Negative pressure rotary cutting device, system, and control method

Abstract

The present invention provides a negative pressure rotary cutting device, system, and method. The device comprises: a motor module, which comprises: a rotary cutting motor and a stroke motor, wherein the rotary cutting motor is configured to control the rotation of a rotary cutting puncture needle, and the stroke motor is configured to control the forward and backward movement of the rotary cutting puncture needle; a motor driving module, configured to drive the rotary cutting motor and the stroke motor, and further configured to monitor a real-time current of the rotary cutting motor and feed the monitored real-time current back to a main control module; and the main control module, which is connected to the motor driving module, is configured to control, on the basis of a set rotation speed, the rotary cutting motor and the stroke motor by means of the motor driving module, and is further configured to adjust, according to the real-time current, the set rotation speed. According to the technical solution of the present invention, during the working process, the real-time current of the rotary cutting motor is dynamically detected, and control parameters are reasonably adjusted according to the real-time current, thereby achieving the optimal sampling effect.

Description

Negative pressure rotary cutting device, system and control method TECHNICAL FIELD

[0001] The present application relates to the technical field of negative pressure rotary cutting, in particular to a negative pressure rotary cutting device, system and control method. BACKGROUND

[0002] Endoscopic ultrasound-guided transbronchial needle aspiration (EUS-TBNA) is a minimally invasive examination technique for puncture biopsy of lung, peripulmonary tissue and lymph node under real-time ultrasound guidance. Its advantages are that it can avoid important parts such as large blood vessels and nerves as much as possible under real-time ultrasound monitoring, reduce the risk of massive bleeding, improve the accuracy of sampling, and is minimally invasive, simple to operate and relatively safe.

[0003] The traditional ultrasound endoscopic biopsy needle is divided into three parts, namely the puncture needle, the outer sheath tube and the handle. The biopsy needle is used in cooperation with an endoscope, enters the predetermined position through the working channel of the endoscope, and performs puncture biopsy sampling. When sampling, the handle is operated by the doctor, and the sampling is repeated 10-30 times to obtain tissue samples.

[0004] In order to better obtain tissue samples, rotary cutting is also used in the prior art, such as the rotary biopsy needle disclosed in Chinese Patent No. 201980017865, which is driven by a motor to control the rotation of the rotary cutter. However, it does not have a host and a negative pressure system, and the motor cannot be finely controlled, making it difficult to adapt to various situations of different organs and lesion positions during sampling.

[0005] SUMMARY

[0006] The present application provides a negative pressure rotary cutting device, system and control method to solve the problem that the motor cannot be finely controlled in the prior art, making it difficult to adapt to various situations of different organs and lesion positions during sampling.

[0007] To solve the above technical problems, the present application is realized by the following technical solutions:

[0008] According to a first aspect of the present application, a negative pressure rotary cutting device is provided, comprising:

[0009] a motor module comprising a rotary cutting motor and a stroke motor, the rotary cutting motor being used to control the rotation of a rotary puncture needle, and the stroke motor being used to control the forward and backward movement of the rotary puncture needle;

[0010] a motor drive module for driving the rotary cutting motor and the stroke motor, and further for monitoring the real-time current of the rotary cutting motor and feeding back the monitored real-time current of the rotary cutting motor to a master control module;

[0011] A main control module connected with the motor driving module; for controlling the rotary cutting motor and the stroke motor through the motor driving module based on a set rotating speed, and for adjusting the set rotating speed according to a real-time current of the rotary cutting motor.

[0012] Optionally, the motor driving module is further configured to monitor a real-time current of the stroke motor and feed back the monitored real-time current of the stroke motor to the main control module.

[0013] The main control module is further configured to adjust the set rotating speed according to the real-time current of the stroke motor.

[0014] Optionally, the adjusting the set rotating speed according to the real-time current of the rotary cutting motor specifically comprises:

[0015] when the real-time current of the rotary cutting motor enters a second running state value from an initial running state value, increasing the rotary cutting speed of the rotary cutting motor;

[0016] from the initial running state value to the second running state value, specifically, the real-time current of the rotary cutting motor increases by more than a preset change value or the real-time current of the rotary cutting motor exceeds a preset current value;

[0017] wherein the real-time current increase value refers to the difference between the real-time current and a current reference value in the initial running state; in the initial running state, the real-time current of the rotary cutting motor fluctuates within the preset change value range around the current reference value.

[0018] Optionally, the adjusting the set rotating speed according to the real-time current of the rotary cutting motor specifically comprises:

[0019] when the real-time current of the rotary cutting motor enters the second running state from the initial running state, adjusting the stroke speed of the stroke motor.

[0020] Optionally, the main control module is further configured to adjust the rotating direction of the rotary cutting motor and the stroke motor through the motor driving module according to the real-time current of the rotary cutting motor.

