An electrotome machine with automatic tracking illumination

Abstract

The application provides an electric knife machine capable of automatically tracking illumination, comprising: a shadowless lamp and an electric knife machine; an image acquisition device and a controller are arranged on the shadowless lamp; the image acquisition device is used for tracking and acquiring an image of a position of an electric knife pen of the electric knife machine; the controller is used for receiving the image of the position of the electric knife pen of the electric knife machine and processing the image to determine target coordinates of the electric knife pen of the electric knife machine; and the controller is used for controlling a driver to drive the electric knife machine to move towards the target coordinates to illuminate the position of the electric knife pen of the electric knife machine. The scheme has the following advantages: when the electric knife pen is used for cutting hemostasis, the target area of the shadowless lamp can be controlled at any time; the workload of a circulating nurse in adjusting the lamp during an operation is reduced; the infection risk caused by adjusting the light during the operation is reduced; the scheme is convenient, intelligent, accurate, and the operation time is shortened.

Description

Technical Field

[0001] This application relates to the field of medical device technology, specifically to an electrosurgical unit with automatic tracking illumination. Background Technology

[0002] Shadowless lamps, also known as surgical shadowless lamps, are primarily used to illuminate surgical sites, enabling surgeons to clearly observe small or low-lying objects at different depths within incisions and body cavities. The design principle of shadowless lamps utilizes a multi-point light source effect. By incorporating high-intensity circular lights, light can be projected onto the operating table from various angles, thereby reducing the formation of umbra and ensuring sufficient brightness in the surgical field without noticeable shadows.

[0003] An electrosurgical unit, also known as a high-frequency electrosurgical unit, is a surgical instrument used for cutting and coagulating tissue. It uses heat generated by a high-frequency current to cut tissue and stop bleeding, and is widely used in various surgical procedures. The working principle of an electrosurgical unit is to generate resistance heat in the tissue using high-frequency alternating current, thereby achieving the effects of cutting and coagulation.

[0004] While both shadowless lamps and electrosurgical units are indispensable pieces of equipment in the operating room, their functions and uses are completely different. Shadowless lamps focus on providing shadowless illumination, while electrosurgical units are used for tissue cutting and coagulation. Together, they provide essential support for the success of surgery.

[0005] Currently, during surgical hemostasis, medical staff need to constantly adjust the position of the operating light to illuminate the electrosurgical unit. This presents the following problems:

[0006] The circulating nurse has a heavy workload adjusting the lights during surgery; constantly adjusting the shadowless lamp can increase the patient's risk of infection during surgery; and it prolongs the operation time. Summary of the Invention

[0007] This application provides an electrosurgical excision machine with automatic tracking illumination to solve the technical problems mentioned in the background section. The specific solution is as follows:

[0008] This application provides an electrosurgical unit with automatic tracking illumination, including: a shadowless lamp and an electrosurgical unit;

[0009] An image acquisition device, a controller, and a driver are provided on the shadowless lamp;

[0010] The image acquisition device is used to track and acquire an image of the position of the electrosurgical pen of the electrosurgical machine;

[0011] The controller is used to receive an image of the position of the electrosurgical pen of the electrosurgical machine and process the image to determine the target coordinates of the electrosurgical pen of the electrosurgical machine;

[0012] The controller is used to control the driver to move the shadowless lamp toward the target coordinates so that the shadowless lamp illuminates the position of the electrosurgical pen of the electrosurgical machine.

[0013] Optionally, the driver is connected to the shadowless lamp driver, and the driver can drive the shadowless lamp to rotate;

[0014] The image acquisition device is used to track and acquire images of the position of the electrosurgical pen of the electrosurgical machine. The image acquisition device is equipped with a control terminal, and the control terminal integrates a chip with computer vision technology.

[0015] The computer vision chip is used to control the image acquisition device to acquire the position of the electrosurgical pen of the electrosurgical machine in real time;

[0016] The target coordinates are three-dimensional coordinates. After determining the target coordinates, the tilt direction of the electric knife pen is analyzed and obtained, and used as the target direction so that the shadowless lamp can irradiate in the target direction.

[0017] Optionally, when the image acquisition device is unable to acquire an image containing the electrosurgical pen, the driver drives the shadowless lamp to move until an image containing the electrosurgical pen is acquired;

[0018] A switch is provided on the electrosurgical pen, which is used to control the power supply to or off of the controller, the driver, and the image acquisition device.

