Endoscopic thyroid-dedicated nerve monitoring bipolar device

Abstract

The present application provides an endoscopic thyroid-dedicated nerve monitoring bipolar device, relating to the technical field of medical instruments. In a functional electrode unit, a radio-frequency output electrode is arranged and used for applying a high-frequency current to perform tissue cutting and blood coagulation, and a nerve stimulation electrode is arranged and used for applying a low-frequency current to perform nerve stimulation and monitoring. The two electrodes work cooperatively, an impedance detection electrode collects a voltage signal generated after the low-frequency current passes through tissue, and an impedance modeling unit converts the collected voltage signal to obtain an impedance value. A position positioning module determines the position of a working point between two electrode ends. During surgery, an initial impedance value of the working point at the current position is used as a tissue type to determine the tissue type of the working point. As the radio-frequency output electrode performs tissue cutting, a change in the impedance value of the working point at the current position is monitored, and in combination with the previously determined tissue type, the tissue cutting result is determined. In summary, the safety and overall efficiency of the surgical operation are improved.

Description

A bipolar endoscopic thyroid-specific nerve monitoring system Technical Field

[0001] This application relates to the field of medical device technology, and in particular to a bipolar endoscopic thyroid-specific nerve monitoring system. Background Technology

[0002] With the development of minimally invasive surgical techniques, endoscopic thyroid surgery places increasingly higher demands on surgical instruments. In thyroid surgery, not only is efficient and precise tissue cutting and coagulation required, but also real-time monitoring and protection of important nerves such as the recurrent laryngeal nerve within the surgical area are necessary to avoid postoperative complications.

[0003] The endoscopic thyroid-specific bipolar nerve monitoring device is a high-end medical device designed specifically for thyroid surgery. This monopolar electrode is an integrated electrode that combines electrical stimulation and tissue coagulation functions. During laparoscopic or robotic surgery, it can precisely detect, identify, and protect motor nerves with the assistance of nerve monitoring, thereby achieving closed-loop control of "cutting-monitoring-feedback-adjustment" during surgery. This minimizes the risk of nerve damage while maintaining surgical efficiency. The electrode also features a temperature control system, enabling low-temperature cutting during surgery, reducing intraoperative smoke, tissue adhesion, and thermal damage. This helps surgeons achieve efficient surgery and functional protection, reducing surgical risks and improving the safety and effectiveness of the procedure.

[0004] In related technologies, the surgical equipment commonly used in clinical practice currently falls into two main categories: one is electrosurgical equipment that uses high-frequency current for tissue cutting and coagulation, and the other is equipment that uses low-frequency current for nerve stimulation and monitoring. While high-frequency current is used for tissue cutting and coagulation, it cannot simultaneously handle nerve stimulation and monitoring, posing a risk of nerve damage. Although low-frequency current can be used for nerve stimulation and monitoring, its cutting efficiency is low and cannot meet surgical requirements. Summary of the Invention

[0005] This application provides an endoscopic thyroid-specific bipolar nerve monitoring system to improve the safety and overall efficiency of surgical procedures.

[0006] This application provides an endoscopic thyroid-specific bipolar neuromonitoring device, comprising: a functional electrode unit, a signal detection unit, and a control and processing unit;

[0007] The functional electrode unit includes:

[0008] The radio frequency output electrodes, located at both ends, are used to apply high-frequency current for tissue cutting and coagulation.

[0009] A nerve stimulation electrode placed at a certain extreme is used to apply low-frequency current for nerve stimulation and monitoring.

[0010] The signal detection unit includes:

[0011] The impedance detection electrode, located at the other extreme, is set in correspondence with the nerve stimulation electrode and is used to collect the voltage signal after a low-frequency current passes through the tissue.

[0012] Impedance modeling unit, used to convert voltage signals into impedance values;

[0013] The control processing unit includes:

[0014] The location module is used to determine the position of the working point, which is between the two extremes;

[0015] The central processing module is used to control the synchronous operation of the radio frequency output electrode and the nerve stimulation electrode; to use the initial impedance value of the current working point as the type impedance; to determine the tissue type of the current working point through the type impedance; and to determine the tissue cutting result based on the tissue type and the impedance value change of the current working point.

[0016] Through the above technical solution, the functional electrode unit is equipped with a radio frequency output electrode for applying high-frequency current for tissue cutting and coagulation, and a nerve stimulation electrode for applying low-frequency current for nerve stimulation and monitoring. These two electrodes work together, controlled synchronously by the central processing module of the control unit. The impedance detection electrode corresponding to the nerve stimulation electrode collects the voltage signal after the low-frequency current passes through the tissue. The impedance modeling unit converts the collected voltage signal to obtain the impedance value, which directly reflects the electrical characteristics of the current tissue. Simultaneously, the position positioning module determines the location of the working point between the two extremes, providing an accurate positional reference for subsequent operations. During the surgery, the initial impedance value of the working point at the current location is used as the tissue type to determine the tissue type at the working point. As the radio frequency output electrode cuts the tissue, the structure and state of the tissue change, and its impedance value changes accordingly. By monitoring the change in the impedance value of the working point at the current location and combining it with the previously determined tissue type, the tissue cutting result is judged. In summary, this improves the safety and overall efficiency of the surgical operation.

[0017] In some embodiments, it further includes: an organization correction unit;

[0018] The central processing module is also used to determine, based on the tissue type, whether the rate of change of the impedance value at the current working point is within the preset cutting rate range;

[0019] If the cutting rate is not within the preset range, the tissue correction unit is activated;

[0020] The organizational correction unit includes:

[0021] The feature extraction module is used to collect the low-frequency limiting resistance, high-frequency limiting resistance, characteristic frequency, and frequency dispersion coefficient of the working point at the current location.

