Based on motor parameters, the type of object being held in the jaws is identified, and it is determined whether the current energy output mode of the ultrasonic scalpel matches the type of the object being held, thus obtaining the matching result.

[0228] The target energy output mode of the ultrasonic scalpel is determined based on the matching results;

[0229] Control the ultrasound host to deliver target energy output mode matching energy to the ultrasonic scalpel.

[0230] For details on the specific implementation methods and corresponding beneficial effects of each of the above operations, please refer to the detailed description of the ultrasonic scalpel energy output control method above, which will not be repeated here.

[0231] Those skilled in the art will understand that all or part of the steps in the various methods of the above embodiments can be performed by a computer program, or by a computer program controlling related hardware. The computer program can be stored in a storage medium and loaded and executed by a processor.

[0232] Therefore, embodiments of this application provide a computer-readable storage medium storing a computer program that can be loaded by a processor to execute the steps of any of the ultrasonic scalpel energy output control methods provided in embodiments of this application. For example, the computer program can execute the following steps:

[0233] During the closing process of the ultrasonic scalpel jaws, the motor parameters of the motor controlling the closing of the ultrasonic scalpel jaws are measured.

[0234] Based on the motor parameters, determine the target energy output mode of the ultrasonic scalpel;

[0235] Control the ultrasound host to deliver target energy output mode matching energy to the ultrasonic scalpel.

[0236] For example, the computer program can also perform the following steps:

[0237] During the closing process of the ultrasonic scalpel jaws, the motor parameters of the motor controlling the closing of the ultrasonic scalpel jaws are measured.

[0238] Based on motor parameters, the type of object being held in the jaws is identified, and it is determined whether the current energy output mode of the ultrasonic scalpel matches the type of the object being held, thus obtaining the matching result.

[0239] The target energy output mode of the ultrasonic scalpel is determined based on the matching results;

[0240] Control the ultrasound host to deliver target energy output mode matching energy to the ultrasonic scalpel.

[0241] For details on the specific implementation methods and corresponding beneficial effects of the above operations, please refer to the previous embodiments, which will not be repeated here.

[0242] The computer-readable storage medium may include: read-only memory (ROM), random access memory (RAM), disk or optical disk, etc.

[0243] Since the computer program stored in the computer-readable storage medium can execute the steps in any of the ultrasonic scalpel energy output control methods provided in the embodiments of this application, the beneficial effects that any of the ultrasonic scalpel energy output control methods provided in the embodiments of this application can achieve can be realized, as detailed in the preceding embodiments, and will not be repeated here.

[0244] According to one aspect of this application, a computer program product or computer program is provided, comprising computer instructions stored in a storage medium. A processor of a computer device reads the computer instructions from the storage medium and executes the computer instructions, causing the computer device to perform the aforementioned ultrasonic scalpel energy output control method.

[0245] The above provides a detailed description of an ultrasonic scalpel energy output control system, ultrasonic scalpel energy output control method, computer equipment, computer-readable storage medium, and computer program product provided in the embodiments of this application. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the methods and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. An ultrasonic scalpel energy output control system, characterized in that, The ultrasonic scalpel energy output control system includes an ultrasonic scalpel, a motor, a measuring unit, a controller, and an ultrasonic main unit, wherein: The motor is used to control the closing of the jaws of the ultrasonic scalpel; The measuring unit is used to measure the motor parameters of the motor during the closing of the jaws; The controller is used to determine the target energy output mode of the ultrasonic scalpel based on the motor parameters; The ultrasound host is used to control the delivery of energy matching the target energy output mode to the ultrasonic scalpel.

2. The system according to claim 1, characterized in that, The motor parameters include the motor's mechanical parameters and / or the motor's first electrical parameters; The mechanical parameters include at least one of the following: the angle of rotation of the motor, the speed of rotation of the motor, the angular velocity of rotation of the motor, and the jaw displacement corresponding to the opening and / or closing of the jaws caused by the rotation of the motor. The first electrical parameter includes at least one of the motor's voltage, current, voltage change rate, and current change rate.

3. The system according to claim 1 or 2, characterized in that, The motor parameters include the motor's mechanical parameters and its first electrical parameters. Determining the target energy output mode of the ultrasonic scalpel based on these motor parameters includes: Based on the correlation between the first electrical parameter and the mechanical parameter, the target energy output mode of the ultrasonic scalpel is determined.

4. The system according to claim 3, characterized in that, The controller is further configured to, during the clamp closing process, when the first electrical parameter in the motor parameters reaches the corresponding preset electrical parameter threshold, acquire the first electrical parameter and the mechanical parameter, and determine the correlation between the first electrical parameter and the mechanical parameter.

5. The system according to any one of claims 3-4, characterized in that, The first electrical parameter includes the current of the motor, and the mechanical parameter includes the jaw displacement; The correlation between the first electrical parameter and the mechanical parameter includes: during the jaw closing process, the current-displacement curve formed based on the mapping relationship between the current and the jaw displacement in the time dimension; Determining the target energy output mode of the ultrasonic scalpel based on the correlation between the first electrical parameter and the mechanical parameter includes: Based on the characteristics of the current-displacement curve, the target energy output mode of the ultrasonic scalpel is determined.

6. The system according to any one of claims 1-5, characterized in that, Determining the target energy output mode of the ultrasonic scalpel based on the motor parameters includes: Based on the motor parameters, a target identification result is determined for identifying the object being held in the jaws. The target identification result includes whether there is an object being held in the jaws, and if there is an object being held in the jaws, the type of the object being held. Based on the target identification results, the target energy output mode of the ultrasonic scalpel is determined.