[0021] Optionally, the adjusting the rotating direction of the rotary cutting motor and the stroke motor through the motor driving module according to the real-time current of the rotary cutting motor specifically comprises:

[0022] when the real-time current of the rotary cutting motor enters a critical state value, reversing the rotating direction of the rotary cutting motor and the stroke motor;

[0023] The entering critical state value, in particular: the real-time current increase value of the rotary cutting motor exceeds a critical change value or the real-time current of the rotary cutting motor exceeds a critical current value;

[0024] The real-time current increase value refers to the difference between the real-time current and the current reference value in the initial operating state; in the initial operating state, the real-time current of the rotary cutting motor fluctuates around the current reference value within a preset change value range; the preset change value is less than the critical change value.

[0025] Optionally, the main control module is further configured to calculate a real-time torque according to the set rotating speed and the real-time current, so as to determine the type and / or cutting state of the cut tissue according to the set rotating speed and the real-time torque.

[0026] Optionally, the system further comprises:

[0027] A negative pressure module configured to provide negative pressure for the rotary cutting puncture needle;

[0028] A negative pressure monitoring module configured to monitor an actual negative pressure value of the negative pressure module, and further configured to feed back the monitored actual negative pressure value to the main control module;

[0029] The main control module is further configured to trigger an alarm when the actual negative pressure value is lower than a set negative pressure value and a falling speed exceeds a preset value.

[0030] Optionally, the preset value includes a first preset value and a second preset value, and the second preset value is greater than the first preset value.

[0031] When the falling speed of the actual negative pressure value exceeds the first preset value, a first alarm mode is triggered.

[0032] When the falling speed of the actual negative pressure value exceeds the second preset value, a second alarm mode is triggered.

[0033] Optionally, the negative pressure module is connected to the main control module, and the main control module is further configured to adjust the negative pressure value of the negative pressure module.

[0034] Optionally, the adjustment of the negative pressure value of the negative pressure module specifically includes:

[0035] When the actual current of the rotary cutting motor changes from the initial operating state to a second operating state, the negative pressure value of the negative pressure module is increased;

[0036] The change from the initial operating state to the second operating state specifically refers to that the real-time current increase value of the rotary cutting motor exceeds a first preset change value or the real-time current of the rotary cutting motor exceeds a first preset current value.

[0037] The real-time current increase value is a difference value between the real-time current and a current reference value in the initial operation state; the real-time current of the rotary cutting motor fluctuates around the current reference value in a first preset change value range in the initial operation state.

[0038] Optionally, the system further comprises:

[0039] The electromagnetic valve is arranged on a negative pressure suction pipeline of the negative pressure module.

[0040] The electromagnetic valve driving module is connected with the electromagnetic valve through the main control module, and is used for driving the electromagnetic valve to open or close through the electromagnetic valve driving module.

[0041] Optionally, the main control module comprises:

[0042] The rotary cutting depth acquisition module is used for calculating the stroke depth of the stroke motor according to the negative feedback signal of the stroke motor.

[0043] According to a second aspect of the present application, a negative pressure rotary cutting system is provided, comprising:

[0044] The rotary cutting puncture needle;

[0045] The negative pressure rotary cutting device is any one of the above-mentioned negative pressure rotary cutting devices.

[0046] According to a third aspect of the present application, a negative pressure rotary cutting control method is provided, comprising:

[0047] Adjusting the set rotating speed of the rotary cutting motor according to the real-time current of the rotary cutting motor;

[0048] Adjusting the rotating direction of the rotary cutting motor and the stroke motor according to the real-time current of the rotary cutting motor;

[0049] Adjusting the negative pressure value according to the real-time current of the rotary cutting motor.

[0050] The negative pressure rotary cutting device, system and control method provided by the present application can dynamically detect the real-time current of the rotary cutting motor during the movement of the motor driving the rotary cutting puncture needle, reasonably adjust the control parameters based on the real-time current, and achieve the best sampling effect.

[0051] In an optional scheme of the present application, the motor speed is slow in the initial operation state (initial state), and the real-time current runs at the initial operation state value, i.e. fluctuates around the current reference value in a preset change value range; when the real-time current increases from the initial operation state value to the second operation state value, i.e. the increase value of the real-time current exceeds the preset change value or the real-time current exceeds the preset current value, the lesion tissue position is entered with high probability, and the speed of the rotary cutting motor is increased to improve the rotary cutting efficiency.

[0052] In an optional solution of the present application, a brake detection mechanism is provided. When a critical state is entered, i.e., the real-time current of the rotary cutting motor increases beyond a critical increase value or the real-time current exceeds a critical value, it indicates that the resistance is too large at this time, and the rotary cutting knife may be strangulated with the tough tissue (such as fibrous tissue) in the tissue. At this time, the rotary motor and the stroke motor are controlled in reverse, i.e., the rotary cutting knife is controlled to rotate in reverse, and the rotary cutting knife is retracted, which can release the strangulation.