[0022] The Cole eigenvector module is used to input the low-frequency limiting resistance, high-frequency limiting resistance, characteristic frequency, and frequency dispersion coefficient into the Cole model to obtain the Cole eigenvector.

[0023] The organization type determination module is used to match the Cole feature vector with a preset organization feature database to determine the new organization type of the work point at the current location; the organization feature database includes the Cole parameter range for different types of organizations;

[0024] The central processing module is also used to modify the organization type using the new organization type.

[0025] Using the above technical solution, if the rate of change of impedance value at the current working point is found to be outside the preset cutting rate range, the tissue correction unit is activated. Within the tissue correction unit, the feature extraction module collects key parameters such as low-frequency limiting resistance and high-frequency limiting resistance. These parameters are passed to the Cole feature vector module, which generates a Cole feature vector and matches it against a preset tissue feature database to determine the new tissue type. The central processing module then uses the new tissue type to correct the original tissue type. In this way, the tissue type can be determined more accurately even in complex situations where tissue characteristics have changed, providing a reliable basis for subsequent surgical operations and ensuring the smooth progress of the surgery.

[0026] In some embodiments, the feature extraction module specifically includes:

[0027] The voltage response submodule is used to acquire the voltage response signal of low-frequency current at different frequencies to obtain voltage amplitude and phase information;

[0028] The complex impedance value submodule is used to calculate the complex impedance value based on the voltage amplitude and phase information. The complex impedance value is a complex form of impedance that includes the impedance magnitude and phase angle.

[0029] The plotting submodule is used to plot the complex impedance values ​​into a Nyquist plot. The Nyquist plot is a planar graph with the real part of the complex impedance value as the horizontal axis and the imaginary part of the complex impedance value as the vertical axis.

[0030] The fitting submodule is used to perform circular arc fitting on the Nyquist plot, where the low-frequency limiting resistance and high-frequency limiting resistance are determined based on the intersection of the circular arc and the horizontal axis, and the geometric features of the circular arc are the characteristic frequency and the frequency dispersion coefficient.

[0031] Using the above technical solution, the voltage response submodule in the feature extraction module collects the voltage response signals of low-frequency currents at different frequencies, obtaining voltage amplitude and phase information. The complex impedance value submodule uses this information to calculate the complex impedance value, which is presented in a complex number form including impedance magnitude and phase angle, providing a more comprehensive and accurate reflection of the tissue's electrical characteristics. The plotting submodule draws a Nyquist plot based on the complex impedance value, constructing a planar graph with its real part as the x-axis and its imaginary part as the y-axis, visually displaying the electrical characteristic relationships of the tissue. The fitting submodule performs circular fitting on the Nyquist plot, determining key parameters such as low-frequency limiting resistance, high-frequency limiting resistance, characteristic frequency, and frequency dispersion coefficient. These parameters provide data support for the subsequent work of the Cole feature vector module and the tissue type determination module.

[0032] In some embodiments, the preset cutting rate range is determined by the tissue type.

[0033] With the above technical solution, since the preset cutting rate range is determined by the tissue type, this means that during the entire surgical procedure, for different types of tissue, the central processing module 310 will preset a cutting rate range that matches their unique physiological characteristics, making the situation of inflammation or lesions more accurate.

[0034] In some embodiments, the location positioning module specifically includes:

[0035] The coordinate submodule is used to establish an initial coordinate transformation matrix based on the position coordinates of the detection point and the position coordinates of the working point;

[0036] The posture angle submodule is used to collect posture angle data of the bipolar endoscope thyroid nerve monitoring system and adjust the initial coordinate transformation matrix based on the posture angle data to obtain the real-time coordinate transformation matrix.

[0037] The position calculation submodule is used to substitute the real-time position coordinates of the detection point into the real-time coordinate transformation matrix to calculate the position of the working point.

[0038] Through the above technical solution, the coordinate submodule in the position positioning module first establishes an initial coordinate transformation matrix based on the position coordinates of the detection point and the working point, which forms the basic framework for determining the working point position. Subsequently, the attitude angle submodule collects attitude angle data from the endoscopic thyroid-specific nerve monitoring bipolar electrode. Considering that the device's attitude may change during use, this module adjusts the initial coordinate transformation matrix based on this angle data to obtain a real-time coordinate transformation matrix that adapts to the actual attitude of the device. Finally, the position calculation submodule substitutes the real-time position coordinates of the detection point into the real-time coordinate transformation matrix to accurately calculate the working point position. Through the sequential collaboration of these submodules, even if position sensors cannot be placed at the two extreme points due to space constraints, the working point position can still be accurately determined, providing accurate positional references for subsequent electrode operations and surgical-related work.

[0039] In some embodiments, it further includes: an organization positioning module;

[0040] A neural stimulation electrode consists of several stimulator electrodes;

[0041] The impedance detection electrode includes several detection sub-electrodes. If a detection sub-electrode receives a counter-stimulation sub-electrode, it is a counter electrode pair; if a detection sub-electrode receives a non-counter-stimulation sub-electrode, it is an oblique electrode pair.

[0042] The tissue positioning module is used to calculate the voltage difference between the first voltage signal obtained by the opposing electrode pair passing through the target tissue and the second voltage signal obtained by the oblique electrode pair;

[0043] Based on the preset voltage distance attenuation function, the distance difference between the first distance value of the opposing electrode to the target tissue and the second distance value of the oblique electrode to the target tissue is calculated using the voltage difference.