7. The system according to claim 6, characterized in that, The step of determining the target identification result for recognizing the object held by the jaws based on the motor parameters includes: Based on the mechanical parameters in the motor parameters, a first identification result is determined for identifying the object held in the jaws; Based on the first electrical parameter in the motor parameters, a second identification result is determined to identify the object held in the jaws; Based on the first identification result and the second identification result, the target identification result of the clamped object of the jaws is determined; or, Based on the characteristics of the first electrical parameter-mechanical parameter curve determined by the first electrical parameter and mechanical parameter in the motor parameters, the target identification result of the clamped object of the jaws is determined.

8. The system according to claim 7, characterized in that, The step of determining the target identification result of the object being clamped by the jaws based on the first identification result and the second identification result includes: If the first identification result and the second identification result match, then the first identification result or the second identification result shall be used as the target identification result of the clamping object of the jaws; If the first identification result and the second identification result do not match, then the target identification result is determined to be an abnormal identification result.

9. The system according to any one of claims 6-8, characterized in that, The step of determining the target energy output mode of the ultrasonic scalpel based on the target recognition result includes: If the target identification result indicates that the type of object held in the jaws is a hard object, the target energy output mode of the ultrasonic scalpel is determined to be a limited energy output mode, wherein the ultrasonic scalpel cannot be activated in the limited energy output mode. If the target identification result indicates that the type of object held in the jaws is tissue, the target energy output mode of the ultrasonic scalpel is determined to be the normal output mode. If the target identification result indicates that there is no clamping object in the jaws, the target energy output mode of the ultrasonic scalpel is determined to be a low energy output mode. In the low energy output mode, the energy output by the ultrasonic scalpel is lower than the energy output by the ultrasonic scalpel in the normal output mode. If the target identification result indicates an abnormal identification result, the target energy output mode of the ultrasonic scalpel is determined to be a low energy output mode or a limited energy output mode.

10. The system according to any one of claims 6-9, characterized in that, The controller is also used to control the operation of the motor based on the target recognition result; wherein: If the target recognition result indicates that the type of object being clamped in the jaws is a hard object, control the motor to stop running and / or control the output of alarm information; If the target identification result indicates that the type of object being gripped in the jaws is tissue, the motor is controlled to continue running; If the target identification result indicates that there is no object being held in the jaws, or if the target identification result indicates an abnormal identification result, the motor is controlled to stop running.

11. The system according to any one of claims 6-10, characterized in that, If the target energy output mode of the ultrasonic scalpel is determined to be the normal output mode, the measurement unit is also used to measure the second electrical parameter in the electrical circuit formed between the ultrasonic scalpel and the target tissue being held in real time; the second electrical parameter includes at least one of the following in the electrical circuit: admittance circle parameter, voltage and current, impedance, power, phase, active power, frequency, and energy. The ultrasound host is also used to control the energy delivered to the ultrasonic scalpel according to the second electrical parameter.

12. The system according to claim 11, characterized in that, The ultrasound host is also used to determine the target tissue type of the target tissue based on the second electrical parameters, and to control the energy delivered to the ultrasound scalpel based on the target tissue type.

13. An ultrasonic scalpel energy output control system, characterized in that, The ultrasonic scalpel energy output control system includes an ultrasonic scalpel, a motor, a measuring unit, a controller, and an ultrasonic main unit, wherein: The motor is used to control the closing of the jaws of the ultrasonic scalpel; The measuring unit is used to measure the motor parameters of the motor during the closing of the jaws; The controller is used to identify the type of object held in the jaws based on the motor parameters, determine whether the current energy output mode of the ultrasonic scalpel matches the type of the object held, obtain a matching result, and determine the target energy output mode of the ultrasonic scalpel based on the matching result. The ultrasound host is used to control the delivery of energy matching the target energy output mode to the ultrasonic scalpel.

14. The system according to claim 13, characterized in that, Determining the target energy output mode of the ultrasonic scalpel based on the matching result includes: If the matching result indicates that the current energy output mode of the ultrasonic scalpel does not match the type of the clamping object, then the current energy output mode of the ultrasonic scalpel is stopped, and the target energy output mode of the ultrasonic scalpel is switched to an energy output mode that matches the type of the clamping object; If the matching result indicates that the current energy output mode of the ultrasonic scalpel matches the type of the clamp, then the current energy output mode of the ultrasonic scalpel is maintained.

15. The system according to claim 13 or 14, characterized in that, The controller is also configured to determine the operation of the motor based on the matching result; wherein: If the matching result indicates that the current energy output mode of the ultrasonic scalpel does not match the type of the clamping object, control the motor to stop running and / or control the output of alarm information; If the matching result indicates that the current energy output mode of the ultrasonic scalpel matches the type of the clamping object, then the motor is controlled to continue running.

16. A method for controlling the energy output of an ultrasonic scalpel, characterized in that, The method includes: During the closing process of the ultrasonic scalpel jaws, the motor parameters of the motor controlling the closing of the ultrasonic scalpel jaws are measured; Based on the motor parameters, the target energy output mode of the ultrasonic scalpel is determined; The ultrasonic host is controlled to deliver energy matching the target energy output mode to the ultrasonic scalpel.

17. A method for controlling the energy output of an ultrasonic scalpel, characterized in that, The method includes: During the closing process of the ultrasonic scalpel jaws, the motor parameters of the motor controlling the closing of the ultrasonic scalpel jaws are measured; Based on the motor parameters, the type of object being held in the jaws is identified, and it is determined whether the current energy output mode of the ultrasonic scalpel matches the type of the object being held, thus obtaining a matching result. The target energy output mode of the ultrasonic scalpel is determined based on the matching results; The ultrasonic host is controlled to deliver energy matching the target energy output mode to the ultrasonic scalpel.

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