[0053] In an optional solution of the present application, the negative pressure system is dynamically monitored, and the control parameters are reasonably adjusted. When the increase of the real-time current of the rotary cutting motor exceeds a preset change value or the real-time current exceeds a preset current value, it is highly probable that the position of the diseased tissue is entered at this time. At this time, the negative pressure value is increased, and a better sampling effect can be achieved.

[0054] Further, in the sampling end and breakage stage, after the rotary cutting motor and the stroke motor are stopped, the negative pressure value is further increased, then the stroke motor is reversed to drive the rotary cutting puncture needle to retract, and the sample tissue is broken by the suction force and the friction force. The sample tissue can be completely separated, and a better sampling effect can be achieved.

[0055] In an optional solution of the present application, the real-time torque is calculated according to the set speed and the real-time current of the motor. The type of tissue and the cutting state of the diseased tissue can be identified according to the set speed and the real-time torque.

[0056] In an optional solution of the present application, an electromagnetic valve is arranged on the negative pressure pipeline, which can quickly cut off the communication between the negative pressure module and the rotary cutting puncture needle, so as to quickly stop when an abnormality occurs, reduce the damage, quickly stop when the sampling is completed, and better ensure that the sample tissue in the rotary cutting puncture needle remains in the rotary cutting puncture needle. BRIEF DESCRIPTION OF DRAWINGS

[0057] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0058] FIG. 1 is a schematic view of a negative pressure rotary cutting device according to an embodiment of the present application;

[0059] FIG. 2 is a circuit principle diagram of a motor driving module according to an embodiment of the present application;

[0060] FIG. 3 is a circuit principle diagram of a motor driving chip of a motor driving module according to an embodiment of the present application;

[0061] Figure 4 is a schematic diagram of the motor driving module driving the motor to rotate clockwise in an embodiment of the present application;

[0062] Figure 5 is a schematic diagram of the motor driving module driving the motor to rotate counterclockwise in an embodiment of the present application;

[0063] Figure 6 is a schematic diagram of the negative pressure rotary cutting device in a preferred embodiment of the present application;

[0064] Figure 7 is a schematic diagram of the negative pressure rotary cutting device in a preferred embodiment of the present application;

[0065] Figure 8 is a schematic diagram of the negative pressure rotary cutting device in a preferred embodiment of the present application;

[0066] Figure 9 is a schematic diagram of the circuit for obtaining the rotary cutting depth in an embodiment of the present application;

[0067] Figure 10 is a schematic diagram of the negative pressure rotary cutting device in a preferred embodiment of the present application;

[0068] Figure 11 is a schematic diagram of the change process of the real-time current of the rotary cutting motor in an embodiment of the present application;

[0069] Figure 12 is a schematic diagram of the negative pressure rotary cutting system in an embodiment of the present application;

[0070] Figure 13 is a flowchart of the negative pressure rotary cutting control method in an embodiment of the present application;

[0071] Explanation of reference signs:

[0072] 101 - master control module,

[0073] 102 - motor driving module,

[0074] 103 - motor module,

[0075] 1031 - rotary cutting motor,

[0076] 1032 - stroke motor;

[0077] 104 - negative pressure module,

[0078] 1041 - negative pressure pump,

[0079] 1042 - negative pressure driving module,

[0080] 105 - negative pressure monitoring module;

[0081] 106 - electromagnetic valve,

[0082] 107 - electromagnetic valve driving module;

[0083] 108 - display screen module;

[0084] 109 - alarm module;

[0085] 110 - key module;

[0086] 111 - foot pedal module;

[0087] 201 - rotary cutting puncture needle. DETAILED DESCRIPTION

[0088] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0089] In the description of the specification of the present application, it should be understood that the terms "upper", "lower", "upper end", "lower end", "lower surface", "upper surface" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0090] In the description of the specification of the present application, the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features.

[0091] In the description of the present application, the meaning of "a plurality of" is a plurality, for example, two, three, four, etc., unless otherwise explicitly specified and limited.

[0092] In the description of the specification of the present application, unless otherwise explicitly specified and limited, the terms "connection" and the like should be broadly understood, for example, it can be fixedly connected, or detachably connected, or integrated; it can be mechanically connected, or electrically connected or can communicate with each other; it can be directly connected, or indirectly connected through an intermediate medium, or the internal communication of two elements or the interaction relationship between two elements. For a person of ordinary skill in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0093] The technical solutions of the present application will be described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes can not be described in some embodiments.