[0019] Optionally, the computer vision technology is: an object detection algorithm;

[0020] The target detection algorithm includes:

[0021] The image of the position of the electrosurgical pen of the electrosurgical machine is divided into grids; and each grid is predicted to obtain the prediction result corresponding to each grid.

[0022] Based on the prediction results, the confidence level of each grid is calculated to obtain the confidence value;

[0023] Regression calculations are performed on the bounding boxes of each grid based on the confidence values, and category detection is performed on the features in each grid based on the calculation results to determine the grid where the electrosurgical pen of the electrosurgical machine is located, and it is tracked in real time.

[0024] Optionally, the algorithm for calculating the confidence score for each grid cell based on the prediction results is as follows:

[0025] \text{Confidence}=\text{Pr(Object)}\times\text{IOU}(\text{pred,truth}

[0026] Where Pr(Object) is the probability that there is an object in the grid, and IOU(Intersection over Union) represents the degree of overlap between the predicted box and the ground truth box.

[0027] Optionally, a locator is also provided on the shadowless lamp, and a sensor is also provided on the electrosurgical machine. The locator is connected to the image acquisition device, and the sensor cooperates with the locator to determine the position of the electrosurgical pen of the electrosurgical machine.

[0028] Optionally, the sensor is any one of an infrared sensor, a laser sensor, or an ultrasonic sensor.

[0029] Optionally, the locator uses a simultaneous positioning and mapping algorithm to locate the sensor in real time.

[0030] Optionally, the driver includes a servo motor and a stepper motor;

[0031] The servo motor is used to drive the shadowless lamp to rotate, and the stepper motor is used to drive the servo motor and the shadowless lamp to move.

[0032] Optionally, the controller is also configured to provide a light brightness adjustment value based on environmental parameters in an image of the position of the electrosurgical pen of the electrosurgical machine, and control the shadowless lamp to emit light based on the light brightness adjustment value;

[0033] The methods for determining the brightness adjustment value include:

[0034] Determine the brightness parameters in the image;

[0035] Set target illumination parameters; based on the brightness parameters in the image and the target illumination parameters, set a light compensation value, which is the brightness adjustment value.

[0036] An electronic device, comprising: a processor, a memory, a communication bus, and a communication interface;

[0037] The memory is used to store computer instructions for data processing. When these computer instructions are read and executed by the processor, they perform the control method of the electrosurgical machine with automatic tracking illumination described above.

[0038] Compared with the prior art, this application has the following advantages:

[0039] This application provides an electrosurgical unit with automatic tracking illumination, comprising: a shadowless lamp and an electrosurgical unit; an image acquisition device, a controller, and a driver are disposed on the shadowless lamp; the image acquisition device is used to track and acquire an image of the position of the electrosurgical pen of the electrosurgical unit; the controller is used to receive the image of the position of the electrosurgical pen of the electrosurgical unit and process the image to determine the target coordinates of the electrosurgical pen; the controller is used to control the driver to drive the shadowless lamp to move toward the target coordinates for illuminating the position of the electrosurgical pen. The solution of this application has the following advantages: when using an electrosurgical pen for hemostasis, the target area of ​​the shadowless lamp can be controlled at any time; the workload of the circulating nurse in adjusting the lamp during surgery is reduced; the risk of infection caused by adjusting the lamp during surgery is reduced; it is convenient, intelligent, precise, and shortens the operation time. Attached Figure Description

[0040] Figure 1 This is a flowchart illustrating the control method for the electrosurgical unit with automatic tracking illumination as described in this application;

[0041] Figure 2 This is a flowchart illustrating the target detection algorithm method provided in the embodiments of this application;

[0042] Figure 3 This is a schematic diagram of an electronic device provided in the third embodiment of this application. Detailed Implementation

[0043] To enable those skilled in the art to better understand the technical solutions of this application, the application will be clearly and completely described below with reference to the accompanying drawings of the embodiments. However, this application can be implemented in many other ways different from those described below. Therefore, based on the embodiments provided in this application, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of this application.