[0044] Calculate the first distance value or the second distance value based on the distance difference and the preset distance between the opposing electrode pair and the oblique electrode pair;

[0045] The location information of the target tissue can be determined based on the position information of the opposing electrode pair and the first distance value, or based on the position information of the oblique electrode pair and the second distance value.

[0046] The above technical solution receives voltage signals from opposing electrode pairs and oblique electrode pairs formed by several stimulator electrodes in the neural stimulation electrodes and several detector electrodes in the impedance detection electrodes. First, the voltage difference is calculated, then the distance difference is calculated based on a preset voltage distance attenuation function, thereby determining the distance to the target tissue and ultimately clarifying the location information of the target tissue. This presents the location of the target tissue, facilitating doctor's reference and improving the accuracy of medical procedures.

[0047] In some embodiments, the step of controlling the radio frequency output electrode and the nerve stimulation electrode to work synchronously specifically includes:

[0048] Control the interaction between the radio frequency output electrode and the nerve stimulation electrode.

[0049] Through the above technical solutions, this interactive working mode enables the two to seamlessly connect at different stages of surgery, giving full play to their respective functions in tissue processing and nerve monitoring, avoiding situations of operational incoordination or neglect of one aspect, thereby improving the coherence and precision of the entire surgical process and better ensuring the surgical outcome.

[0050] In some embodiments, the central processing module is specifically used to acquire the radio frequency cutting parameters of the high-frequency current and the duration of the high-frequency current. The radio frequency cutting parameters include amplitude and frequency.

[0051] The cumulative energy value is determined based on the radio frequency cutting parameters and the action time.

[0052] Determine thermal conductivity based on tissue type;

[0053] Calculate the time correction factor based on thermal conductivity and application time;

[0054] The safe waiting time is determined based on the accumulated energy value and the time correction factor.

[0055] Through the above technical solution, the central processing module first acquires the radio frequency cutting parameters of the high-frequency current (including key elements such as amplitude and frequency) and the application time of the high-frequency current. By combining these two parameters, it accurately calculates the cumulative energy value, which reflects the degree of energy impact of radio frequency cutting on the tissue. Simultaneously, it determines the thermal conductivity of the tissue based on its type and calculates a time correction coefficient based on the application time. This coefficient comprehensively considers the tissue's ability to conduct heat and the impact of the application time. Finally, it determines a safe waiting time based on the cumulative energy value and the time correction coefficient. Even when high-frequency current cutting causes tissue heating and interference effects on the electrode surface, the calculated waiting time ensures that subsequent operations such as reliable neural monitoring are only performed after the tissue's electrical properties have stabilized and the interference effects have disappeared, effectively guaranteeing the accuracy of the neural monitoring results.

[0056] In some embodiments, the time correction factor is the product of the reference factor, the time scaling factor, and the thermal conductivity scaling factor; the time scaling factor is the ratio of the action time to the reference time plus 1; the thermal conductivity scaling factor is the ratio of the thermal conductivity characteristic to the reference thermal conductivity characteristic.

[0057] The safe waiting time is the product of the base cooldown time, the time correction factor, and the energy ratio factor; the energy ratio factor is the ratio of the accumulated energy value to the reference energy plus 1; the base cooldown time is selected according to the tissue type.

[0058] The above technical solution determines the time correction factor by multiplying the baseline factor, the time proportionality factor, and the thermal conductivity ratio. The time proportionality factor considers the ratio of the action time to the reference time plus 1, reflecting the impact of the actual action time on the overall effect. The thermal conductivity ratio reflects the ratio of the tissue's thermal conductivity to the reference thermal conductivity, relating to heat transfer. The safe waiting time is calculated by multiplying the base cooling time, the time correction factor, and the energy proportionality factor. The energy proportionality factor involves the ratio of the accumulated energy to the reference energy plus 1. This calculation method closely integrates the actual tissue state, energy accumulation, and time, accurately determining the safe waiting time. This ensures the waiting time closely reflects the actual changes in the tissue during surgery, maximizing the protection of each stage of the surgery from interference from factors such as tissue heating.

[0059] In some embodiments, the duration of the high-frequency current during a single interaction is determined based on the tissue type.

[0060] By using the above technical solution, the duration of high-frequency current can be precisely arranged according to the tissue type, avoiding excessively long high-frequency current cycles that could lead to over-cutting. This ensures the efficiency and safety of tissue processing during surgery and improves the overall quality of the operation.

[0061] One or more technical solutions provided in the embodiments of this application have at least the following technical effects or advantages:

[0062] 1. The functional electrode unit includes a radio frequency output electrode for applying high-frequency current for tissue cutting and coagulation, and a nerve stimulation electrode for applying low-frequency current for nerve stimulation and monitoring. These two electrodes work together, controlled synchronously by the central processing module of the control unit. The impedance detection electrode corresponding to the nerve stimulation electrode collects the voltage signal after the low-frequency current passes through the tissue. The impedance modeling unit converts the collected voltage signal to obtain the impedance value, which directly reflects the electrical characteristics of the current tissue. Simultaneously, the position positioning module determines the location of the working point between the two extremes, providing an accurate positional reference for subsequent operations. During the surgery, the initial impedance value of the working point at the current location is used as the tissue type to determine the tissue type at the working point. As the radio frequency output electrode cuts the tissue, the structure and state of the tissue change, and its impedance value changes accordingly. By monitoring the change in the impedance value of the working point at the current location and combining it with the previously determined tissue type, the tissue cutting result is judged. In summary, this improves the safety and overall efficiency of the surgical procedure.