[0094] In an embodiment, a negative pressure rotary cutting device is provided, please refer to Fig. 1, which comprises: a motor module 103, a motor drive module 102, a master control module 101. Among them, the motor module 103 comprises: a rotary cutting motor 1031, a stroke motor 1032; the rotary cutting motor 1031 is used to control the rotation of the rotary cutting puncture needle, and the stroke motor 1032 is used to control the forward and backward movement of the rotary cutting puncture needle. The motor drive module 102 is used to drive the rotary cutting motor 1031 and the stroke motor 1032, and is also used to monitor the actual speed and / or actual current of the rotary cutting motor and the stroke motor, and feed back the monitored actual speed and / or actual current to the master control module 101. The master control module 101 is connected with the motor drive module 102; it is used to control the rotary cutting motor and the stroke motor through the motor drive module 102 based on the set speed, and is also used to adjust the set speed according to the real-time current of the rotary cutting motor. Because the motor controls the movement of the rotary cutting puncture needle, at the same set speed, the current of the motor is different when the resistance is different; according to the real-time current, the size of the resistance can be preliminarily judged, and according to the size of the resistance, the movement position of the rotary cutting puncture needle can be judged, and according to different movement positions, different speeds can be set.

[0095] In the process of rotating forward, when affected by resistance, the current change of the rotary cutting motor is more sensitive than that of the stroke motor, so the real-time current of the rotary cutting motor is mainly monitored.

[0096] Of course, the real-time current of the stroke motor can also be monitored, and the real-time current of the stroke motor can be used for auxiliary judgment, so that the judgment is more accurate.

[0097] As an implementation, the adjusting the set rotating speed according to the real-time current of the rotating motor includes adjusting the rotating speed of the rotating motor. Further, it specifically includes: when the real-time current of the rotating motor enters from an initial operating state value to a second operating state value, the rotating speed of the rotating motor is adjusted to be larger. The initial operating state is the initial state of the rotating motor, at this time, it runs in normal tissue, the resistance is relatively small, and the real-time current value is also relatively small; as the rotating proceeds, it will enter the lesion tissue, at this time, it runs in the second operating state, the resistance will become larger, and the real-time current will also become larger, and the operating state can be judged through the real-time current. Assuming that the current reference value in the initial operating state is A1, in the initial operating state, the real-time current value will fluctuate around A1 within a preset change value ΔA, that is, when the monitored real-time current value is within the range of (A1-ΔA)~(A1+ΔA), it represents that it is in the initial operating state value, which indicates that it is in the initial operating state. Assuming that the real-time current in the second operating state is A2, when the monitored real-time current increases by more than ΔA, that is, (A2-A1)>ΔA; or when the monitored real-time current is greater than the preset current value, that is, A2>(A1+ΔA); it represents that it enters the second operating state value, which indicates that it enters the second operating state.

[0098] Preferably, the current reference value A1 in the initial operating state can be a value obtained by averaging the real-time current in the initial operating state; or a value pre-set according to experience.

[0099] The preset change value and the preset current value can be reasonably set according to the parameters of the motor, and the above two values can be different for different motors.

[0100] As another implementation, the adjusting the set rotating speed according to the real-time current of the rotating motor includes adjusting the stroke speed of the stroke motor. Further, it specifically includes: when the real-time current of the rotating motor enters from an initial operating state value to a second operating state value, the stroke speed of the stroke motor is adjusted, which can be adjusted to be larger or smaller.

[0101] Preferably, for the adjustment of the stroke speed, whether to be adjusted to be larger or smaller can be judged according to the operating load of the stroke motor. For the operating load, it can be difficult to cut the tissue, and the stroke speed can be adjusted to be smaller, so that the rotating puncture needle has more sufficient time to cut and separate the tissue; for the operating load, it can be easy to cut the tissue, and the stroke speed can be adjusted to be larger, so that the tissue can be quickly stored in the cavity of the rotating puncture needle, avoiding the tissue being stirred.

[0102] In an embodiment, the adjusting the set rotating speed according to the real-time current of the rotating motor can include adjusting the rotating speed of the rotating motor, and can also include adjusting the stroke speed of the stroke motor.

[0103] In the initial running state, the set rotating speed of the rotating motor and the stroke motor is relatively small. When the real-time current of the rotating motor enters the second running state value from the initial running state value, it indicates that the rotating puncture needle may reach the lesion position, and the second running state is entered. At this time, the rotating speed of the rotating motor is increased, so that the rotating puncture needle rotates faster, so that the tissue can be better cut, and the rotating efficiency can be improved. In addition, due to the increase of the rotating speed, the sampling amount can be increased by using inertia.

[0104] In an embodiment, the main control module is further configured to adjust the rotating direction of the rotating motor and the stroke motor by the motor driving module according to the real-time current of the rotating motor. It has been pointed out above that the size of the resistance received can be preliminarily judged according to the real-time current of the motor. According to actual working experience, the size range of the resistance received in the normal rotating process (including the initial running state and the second running state) can be obtained. When it is not within the range, an abnormal situation may occur, and the rotating motor and the stroke motor can be adjusted in reverse direction.