[0044] It should be noted that the terms "first," "source domain," "third," etc., used in the claims, specification, and drawings of this application are used to distinguish similar objects and are not used to describe a specific order or sequence. Such data are interchangeable where appropriate so that the embodiments of this application described herein can be implemented in a sequence other than that shown or described herein. Furthermore, the terms "comprising," "having," and their variations are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that includes a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to these processes, methods, products, or apparatuses.

[0045] To facilitate understanding of the various embodiments of this application, the application background of the embodiments will be explained.

[0046] A shadowless lamp, also known as a surgical shadowless lamp, is primarily used to illuminate the surgical site, allowing surgeons to clearly observe small, low-lying objects at different depths within incisions and body cavities. The design principle of a shadowless lamp utilizes a multi-point light source effect; by incorporating a high-intensity circular lamp, light can be projected onto the operating table from different angles, thereby reducing umbra and ensuring sufficient brightness in the surgical field without noticeable shadows. An electrosurgical unit, also known as a high-frequency electrosurgical unit, is a surgical instrument used for cutting and coagulating tissue. It uses heat generated by a high-frequency current to cut tissue and achieve hemostasis, and is widely used in various surgical procedures. The working principle of an electrosurgical unit is to generate resistance heat in the tissue using high-frequency alternating current, thereby achieving the effects of cutting and coagulation. While both shadowless lamps and electrosurgical units are indispensable equipment in the operating room, their functions and uses are completely different. Shadowless lamps focus on providing shadowless illumination, while electrosurgical units are used for tissue cutting and coagulation. Together, they provide essential support for the success of surgery.

[0047] Currently, during surgical hemostasis, medical staff need to constantly adjust the position of the shadowless lamp to illuminate the position of the electrosurgical pen. This presents the following problems: the circulating nurse has a heavy workload adjusting the lamp during the operation; constantly adjusting the shadowless lamp can increase the patient's risk of infection during the operation; and it prolongs the operation time.

[0048] To address the above issues, this application provides an electrosurgical unit with automatic tracking illumination, an electronic device, and a computer-readable storage medium. During the use of the electrosurgical pen, a shadowless lamp illuminates its position in real time, facilitating surgery for medical personnel.

[0049] The first embodiment of this application provides a control method for an electrosurgical machine capable of automatically tracking illumination. The execution subject of this method can be a controller, which can be a device with control and data transmission functions such as a processor, microprocessor, desktop computer, laptop computer, smart mobile terminal, or server. The controller can be installed in the radio frequency detection device or can be installed outside the radio frequency detection device and communicate with the radio frequency detection device.

[0050] The first embodiment of this application provides an electrosurgical excision apparatus with automatic tracking illumination, comprising: a shadowless lamp and an electrosurgical excision apparatus; an image acquisition device, a controller, and a driver are disposed on the shadowless lamp; the image acquisition device is used to track and acquire an image of the position of the electrosurgical excision apparatus's electric scalpel; the controller is used to receive the image of the position of the electrosurgical excision apparatus's electric scalpel and process the image to determine the target coordinates of the electric scalpel; the controller is used to control the driver to drive the shadowless lamp to move toward the target coordinates for illuminating the position of the electrosurgical excision apparatus's electric scalpel.

[0051] In this embodiment, the aforementioned shadowless lamp and electrosurgical machine are both conventional equipment in the field and can be directly purchased. The aforementioned image acquisition device can be a camera, and the aforementioned driver is connected to the shadowless lamp driver, which can drive the shadowless lamp to rotate. The image acquisition device is used to track and acquire images of the position of the electrosurgical pen of the electrosurgical machine. The image acquisition device is equipped with a control terminal, and the control terminal integrates a chip with computer vision technology. The chip with computer vision technology is used to control the image acquisition device to acquire the position of the electrosurgical pen of the electrosurgical machine in real time.

[0052] The target coordinates are three-dimensional coordinates. After determining the target coordinates, the tilt direction of the electric knife pen is analyzed and obtained, and used as the target direction so that the shadowless lamp can irradiate in the target direction.

[0053] In this embodiment, the target coordinates are three-dimensional coordinates. Based on the three-dimensional coordinates, the tilt direction of the electrosurgical pen can be determined. Therefore, in order to better illuminate the operating area of ​​the electrosurgical pen, the shadowless lamp needs to be directed into the operating area along the tilt direction of the electrosurgical pen. This will result in better illumination. In this embodiment, the tilt direction of the electrosurgical pen is used as the target direction to achieve the above technical requirements.