[0063] 2. If the rate of change of impedance at the current working point is found to be outside the preset cutting rate range, the tissue correction unit is activated. Within this unit, the feature extraction module collects key parameters such as low-frequency limiting resistance and high-frequency limiting resistance. These parameters are passed to the Cole feature vector module, which generates a Cole feature vector and matches it against a preset tissue feature database to determine the new tissue type. The central processing module then uses this new tissue type to correct the original tissue type. This allows for more accurate tissue type determination even in complex situations involving changes in tissue characteristics, providing a reliable basis for subsequent surgical procedures and ensuring the smooth progress of the surgery.

[0064] 3. The coordinate submodule within the position positioning module first establishes an initial coordinate transformation matrix based on the position coordinates of the detection point and the working point, forming the basic framework for determining the working point's position. Subsequently, the attitude angle submodule collects attitude angle data from the bipolar endoscope for thyroid-specific nerve monitoring. Considering that the device's attitude may change during use, this module adjusts the initial coordinate transformation matrix based on this angle data to obtain a real-time coordinate transformation matrix that adapts to the device's actual attitude. Finally, the position calculation submodule substitutes the real-time position coordinates of the detection point into the real-time coordinate transformation matrix to accurately calculate the working point's position. Through the sequential collaboration of these submodules, even if position sensors cannot be placed at the two extreme points due to space constraints, the working point's position can still be accurately determined, providing accurate positional references for subsequent electrode operations and surgical-related work. Attached Figure Description

[0065] Figure 1 is a schematic diagram of an exemplary hardware structure of an endoscopic thyroid-specific nerve monitoring bipolar electrode in an embodiment of this application.

[0066] Figure 2 is a schematic diagram of another exemplary hardware structure of the endoscopic thyroid-specific nerve monitoring bipolar electrode in an embodiment of this application.

[0067] Figure 3 is a schematic diagram of an exemplary hardware structure of the feature extraction module in an embodiment of this application.

[0068] Figure 4 is a schematic diagram of an exemplary hardware structure of the location positioning module in an embodiment of this application. Detailed Implementation

[0069] The terminology used in the following embodiments of this application is for the purpose of describing particular embodiments only and is not intended to be limiting of this application. As used in the specification and appended claims of this application, the singular expressions “a,” “an,” “the,” “the,” “the,” and “this” are intended to include the plural expressions as well, unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used in this application refers to and includes any or all possible combinations of one or more of the listed items.

[0070] Hereinafter, the terms "first" and "second" are used for descriptive purposes only and should not be construed as implying or suggesting relative importance or implicitly indicating the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature, and in the description of the embodiments of this application, unless otherwise stated, "multiple" means two or more.

[0071] Please refer to Figure 1, which is an exemplary hardware structure diagram of an endoscopic thyroid-specific nerve monitoring bipolar electrode in an embodiment of this application.

[0072] This application provides an endoscopic thyroid-specific bipolar neural monitoring system, comprising: a functional electrode unit 100, a signal detection unit 200, and a control and processing unit 300;

[0073] The functional electrode unit 100 includes:

[0074] The radio frequency output electrodes 110, located at both ends, are used to apply high-frequency current for tissue cutting and coagulation.

[0075] The nerve stimulation electrode 120, located at a certain extreme, is used to apply low-frequency current for nerve stimulation and monitoring.

[0076] Specifically, during surgery, when the functional electrode unit 100 needs to cut thyroid tissue, perform coagulation procedures, or stimulate and monitor surrounding nerves, its internal radiofrequency output electrode 110, connected to a corresponding high-frequency current generator, outputs a high-frequency current. The thermal effect of the high-frequency current achieves tissue cutting and coagulation; for example, when removing a thyroid nodule, the high-frequency current quickly cuts the diseased tissue and stops bleeding. Meanwhile, the nerve stimulation electrode 120 is connected to a low-frequency current source, applying the low-frequency current to the surrounding tissue to stimulate the nerves and observe their response, thereby determining whether nerve function is normal. For example, during surgery, it can be used to determine whether critical nerves such as the recurrent laryngeal nerve have been accidentally damaged.

[0077] It should be noted that the two ends of the endoscopic thyroid-specific nerve monitoring bipolar electrode have a clamp-like shape. In this special structure, the radiofrequency output electrode 110 is positioned at each end to ensure that it functions simultaneously from both ends during tissue cutting and coagulation procedures, achieving efficient and stable operation. The nerve stimulation electrode 120 is only located at one end, stimulating and monitoring the nerve at the corresponding location. The other end is equipped with an impedance detection electrode 210, ensuring effective tissue handling while constantly monitoring nerve status during surgery.

[0078] The signal detection unit 200 includes:

[0079] The impedance detection electrode 210, located at the other extreme, is positioned corresponding to the nerve stimulation electrode 120 and is used to acquire the voltage signal after a low-frequency current passes through the tissue.

[0080] Impedance modeling unit 220 is used to convert voltage signals into impedance values;

[0081] Specifically, during the surgical procedure, once a low-frequency current is applied through the tissue by the nerve stimulation electrode 120, the signal detection unit 200 begins operation. The impedance detection electrode 210, corresponding to the position of the nerve stimulation electrode 120, collects the voltage signal after the low-frequency current passes through the tissue. This signal contains information such as the tissue's conductivity characteristics. Then, the impedance modeling unit 220 acquires this voltage signal and uses a specific algorithm and model to convert it into an impedance value. This impedance value directly reflects the electrical characteristics of the current tissue.

[0082] It should be noted that the impedance values ​​vary depending on the tissue type, but are generally within the range of 50Ω-3kΩ, while the impedance value of the nerve region is usually greater than 2kΩ.

[0083] The control processing unit 300 includes:

[0084] The positioning module 320 is used to determine the location of the working point, which is between the two extremes.