[0105] In an embodiment, the rotating direction of the rotating motor and the stroke motor is adjusted by the motor driving module according to the real-time current of the rotating motor, which specifically includes: when the real-time current of the rotating motor exceeds the critical current value (limit current value) or the real-time current increase value exceeds the critical increase value (limit increase value), the rotating direction of the rotating motor and the stroke motor is controlled in reverse. The critical current value is greater than the preset current value described above, and the critical change value is greater than the preset change value described above. When the real-time current of the rotating motor exceeds the critical current value or the real-time current increase value exceeds the critical increase value, the rotating puncture needle may be strangulated with the tough tissue (such as fibrous tissue) in the tissue. At this time, the rotating motor is controlled in reverse to release the strangulation, and the stroke motor is controlled in reverse to gradually withdraw the needle.

[0106] When the real-time current of the stroke motor is also monitored and used for auxiliary judgment, the preset change value and the preset current value corresponding to the initial running state value and the second running state value of the real-time current of the stroke motor may be different from the preset change value and the preset current value corresponding to the initial running state value and the second running state value of the real-time current of the rotating motor, which can be set according to the parameters of the stroke motor.

[0107] Preferably, when the rotating direction adjustment occurs, the main control module can also give a prompt to prompt the operator to replace the sampling position.

[0108] In an embodiment, the main control module 101 is further configured to control the rotating motor to start first in the initial running state, and then control the stroke motor to start after a preset condition is met.

[0109] As an embodiment, the preset condition can be a lag preset time, that is, the rotating motor is controlled to start first, and then the stroke motor is controlled to start after the lag preset time.

[0110] As another implementation, the preset condition can be that the rotary motor reaches a preset rotating speed, i.e., the stroke motor is started first, and when the rotary motor completes acceleration and the rotating speed reaches the preset rotating speed, the stroke motor is started.

[0111] In an embodiment, the motor module 103 can be integrated in the motor handle, and the rotary gear corresponding to the rotary motor and the stroke gear corresponding to the stroke motor can also be integrated in the motor handle. The motor handle can be connected to the motor drive module in the form of a data line.

[0112] In an embodiment, the motor drive module can be implemented using the circuit shown in FIG. 2. Two BTN7971B integrated high-current half-bridge motor drive chips are used to form an H-bridge for driving a DC motor, and M1A and M1B are connected to the two ends of the motor. The chip is powered by 24V, and the EN pin controls the chip input high level to make the chip enter the normal working mode. When PWM1 and PWM2 input complementary PWM drive signals, the current enters the motor through M1A and flows out of the motor from M1B, thereby realizing the rotation of the motor.

[0113] The simple working principle of the H-bridge motor drive is shown in FIG. 3. The internal composition of the left chip in FIG. 2 is shown in the left of FIG. 3 (Q1 / Q2), and the internal composition of the right chip in FIG. 2 is shown in the right of FIG. 3 (Q3 / Q4).

[0114] To make the motor run, a pair of diodes on the diagonal must be turned on. Depending on the conduction of different pairs of diodes, the current can flow from left to right or from right to left through the motor, thereby controlling the direction of the motor.

[0115] When Q1 and Q4 are turned on, the current flows from the positive electrode of the power supply through Q1 from left to right through the motor, and then returns to the negative electrode of the power supply through Q4. As shown by the current arrows in the figure, the current in this direction will drive the motor to rotate clockwise, as shown in FIG. 4.

[0116] When the other pair of diodes Q2 and Q3 is turned on, the current will flow from right to left through the motor, and the H-bridge circuit will drive the motor to rotate counterclockwise, as shown in FIG. 5.

[0117] In an embodiment, the main control module is also used to calculate the actual torque according to the real-time current of the rotary motor and the set rotating speed, so as to determine the type and / or cutting state of the cut tissue according to the set rotating speed and the real-time torque. The main control module can pre-store the set rotating speed and cutting torque corresponding to different types of cut tissue and / or cutting state based on experimental tests; during operation, the type and / or cutting state of the cut tissue can be roughly determined according to the set rotating speed and the real-time torque, which can provide a basis for intelligent control of the rotary motor and the stroke motor.

[0118] In an embodiment, the main control module 101 and the motor drive module 102 can be integrated in the same structure as the host computer, as shown in the dashed line in FIG. 1.

[0119] In an embodiment, the negative pressure rotary cutting device further comprises a negative pressure module 104 connected to the main control module 101, as shown in FIG. 6. The negative pressure module 104 is used to provide negative pressure for the rotary cutting puncture needle. Under the negative pressure environment, the sample tissue can be sucked into the rotary cutting puncture needle. Under the same conditions, the sampling amount with negative pressure is more than that without negative pressure. The negative pressure monitoring module 105 is used to monitor the actual negative pressure value of the negative pressure module 104, and also used to feed back the monitored actual negative pressure value to the main control module 101. The main control module 101 is also used to trigger an alarm when the actual negative pressure value is lower than the set negative pressure value and the falling speed exceeds the preset value.