[0054] In one specific embodiment, when the image acquisition device is unable to acquire an image containing the electrosurgical pen, the driver drives the shadowless lamp to move until an image containing the electrosurgical pen is acquired;

[0055] In this embodiment, when the image acquisition device fails to acquire an image of the electrosurgical pen, it indicates the presence of an obstacle between the image acquisition device and the electrosurgical pen. At this point, the controller controls the driver to move the shadowless lamp until the image acquisition device mounted on the shadowless lamp acquires an image of the electrosurgical pen. The controller then controls the driver to stop working. Afterward, the target coordinates of the electrosurgical pen are analyzed, and the position of the shadowless lamp is adjusted based on the analysis results, such as target coordinates and target direction. Thus, the presence of an obstacle will not affect the illumination of the shadowless lamp in this application.

[0056] A switch is provided on the electrosurgical pen, which is used to control the power supply to or off of the controller, the driver, and the image acquisition device.

[0057] In this embodiment, to facilitate operation by medical staff, a switch for manually locking and manually activating the shadowless lamp tracking function is added. This switch is located on the electrosurgical pen. The switch can be controlled by pressing it once, which powers the image acquisition device and driver; pressing it again de-energizes the controller and related components, at which point the image acquisition device is not working, and the shadowless lamp fixates on the predetermined area. In clinical application, once the shadowless lamp has tracked the designated operating area, automatic tracking is not required. Medical staff can press the switch to de-energize the controller and other components, canceling the automatic tracking function. After completing the operation in the current area, pressing the switch again activates the automatic tracking function.

[0058] Of course, to make it easier to determine whether the shadowless lamp's automatic tracking function is on, the switch can be set to a press-down switch and a press-up switch to pop up. For example, the automatic tracking function of the shadowless lamp can be defined as being on when the switch is pressed and off when the switch pops up, making it easier for users to operate and identify.

[0059] In one specific implementation, the computer vision technology is a target detection algorithm; the target detection algorithm includes: dividing the image of the position of the electrosurgical pen of the electrosurgical machine into grids; predicting each grid after division to obtain the prediction result corresponding to each grid; calculating the confidence score of each grid based on the prediction result to obtain the confidence score value; performing regression calculation on the bounding box of each grid based on the confidence score, and performing category detection on the features in each grid based on the calculation result to determine the grid where the electrosurgical pen of the electrosurgical machine is located, and tracking it in real time.

[0060] Specifically: Image grid division: YOLO divides the input image into an S×S grid (e.g., 7×7 or 13×13), with each grid responsible for predicting the objects contained within it. Prediction per grid: Each grid predicts a fixed number of bounding boxes and a confidence score for each bounding box. The confidence score represents the probability that the bounding box contains an object and its accuracy. In addition, YOLO also predicts the class probability distribution for each object. Confidence score: Each bounding box has a confidence score value, indicating whether an object exists within the bounding box and the accuracy of the bounding box prediction. The confidence score calculation formula is:

[0061] text{Confidence}=\text{Pr(Object)}\times\text{IOU}(\text{pred,truth})

[0062] Where Pr(Object) is the probability that there is an object in the grid, and IOU(Intersection over Union) represents the degree of overlap between the predicted box and the ground truth box.

[0063] Bounding box regression: YOLO predicts five pieces of information for each bounding box: the center coordinates (x, y), width (w), height (h), and the confidence score of the box. Class prediction: YOLO provides a class probability distribution (usually a C-dimensional vector) for each predicted box, where each dimension represents the probability that the box belongs to a certain class of object. Finally, the YOLO algorithm aggregates the prediction results from all grids, filters out low-confidence predicted boxes using a threshold, and removes overlapping boxes using non-maximum suppression (NMS), retaining the final detection result, which in this embodiment is the position information of the electrosurgical pen.

[0064] In one specific embodiment, a locator is also provided on the shadowless lamp, and a sensor is also provided on the electrosurgical machine. The locator is connected to the image acquisition device, and the sensor cooperates with the locator to determine the position of the electrosurgical pen of the electrosurgical machine.