[0085] The central processing module 310 is used to control the radio frequency output electrode 110 and the nerve stimulation electrode 120 to work synchronously; to use the initial impedance value of the working point at the current position as the type impedance; to determine the tissue type of the working point at the current position through the type impedance; and to determine the tissue cutting result based on the tissue type and the change in impedance value of the working point at the current position.

[0086] It's important to note that the initial impedance value at the current working point is the type impedance. This is because high-frequency current carbonizes local tissue. Once carbonized, the internal structure and composition of the tissue change, significantly reducing its conductivity and thus increasing the impedance value of that local tissue. However, the current working point refers to the specific location where monitoring of this tissue began. It is where this tissue was before being deeply affected by the high-frequency current and was still in its natural, pristine state. The initial impedance value is the impedance value exhibited by this tissue in this initial, unaffected state. Based on these two key factors—the original location and the corresponding initial impedance value—using them as the type impedance to accurately determine the tissue type is undoubtedly a reliable reference.

[0087] Specifically, at the start of the surgery, the positioning module 320 in the control processing unit 300 determines the position of the working point between the two extremes, providing an accurate spatial reference for subsequent electrode operations. Next, the central processing module 310 comes into play, controlling the radiofrequency output electrode 110 and the nerve stimulation electrode 120 to work synchronously, enabling tissue cutting, coagulation, nerve stimulation, and monitoring to occur simultaneously. The central processing module 310 also uses the initial impedance value of the working point at the current position as the type impedance. Different tissue types have different impedance ranges, and this type impedance is used to determine the tissue type of the working point at the current position. Furthermore, during the surgery, as the radiofrequency output electrode 110 performs tissue cutting, the structure and state of the tissue change, and its impedance value changes accordingly. The central processing module 310 monitors these impedance changes in real time, combining them with the previously determined tissue type to judge the tissue cutting result.

[0088] In some embodiments, a database containing impedance characteristics of different tissues at various stages of normal and cutting is constructed; the working point location is determined using a positioning module. Initial impedance values ​​are obtained preoperatively to determine tissue type, and impedance value changes are continuously monitored and recorded as curves during the procedure. The real-time impedance change curves are compared with preset patterns, and combined with a set threshold range, the cutting result is determined by comprehensively considering factors such as surgical time and electrode parameters.

[0089] It is worth noting that in actual use, the device will immediately pause operation if either the initial impedance value exceeds the preset initial impedance threshold, or if the impedance value change at the working point during surgery exceeds the preset impedance change threshold. This is because when the initial impedance value exceeds the preset initial impedance threshold, it likely means that the cutting operation has already involved the area surrounding the nerve. Furthermore, if the impedance change exceeds the preset impedance change threshold, it most likely indicates that the high-frequency current cutting rate is too fast. Such an excessively fast cutting rate not only makes it difficult to guarantee cutting accuracy but may also lead to over-cutting of tissue, bleeding, and a series of other adverse consequences. Therefore, through this threshold monitoring and automatic pause mechanism, timely intervention can be provided when potential risks arise, maximizing the safety and effectiveness of the surgery.

[0090] As can be seen, the functional electrode unit 100 includes a radio frequency output electrode 110 for applying high-frequency current for tissue cutting and coagulation, and a nerve stimulation electrode 120 for applying low-frequency current for nerve stimulation and monitoring. These two electrodes work together, controlled synchronously by the central processing module 310 of the control processing unit 300. The impedance detection electrode 210, corresponding to the nerve stimulation electrode 120, collects the voltage signal after the low-frequency current passes through the tissue. The impedance modeling unit 220 converts the collected voltage signal to obtain an impedance value, which directly reflects the electrical characteristics of the current tissue. Simultaneously, the position positioning module 320 determines the position of the working point between the two extremes, providing an accurate positional reference for subsequent operations. During the surgery, the initial impedance value of the working point at the current position is used as the tissue type to determine the tissue type of the working point. As the radio frequency output electrode 110 cuts the tissue, the structure and state of the tissue change, and its impedance value changes accordingly. By monitoring the change in the impedance value of the working point at the current position and combining it with the previously determined tissue type, the tissue cutting result is determined. In summary, this improves the safety and overall efficiency of the surgical operation.

[0091] The above embodiment achieves both safety and overall efficiency in surgical procedures by simultaneously utilizing low-frequency and high-frequency currents. However, in actual use, the impedance characteristics of normal tissues may be altered due to inflammation or lesions, resulting in these tissues having similar impedance values ​​under certain physiological conditions. Consequently, relying solely on impedance values ​​for judgment is insufficient to guarantee accuracy.

[0092] Please refer to Figure 2, which is another exemplary hardware structure diagram of the endoscopic thyroid-specific nerve monitoring bipolar electrode in an embodiment of this application.

[0093] Therefore, in some other embodiments: it also includes: an organization correction unit 400;

[0094] The central processing module 310 is also used to determine, based on the tissue type, whether the rate of change of the impedance value at the current working point is within the preset cutting rate range;

[0095] If the cutting rate is not within the preset range, the tissue correction unit 400 is activated.

[0096] Specifically, during the surgery, when the central processing module 310 judges the rate of change of the impedance value at the working point based on the current tissue type and finds that it is not within the preset cutting rate range, it means that the originally identified tissue type may be inaccurate due to inflammation, lesions or other reasons in the tissue. At this time, the tissue correction unit 400 will be activated to start working.

[0097] In some embodiments, the central processing module 310 may also pause the output of high-frequency current.

[0098] In some embodiments, the preset cutting rate range is determined by the tissue type.