[0120] In an embodiment, the alarm can be alarmed by an alarm module, such as sound alarm; or can be displayed by a display screen, such as using warning color display, flashing alarm, etc.

[0121] In an embodiment, the negative pressure monitoring module can be realized by a negative pressure sensor.

[0122] In an embodiment, the preset value of the falling speed of the actual negative pressure value can include two: the first preset value and the second preset value, and the second preset value is greater than the first preset value. When the falling speed of the actual negative pressure value exceeds the first preset value, the first alarm mode is triggered; when the falling speed of the actual negative pressure value exceeds the second preset value, the second alarm mode is triggered. When the falling speed is relatively slow, i.e. exceeds the first preset value, it may be that the negative pressure pipeline leaks, or it may be that liquid (such as blood, etc.) enters the negative pressure pipeline, at which time the first alarm mode is triggered, and the working personnel can exclude the corresponding condition according to the alarm mode. When the falling speed is relatively fast, i.e. exceeds the second preset value, the negative pressure pipeline is most likely to leak, and the working personnel can exclude the corresponding condition according to the alarm mode. According to the different falling speeds, two modes of alarm are performed, which can help the working personnel to judge the possible conditions, and then timely corresponding measures can be taken.

[0123] In an embodiment, the first alarm mode and the second alarm mode can be distinguished by different alarm sounds, such as different alarm sounds, or different alarm sounds can be distinguished by different alarm displays, such as different contents, or different colors, or different flashing frequencies.

[0124] In an embodiment, the main control module 101 is further configured to respond when the actual negative pressure value is zero. When the actual negative pressure value is zero, it indicates that the biopsy needle is not inserted into the tissue or there is a leakage in the internal pipeline of the biopsy needle, resulting in air leakage. At this time, the response can prompt the operator to check what condition occurs, and then appropriate measures can be taken to eliminate the condition.

[0125] In an embodiment, the negative pressure of the negative pressure module is controlled by the main control module, and the main control module is further configured to adjust the negative pressure value of the negative pressure module.

[0126] In an embodiment, the negative pressure module 104 can include a negative pressure pump 1041 and a negative pressure drive module 1042, as shown in FIG. 7. The main control module 101 controls the negative pressure pump 1041 through the negative pressure drive module 1042.

[0127] In an embodiment, adjusting the negative pressure value of the negative pressure module specifically includes gradually increasing the negative pressure value of the negative pressure module when the real-time current of the biopsy motor changes from the initial operating state value to the second operating state value. The negative pressure value corresponds to the flow rate of the negative pressure module. At a given flow rate, the negative pressure value is the negative pressure value corresponding to the given flow rate. Therefore, the increase in the negative pressure value can be achieved by adjusting the flow rate.

[0128] In an embodiment, the negative pressure biopsy device further includes an electromagnetic valve 106 and an electromagnetic valve drive module 107, as shown in FIG. 8. The main control module 101 is connected to the electromagnetic valve 106 through the electromagnetic valve drive module 107. The electromagnetic valve 106 is arranged on the negative pressure suction pipeline. The main control module is configured to control the opening and closing of the electromagnetic valve. The arrangement of the electromagnetic valve 106 can quickly cut off the negative pressure conduction. For example, when it is found that blood is continuously sucked, the negative pressure conduction can be immediately cut off to reduce the harm. When the sampling is completed, the negative pressure conduction can be quickly cut off to better ensure that the tissue in the biopsy needle remains in the biopsy needle.

[0129] In an embodiment, the main control module further includes a biopsy depth acquisition module, and the circuit schematic diagram is shown in FIG. 9. In the figure, FA is a motor negative feedback signal, which is output to a drive transistor Q through a 6N138 optocoupler chip, thereby obtaining an FAI pulse signal input to a timer capture interface of a main control chip. The software captures the pulse count, which corresponds to the motor rotation angle. Through gear transmission, the corresponding stroke depth, i.e., the biopsy depth, can be indirectly obtained.

[0130] In an embodiment, the negative pressure rotary cutting device further comprises a display screen 108 connected to the main control module, as shown in FIG. 10. The display module can realize alarm in abnormal conditions; various effective parameters in the main control module can also be displayed through the display screen, and the rotary cutting depth obtained can also be displayed through the display screen, so that the position of the rotary cutting puncture needle can be known in real time. In addition, whether the rotary cutting depth reaches the set sampling depth can be judged through the obtained rotary cutting depth, and sampling can be stopped when the set sampling depth is reached.

[0131] In an embodiment, the negative pressure rotary cutting device further comprises an alarm module 109 connected to the main control module, as shown in FIG. 10. The alarm module can realize alarm in abnormal conditions.