[0065] In this embodiment, the aforementioned sensor is any one of an infrared sensor, a laser sensor, or an ultrasonic sensor. By setting the sensor, the precise location of the target can be detected. The locator employs a simultaneous localization and mapping (SLAM) algorithm to perform real-time localization of the sensor. Visual inertial odometry (VIO) or SLAM can also improve the system's accuracy, especially in complex environments.

[0066] In one specific embodiment, the driver includes a servo motor and a stepper motor; the servo motor is used to drive the shadowless lamp to rotate, and the stepper motor is used to drive the servo motor and the shadowless lamp to move.

[0067] In this embodiment, once the position of the electric scalpel is determined, the control system will adjust the angle, direction, and brightness of the lamp through electric servo or other mechanisms to illuminate the electric scalpel. Typically, the driver uses electric adjustment and can perform translation, rotation, lifting, and other operations to ensure that the lighting always follows the position of the electric scalpel.

[0068] In one specific embodiment, the controller is further configured to provide a light brightness adjustment value based on environmental parameters in an image of the position of the electrosurgical pen of the electrosurgical machine, and control the shadowless lamp to emit light based on the light brightness adjustment value; wherein, the method for determining the light brightness adjustment value includes:

[0069] Determine the brightness parameters in the image;

[0070] Set target illumination parameters; based on the brightness parameters in the image and the target illumination parameters, set a light compensation value, which is the brightness adjustment value.

[0071] In this embodiment, the shadowless lamp can automatically adjust its brightness and color temperature according to the ambient lighting conditions and the needs of the target to achieve the most ideal lighting effect. For example, in a dimly lit environment, the brightness may need to be increased, or the color temperature may need to be adjusted according to the target's needs to make it more visually natural or meet specific requirements. Users can set these parameters themselves; this application does not impose any limitations.

[0072] The second embodiment of this application also provides an electronic device embodiment corresponding to the control method embodiment for the electrosurgical unit and shadowless lamp provided in the first embodiment above. The following description of the electronic device embodiment is merely illustrative. The electronic device embodiment is as follows:

[0073] Please refer to Figure 3 Understanding the above electronic devices, Figure 3 This is a schematic diagram of an electronic device. The electronic device provided in this embodiment includes: a processor 301, a memory 302, a communication bus 303, and a communication interface 304;

[0074] The memory 302 is used to store computer instructions for data processing. When these computer instructions are read and executed by the processor 301, the following steps are performed:

[0075] The image acquisition device is used to track and acquire an image of the position of the electrosurgical pen of the electrosurgical machine;

[0076] The controller is used to receive an image of the position of the electrosurgical pen of the electrosurgical machine and process the image to determine the target coordinates of the electrosurgical pen of the electrosurgical machine;

[0077] The controller is used to control the driver to move the electrosurgical unit toward the target coordinates, so as to illuminate the position of the electrosurgical pen of the electrosurgical unit.

[0078] The third embodiment of this application also provides a computer-readable storage medium for implementing the control methods of the above-described electrosurgical unit and shadowless lamp. The embodiments of the computer-readable storage medium provided in this application are described in a relatively simple manner; relevant parts can be found in the corresponding descriptions of the above-described method embodiments. The embodiments described below are merely illustrative.

[0079] The computer-readable storage medium provided in this embodiment stores computer instructions, which, when executed by a processor, perform the following steps:

[0080] The image acquisition device is used to track and acquire an image of the position of the electrosurgical pen of the electrosurgical machine;

[0081] The controller is used to receive an image of the position of the electrosurgical pen of the electrosurgical machine and process the image to determine the target coordinates of the electrosurgical pen of the electrosurgical machine;

[0082] The controller is used to control the driver to move the electrosurgical unit toward the target coordinates, so as to illuminate the position of the electrosurgical pen of the electrosurgical unit.

[0083] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0084] Memory may include non-persistent storage in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0085] 1. Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information by any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include non-transitory computer-readable media, such as modulated data signals and carrier waves.

[0086] 2. Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0087] Although this application discloses preferred embodiments as described above, it is not intended to limit this application. Any person skilled in the art can make possible changes and modifications without departing from the spirit and scope of this application. Therefore, the scope of protection of this application should be determined by the scope defined in the claims of this application.