[0099] As can be seen, since the preset cutting rate range is determined by the tissue type, this means that during the entire surgical procedure, the central processing module 310 will preset a matching cutting rate range for different types of tissues based on their unique physiological characteristics, making the situation of inflammation or lesions more accurate.

[0100] The organization correction unit 400 includes:

[0101] Feature extraction module 410 is used to collect the low-frequency limiting resistance, high-frequency limiting resistance, characteristic frequency, and frequency dispersion coefficient of the working point at the current position;

[0102] It should be noted that the feature extraction module 410 operates on the premise that the neural stimulation electrode 120 is used to release low-frequency currents of different frequencies. For example, only when the neural stimulation electrode 120 continuously and stably outputs low-frequency currents of different frequencies, such as currents within a reasonable frequency range from low to relatively high frequencies, can the feature extraction module 410 extract key parameters such as low-frequency limiting resistance, high-frequency limiting resistance, characteristic frequency, and frequency dispersion coefficient by detecting changes in voltage, current, and other signals after these currents pass through the tissue. This provides necessary data support for subsequent operations such as determining tissue type. Therefore, in this case, the central processing module 310 controls the neural stimulation electrode 120 to release low-frequency currents of different frequencies.

[0103] In some embodiments, the feature extraction module 410 specifically includes:

[0104] The voltage response submodule 411 is used to acquire the voltage response signal of low-frequency current at different frequencies to obtain voltage amplitude and phase information;

[0105] Specifically, when the neurostimulation electrode 120 releases low-frequency currents of different frequencies through the tissue, the voltage response submodule 411 begins to operate. It continuously acquires the voltage response signal at each frequency to ensure accurate capture of minute signal changes. The acquired raw signal may contain noise and interference, so the voltage response submodule 411 filters the signal to remove unwanted high-frequency and low-frequency noise. Then, using signal processing algorithms such as phase-locked loops or Fourier transforms, the voltage amplitude and phase information are extracted from the processed signal. This information reflects the tissue's response characteristics to low-frequency currents of different frequencies and forms the basis for subsequent calculations of complex impedance values.

[0106] The complex impedance value submodule 412 is used to calculate the complex impedance value based on the voltage amplitude and phase information. The complex impedance value is a complex form impedance that includes the impedance magnitude and phase angle.

[0107] Specifically, according to Ohm's law in electricity, in an AC circuit, the complex impedance Z is equal to the ratio of voltage U to current I. Since both voltage and current have amplitude and phase information, the complex impedance is a complex number. The complex impedance value submodule 412 combines known current information (the amplitude and phase of the current are usually preset in the central processing module 310 or measured by other means) and calculates using the rules of complex number operations. First, the amplitude and phase information of the voltage and current are converted into complex numbers, and then division is performed to obtain the complex impedance value. The calculated complex impedance value contains two important pieces of information: impedance magnitude and phase angle. The impedance magnitude reflects the resistance of the circuit to current, while the phase angle reflects the phase relationship between voltage and current. These two pieces of information together constitute a description of the circuit's electrical characteristics.

[0108] The drawing submodule 413 is used to draw a Nyquist plot based on the complex impedance value. The Nyquist plot is a planar graph with the real part of the complex impedance value as the horizontal axis and the imaginary part of the complex impedance value as the vertical axis.

[0109] Specifically, the plotting submodule 413 extracts the complex impedance value into its real and imaginary parts, with the real part corresponding to the horizontal axis of the graph and the imaginary part corresponding to the vertical axis. Then, based on the extracted data points, a plotting algorithm is used to plot the corresponding points on the coordinate plane.

[0110] The fitting submodule 414 is used to perform circular arc fitting on the Nyquist plot, wherein the low-frequency limiting resistance and high-frequency limiting resistance are determined based on the intersection of the circular arc and the horizontal axis, and the geometric features of the circular arc are the characteristic frequency and the frequency dispersion coefficient.

[0111] Specifically, after the drawing submodule 414 passes the drawn Nyquist plot to the fitting submodule, the drawing submodule 414 begins arc fitting. First, the drawing submodule 414 selects a suitable fitting algorithm, such as least squares or a genetic algorithm, to fit the data points on the Nyquist plot. The goal of the fitting is to find an arc that minimizes the error between the arc and the data points on the Nyquist plot. Based on the intersection of the fitted arc with the horizontal axis, the low-frequency limiting resistance and the high-frequency limiting resistance are determined. The low-frequency limiting resistance corresponds to the left intersection of the arc with the horizontal axis, and the high-frequency limiting resistance corresponds to the right intersection. The frequency at which the imaginary impedance reaches its maximum value is the characteristic frequency. Multiplying the characteristic frequency by 2π gives the characteristic angular frequency, and the degree of flattening of the arc is the frequency dispersion coefficient.

[0112] As can be seen, the voltage response submodule in the feature extraction module 410 collects the voltage response signals of low-frequency currents at different frequencies, obtaining voltage amplitude and phase information. The complex impedance value submodule uses this information to calculate the complex impedance value, which is presented in a complex number form including impedance magnitude and phase angle, providing a more comprehensive and accurate reflection of the tissue's electrical characteristics. The plotting submodule draws a Nyquist plot based on the complex impedance value, constructing a planar graph with its real part as the horizontal axis and its imaginary part as the vertical axis, visually displaying the electrical characteristic relationships of the tissue. The fitting submodule performs circular arc fitting on the Nyquist plot, determining key parameters such as low-frequency limiting resistance, high-frequency limiting resistance, characteristic frequency, and frequency dispersion coefficient. These parameters provide data support for the subsequent work of the cole feature vector module 420 and the tissue type determination module 430.