[0132] In an embodiment, the main control module can also be used to judge whether the sampling of the lesion position is completed and enter normal tissue according to the real-time current of the rotary cutting motor, and sampling can be stopped at this time. Specifically, when the real-time current of the rotary cutting motor returns to the initial operating state value from the second operating state value, it is indicated that the normal tissue can be re-entered, and the rotary cutting motor and the stroke motor can be controlled to stop or reverse to exit, and sampling can be stopped. As shown in FIG. 11, during the rotary cutting process, first, the normal tissue, the real-time current of the rotary cutting motor is at the initial operating state value, and fluctuates around a relatively low value A1; then, the lesion tissue is entered, the real-time current of the rotary cutting motor enters the second operating state value, and the real-time current becomes large and fluctuates around a relatively high value A2; then, the lesion tissue is passed through, and the normal tissue is entered again, and the real-time current of the rotary cutting motor becomes small and fluctuates around a relatively low value. According to the above change process of the real-time current, it can be judged when the lesion tissue is entered and when the sampling is completed and the normal tissue is entered again.

[0133] In an embodiment, the negative pressure rotary cutting device can further comprise a button 110 and a foot pedal 111 connected to the main control module, as shown in FIG. 10. The parameters can be set through the button, and the main control module can be controlled through the foot pedal.

[0134] In an embodiment, a negative pressure rotary cutting system is also provided, as shown in FIG. 12, which comprises:

[0135] a rotary cutting puncture needle 201 and a negative pressure rotary cutting device. The negative pressure rotary cutting device is the negative pressure rotary cutting device described in any of the above embodiments. For the negative pressure rotary cutting device, only the motor 103 is shown, and the main control module is not shown.

[0136] In an embodiment, a negative pressure rotary cutting control method is also provided, as shown in FIG. 13, which comprises:

[0137] S11: adjusting the set rotating speed of the rotary cutting motor according to the real-time current of the rotary cutting motor;

[0138] S12: adjusting the rotating direction of the rotary cutting motor and the stroke motor according to the real-time current of the rotary cutting motor;

[0139] S13: adjusting the negative pressure value according to the real-time current of the rotary cutting motor.

[0140] It should be noted that the above S11-S13 do not necessarily follow the order shown in the figure, and S11, S12 and S13 do not follow a specific order.

[0141] In an embodiment, S11 specifically includes adjusting the set rotating speed of the rotary cutting motor according to the real-time current of the rotary cutting motor. Further, it specifically includes increasing the set rotating speed of the rotary cutting motor when the real-time current of the rotary cutting motor enters a second running state value from an initial running state value.

[0142] In an embodiment, S11 further includes adjusting the set rotating speed of the stroke motor according to the real-time current of the rotary cutting motor. Further, it specifically includes adjusting the set rotating speed of the stroke motor when the real-time current of the rotary cutting motor enters a second running state value from an initial running state value.

[0143] In an embodiment, S12 specifically includes reversing the rotation of the rotary cutting motor and the stroke motor when the real-time current of the rotary cutting motor exceeds a critical current value (limit current value) or the real-time current increase value exceeds a critical increase value (limit increase value).

[0144] In an embodiment, S13 specifically includes increasing the negative pressure value of the negative pressure module when the real-time current of the rotary cutting motor enters a second running state value from an initial running state value.

[0145] In an embodiment, S13 further includes further increasing the negative pressure value after the rotary cutting motor and the stroke motor stop in the sampling end and breaking stage. In this way, in the process of reversing the stroke motor to drive the rotary cutting puncture needle to retreat, the sample tissue is broken by the suction force and friction force of the negative pressure, which can ensure that the sample tissue is completely separated.

[0146] The above describes specific embodiments of the present application. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims can be performed in a different order than the order in which they are recited and still achieve desirable results. In addition, the processes depicted in the figures do not necessarily require the particular order shown, or sequential order, to achieve the desired results. In certain implementations, multitasking and parallel processing can be advantageous.

[0147] In the description of the specification, the description of the terms "one implementation", "one embodiment", "specific implementation process", "one example" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the description, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0148] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A negative pressure rotary cutting device, characterized by, The application relates to a rotary cutting and puncture needle device, which comprises the following parts: a motor module, which comprises a rotary cutting motor and a stroke motor, the rotary cutting motor being used for controlling the rotation of a rotary cutting puncture needle, and the stroke motor being used for controlling the forward and backward movement of the rotary cutting puncture needle; a motor drive module, which is used for driving the rotary cutting motor and the stroke motor, monitoring the real-time current of the rotary cutting motor, and feeding back the monitored real-time current of the rotary cutting motor to a master control module; the master control module, which is connected with the motor drive module, is used for controlling the rotary cutting motor and the stroke motor through the motor drive module based on a set rotating speed, and is used for adjusting the set rotating speed according to the real-time current of the rotary cutting motor.

2. The negative pressure rotary cutting device of claim 1, wherein, The motor drive module is also used for monitoring the real-time current of the stroke motor, and feeding back the monitored real-time current of the stroke motor to the master control module. The master control module is also used for adjusting the set rotating speed according to the real-time current of the stroke motor.