Claims

1. An electrosurgical unit with automatic tracking illumination, characterized in that, include: Shadowless lamp, electrosurgical unit; An image acquisition device, a controller, and a driver are provided on the shadowless lamp; The image acquisition device is used to track and acquire an image of the position of the electrosurgical pen of the electrosurgical machine; The controller is used to receive an image of the position of the electrosurgical pen of the electrosurgical machine and process the image to determine the target coordinates of the electrosurgical pen of the electrosurgical machine; The controller is used to control the driver to move the shadowless lamp toward the target coordinates so that the shadowless lamp illuminates the position of the electrosurgical pen of the electrosurgical machine.

2. The electrosurgical unit with automatic tracking illumination according to claim 1, characterized in that, The driver is connected to the shadowless lamp driver, and the driver can drive the shadowless lamp to rotate; The image acquisition device is used to track and acquire images of the position of the electrosurgical pen of the electrosurgical machine. The image acquisition device is equipped with a control terminal, and the control terminal integrates a chip with computer vision technology. The computer vision chip is used to control the image acquisition device to acquire the position of the electrosurgical pen of the electrosurgical machine in real time; The target coordinates are three-dimensional coordinates. After determining the target coordinates, the tilt direction of the electric knife pen is analyzed and obtained, and used as the target direction to make the shadowless lamp irradiate in the target direction.

3. The electrosurgical unit with automatic tracking illumination according to claim 2, characterized in that, When the image acquisition device is unable to acquire an image containing the electrosurgical pen, the driver drives the shadowless lamp to move until an image containing the electrosurgical pen is acquired; A switch is provided on the electrosurgical pen, which is used to control the power supply to or off of the controller, the driver, and the image acquisition device.

4. The electrosurgical unit with automatic tracking illumination according to claim 2, characterized in that, The computer vision technology is: target detection algorithm; The target detection algorithm includes: The image of the position of the electrosurgical pen of the electrosurgical machine is divided into grids; and each grid is predicted to obtain the prediction result corresponding to each grid. Based on the prediction results, the confidence level of each grid is calculated to obtain the confidence value; Regression calculations are performed on the bounding boxes of each grid based on the confidence values, and category detection is performed on the features in each grid based on the calculation results to determine the grid where the electrosurgical pen of the electrosurgical machine is located, and it is tracked in real time.

5. The electrosurgical unit with automatic tracking illumination according to claim 3, characterized in that, The algorithm for calculating the confidence score for each grid cell based on the prediction results is as follows: \text{Confidence}=\text{Pr(Object)}\times\text{IOU}(\text{pred,truth} Where Pr(Object) is the probability that there is an object in the grid, and IOU(Intersection over Union) represents the degree of overlap between the predicted box and the ground truth box.

6. The electrosurgical unit with automatic tracking illumination according to claim 1, characterized in that, A locator is also provided on the shadowless lamp, and a sensor is also provided on the electrosurgical machine. The locator is connected to the image acquisition device, and the sensor works in conjunction with the locator to determine the position of the electrosurgical pen of the electrosurgical machine.

7. The electrosurgical unit with automatic tracking illumination according to claim 6, characterized in that, The sensor is any one of the following: an infrared sensor, a laser sensor, or an ultrasonic sensor; The locator uses a simultaneous localization and mapping algorithm to locate the sensor in real time.

8. The electrosurgical unit with automatic tracking illumination according to claim 1, characterized in that, The driver includes a servo motor and a stepper motor; The servo motor is used to drive the shadowless lamp to rotate, and the stepper motor is used to drive the servo motor and the shadowless lamp to move.

9. The electrosurgical unit with automatic tracking illumination according to claim 1, characterized in that, The controller is also used to provide a light brightness adjustment value based on environmental parameters in an image of the position of the electrosurgical pen of the electrosurgical machine, and to control the shadowless lamp to emit light based on the light brightness adjustment value; The methods for determining the brightness adjustment value include: Determine the brightness parameters in the image; Set target illumination parameters; based on the brightness parameters in the image and the target illumination parameters, set a light compensation value, which is the brightness adjustment value.

10. An electronic device, characterized in that, Electronic devices include: processors, memory, communication buses, and communication interfaces; The memory is used to store computer instructions for data processing, which, when read and executed by the processor, perform the control method of the electrosurgical machine with automatic tracking illumination as described in any one of claims 1-9.

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