[0113] Cole eigenvector module 420 is used to input the low-frequency limiting resistance, high-frequency limiting resistance, characteristic frequency, and frequency dispersion coefficient into the Cole model to obtain the Cole eigenvector.

[0114] In some embodiments, the Cole model is: Z(ω)=R∞+(R0-R∞) / (1+(jω / ωc)) ∧ (1-α))

[0115] In the formula, Z(ω) is the Cole eigenvector, R∞ is the high-frequency limiting resistance, R0 is the low-frequency limiting resistance, j is the imaginary unit, ω is the angular frequency in the characteristic frequency, ωc is the characteristic angular frequency in the characteristic frequency, and α is the frequency dispersion coefficient.

[0116] The organization type determination module 430 is used to match the Cole feature vector with a preset organization feature database to determine the new organization type of the work point at the current location; the organization feature database includes the Cole parameter range for different types of organizations;

[0117] Specifically, after the Cole feature vector module 420 generates and transmits the Cole feature vector, the tissue type determination module 430 begins operation. It accesses a pre-defined tissue feature database, which records in detail the Cole parameter ranges for different tissue types (such as muscle, adipose, and nerve tissue). These parameter ranges are derived through statistical analysis of extensive experimental and clinical data. It identifies the tissue type most similar to the current Cole feature vector, determines it as the new tissue type for the current working point, and feeds this result back to the central processing module 310 for subsequent tissue type correction operations.

[0118] The central processing module 310 is also used to modify the organization type using the new organization type.

[0119] In some embodiments, the central processing module 310 initiates its tissue type correction function. It receives the new tissue type information, then locates the corresponding original tissue type record in the internally stored current surgery-related tissue type records, replacing the original tissue type with the new tissue type. This ensures that all subsequent operations based on the tissue type, such as determining whether the impedance value change rate at the working point is normal, and adjusting the operating parameters of the radiofrequency output electrode 110 and the nerve stimulation electrode 120, can be based on the new, more accurate tissue type. In this way, even in complex situations where the impedance characteristics of the tissue change due to inflammation, lesions, or other factors, or where the initial tissue type determination is inaccurate, the entire surgical procedure can still rely on the corrected tissue type, ensuring the safety and effectiveness of the surgery and avoiding surgical errors caused by incorrect tissue type determination.

[0120] As can be seen, if the rate of change of impedance value at the current working point is found to be outside the preset cutting rate range, the tissue correction unit 400 is activated. Within the tissue correction unit 400, the feature extraction module 410 collects key parameters such as low-frequency limiting resistance and high-frequency limiting resistance. These parameters are passed to the Cole feature vector module 420, which generates a Cole feature vector and matches it against a preset tissue feature database to determine the new tissue type. The central processing module 310 then uses the new tissue type to correct the original tissue type. In this way, the tissue type can be determined more accurately even in complex situations where tissue characteristics have changed, providing a reliable basis for subsequent surgical operations and ensuring the smooth progress of the surgery.

[0121] The above embodiments can solve the problem of inaccurate tissue identification caused by the presence of inflammation or lesions. However, in actual use, the two ends of the endoscopic thyroid-specific nerve monitoring bipolar electrode are relatively small, and their location must accommodate both the radio frequency output electrode 110 and the nerve stimulation electrode 120, leaving no extra space for a position sensor.

[0122] In some embodiments, the location positioning module 320 specifically includes:

[0123] The coordinate submodule 324 is used to establish an initial coordinate transformation matrix based on the position coordinates of the detection point and the position coordinates of the working point;

[0124] In some embodiments, a communication connection is established with a positioning device (such as an infrared-based positioning system) in advance to receive the three-dimensional coordinate data of the detection point and the working point sent by the device. Based on the dimension of the coordinate data and the setting of the coordinate origin, the coordinates of the detection point and the working point are filled into the corresponding positions according to the row and column rules of the matrix to construct an initial coordinate transformation matrix.

[0125] The posture angle submodule 322 is used to collect posture angle data of the bipolar endoscope thyroid-specific nerve monitoring system and adjust the initial coordinate transformation matrix according to the posture angle data to obtain the real-time coordinate transformation matrix.

[0126] Specifically, during the surgery, the attitude angle submodule activates whenever the device's posture changes. It collects attitude angle data using various built-in angle sensors (such as gyroscopes to detect changes in angular velocity and accelerometers to detect changes in acceleration; the combination of these sensors accurately calculates the device's attitude angle). Then, based on the mathematical principles of spatial coordinate transformation, this processed attitude angle data is substituted into specific coordinate transformation formulas (e.g., formulas based on a combination of rotation and translation matrices) and compared with the initial coordinate transformation matrix. Adjustments are made to obtain a real-time coordinate transformation matrix, which reflects the precise positional relationship between the detection point and the working point of the device in its current posture.

[0127] The position calculation submodule 323 is used to substitute the real-time position coordinates of the detection point into the real-time coordinate transformation matrix to calculate the position of the working point.

[0128] As can be seen, the coordinate submodule in the position positioning module 320 first establishes an initial coordinate transformation matrix based on the position coordinates of the detection point and the working point, which forms the basic framework for determining the working point position. Subsequently, the attitude angle submodule collects the attitude angle data of the endoscopic thyroid-specific nerve monitoring bipolar electrode. Considering that the device's attitude may change during use, this module adjusts the initial coordinate transformation matrix based on this angle data to obtain a real-time coordinate transformation matrix that adapts to the actual attitude of the device. Finally, the position calculation submodule substitutes the real-time position coordinates of the detection point into the real-time coordinate transformation matrix to accurately calculate the working point position. Through the sequential collaboration of these submodules, even if position sensors cannot be placed at the two extreme points due to space constraints, the working point position can still be accurately determined, providing accurate positional references for subsequent electrode operations and surgical-related work.