3. The negative pressure rotary cutting device of claim 1, wherein, The adjustment of the set rotating speed according to the real-time current of the rotary cutting motor specifically comprises the following steps: when the real-time current of the rotary cutting motor enters a second running state value from an initial running state value, the rotary cutting speed of the rotary cutting motor is increased; the entering of the second running state value from the initial running state value specifically refers to that the real-time current increasing value of the rotary cutting motor exceeds a preset change value or the real-time current of the rotary cutting motor exceeds a preset current value; wherein the real-time current increasing value refers to the difference between the real-time current and a current reference value in the initial running state, and the real-time current of the rotary cutting motor fluctuates within a preset change value range around the current reference value in the initial running state.

4. The negative pressure rotary cutting device of claim 3, wherein, The adjustment of the set rotating speed according to the real-time current of the rotary cutting motor specifically comprises the following steps: when the real-time current of the rotary cutting motor enters the second running state value from the initial running state value, the stroke speed of the stroke motor is adjusted.

5. The negative pressure rotary cutting device of claim 1, wherein, The master control module is also used for adjusting the rotating direction of the rotary cutting motor and the stroke motor through the motor drive module according to the real-time current of the rotary cutting motor.

6. The negative pressure rotary cutting device of claim 5, wherein, The adjustment of the rotating direction of the rotary cutting motor and the stroke motor through the motor drive module according to the real-time current of the rotary cutting motor specifically comprises the following steps: when the real-time current increasing value of the rotary cutting motor exceeds a critical change value or the real-time current of the rotary cutting motor exceeds a critical current value, the rotating direction of the rotary cutting motor and the stroke motor is controlled to be reversed. wherein the real-time current increasing value refers to the difference between the real-time current and a current reference value in the initial running state, and the real-time current of the rotary cutting motor fluctuates within a preset change value range around the current reference value in the initial running state; and the preset change value is smaller than the critical change value.

7. The negative pressure rotary cutting device of claim 1, wherein, The master control module is also used for calculating a real-time torque according to the set rotating speed and the real-time current, and judging the type and / or cutting state of cut tissues according to the set rotating speed and the real-time torque.

8. The negative pressure rotary cutting device of any one of claims 1 to 7, wherein, The application further comprises the following parts: a negative pressure module, and the master control module is used for providing negative pressure for the rotary cutting puncture needle. The negative pressure monitoring module is configured to monitor an actual negative pressure value of the negative pressure module and feed back the monitored actual negative pressure value to the main control module. The main control module is further configured to trigger an alarm when the actual negative pressure value is lower than a set negative pressure value and a falling speed of the actual negative pressure value exceeds a preset value.

9. The negative pressure rotary cutting device of claim 8, wherein, The preset value includes a first preset value and a second preset value, and the second preset value is greater than the first preset value. The first alarm mode is triggered when the falling speed of the actual negative pressure value exceeds the first preset value. The second alarm mode is triggered when the falling speed of the actual negative pressure value exceeds the second preset value.

10. The negative pressure rotary cutting device of claim 8, wherein, The main control module is further configured to adjust the negative pressure value of the negative pressure module.

11. The negative pressure rotary cutting device of claim 10, wherein, The adjustment of the negative pressure value of the negative pressure module includes: The negative pressure value of the negative pressure module is increased when the actual current of the rotary cutting motor enters a second running state value from an initial running state value. The initial running state value enters the second running state value when an actual current increase value of the rotary cutting motor exceeds a preset change value or the actual current of the rotary cutting motor exceeds a preset current value. The actual current increase value refers to a difference between the actual current and a current reference value in the initial running state, and the actual current of the rotary cutting motor fluctuates within the preset change value around the current reference value in the initial running state.

12. The negative pressure rotary cutting device of claim 8, wherein, Further comprising: An electromagnetic valve arranged on a negative pressure suction pipeline of the negative pressure module; An electromagnetic valve driving module, the main control module is connected with the electromagnetic valve through the electromagnetic valve driving module, and the main control module is configured to drive the electromagnetic valve to open or close through the electromagnetic valve driving module.

13. The negative pressure rotary cutting device of any one of claims 1 to 7, wherein, The main control module includes: A rotary cutting depth acquisition module configured to calculate a stroke depth of the stroke motor according to a negative feedback signal of the stroke motor.

14. A negative pressure rotary cutting system, comprising: Further comprising: A rotary cutting puncture needle; The negative pressure rotary cutting device is the negative pressure rotary cutting device according to any one of claims 1 to 13.

15. A method of negative pressure rotary cutting control, the method comprising: Further comprising: Adjusting a set rotating speed of the rotary cutting motor according to an actual current of the rotary cutting motor; Adjusting rotating directions of the rotary cutting motor and the stroke motor according to the actual current of the rotary cutting motor; Adjusting the negative pressure value according to the actual current of the rotary cutting motor.

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