[0129] The above embodiment solves the problem of insufficient space to place the position sensor. However, in actual operation, the two ends of the endoscopic thyroid-specific nerve monitoring bipolar electrode of the relevant equipment may be opened according to the user's operation, which will cause a corresponding change in its working point.

[0130] In some embodiments, the location positioning module 320 further includes:

[0131] The position optimization submodule 324 is used to calculate the position offset of the working point based on the length of the extreme points and the opening angle between the two extreme points, and to update the position of the working point using the offset.

[0132] In some embodiments, it is assumed that the initial position of the working point in the closed state is P0(x0, y0, z0).

[0133] The opening angle θ will cause the working point to move in a specific direction. The new working point position P can be calculated using trigonometric functions: the offset in the XY plane = L*sin(θ / 2), the offset in the Z direction = L*(1-cos(θ / 2)), where L is the length of the extreme point.

[0134] As can be seen, the position optimization submodule calculates the working point's position offset using a specific method based on two key factors: the length of the two extremes and the opening angle between them. This offset is then used to update the working point's position in real time. In this way, regardless of changes in the two extremes, the working point's position can be adjusted promptly and accurately, avoiding misjudgments due to positional deviations.

[0135] In practical medical procedures, simply knowing the location of the work point is often insufficient. Doctors need precise location information of the target tissue as a crucial reference when performing specific diagnostic and treatment procedures. However, the current problem is that while the location of the work point can be determined, there is a lack of effective means to accurately obtain the location of the target tissue.

[0136] In some embodiments, it further includes: an organization positioning module;

[0137] A neural stimulation electrode consists of several stimulator electrodes;

[0138] The impedance detection electrode includes several detection sub-electrodes. If a detection sub-electrode receives a counter-stimulation sub-electrode, it is a counter electrode pair; if a detection sub-electrode receives a non-counter-stimulation sub-electrode, it is an oblique electrode pair.

[0139] In some embodiments, the neural stimulation electrode includes a plurality of parallel stimulator electrodes. Similarly, the impedance detection electrode includes a corresponding detector electrode. If the stimulator electrode and the detector electrode are opposite each other, they are called opposing electrode pairs. If the stimulator electrode and the detector electrode are not opposite each other, they are called oblique electrode pairs.

[0140] The tissue positioning module is used to calculate the voltage difference between the first voltage signal obtained by the opposing electrode pair passing through the target tissue and the second voltage signal obtained by the oblique electrode pair;

[0141] It should be noted that for the same target tissue, the distances between the opposing electrode pairs and the oblique electrode pairs are different. The farther away from the power source (which can be analogized to the electrode pairs), the weaker the low-frequency current intensity becomes, and the voltage generated at the target tissue also changes accordingly. The difference in distance between the opposing electrode pairs and the oblique electrode pairs and the target tissue results in different strengths of the voltage signals they generate at the target tissue, thus causing a voltage difference.

[0142] Based on the preset voltage distance attenuation function, the distance difference between the first distance value of the opposing electrode to the target tissue and the second distance value of the oblique electrode to the target tissue is calculated using the voltage difference.

[0143] The preset voltage distance attenuation function is a mathematical function relationship summarized from a large amount of practical data. It describes the correspondence between changes in voltage signals (such as the magnitude of voltage difference) and changes in the distance from the electrode to the target tissue.

[0144] Calculate the first distance value or the second distance value based on the distance difference and the preset distance between the opposing electrode pair and the oblique electrode pair;

[0145] It should be noted that, for ease of understanding, a triangular geometric model was constructed to visually represent the positional relationship between the electrodes and the target tissue. Specifically, the opposing electrode pair can be considered as a point in this triangle, the oblique electrode pair is also considered as a point, and the target tissue is the other point in the triangle.

[0146] The distances between the opposing electrode pair and the oblique electrode pair are known, much like the length of a side in a triangle is a predetermined fixed value. The distances from the opposing electrode pair to the target tissue and from the oblique electrode pair to the target tissue correspond to the lengths of the other two sides of the triangle, respectively. We now have the difference between these two sides. Based on this known condition—the length of one side (the distance between the opposing and oblique electrode pairs)—and the difference between the other two sides, and using basic geometric principles of triangles, such as the triangle inequality and the law of cosines, we can construct a system of equations. By solving this system of equations, we can accurately determine the specific distances from the opposing electrode pair to the target tissue (i.e., the length of the corresponding side) and from the oblique electrode pair to the target tissue (i.e., the length of the other side).

[0147] The location information of the target tissue can be determined based on the position information of the opposing electrode pair and the first distance value, or based on the position information of the oblique electrode pair and the second distance value.

[0148] It should be noted that since the location of the working point is known, the location information of the opposing electrode pair and the oblique electrode pair is also known.

[0149] It can be seen that the voltage signals received are from opposing electrode pairs and oblique electrode pairs formed by several stimulator electrodes in the neural stimulation electrode and several detector electrodes in the impedance detection electrode. First, the voltage difference is calculated, then the distance difference is calculated according to a preset voltage distance attenuation function, thereby determining the distance to the target tissue and ultimately clarifying the location information of the target tissue. This presents the location of the target tissue, facilitating doctor's reference and improving the accuracy of medical operations. In some embodiments, high-frequency current and low-frequency current are output simultaneously. In cases where mutual interference may occur, the step of controlling the synchronous operation of the radio frequency output electrode 110 and the neural stimulation electrode 120 specifically includes:

[0150] The radio frequency output electrode 110 and the nerve stimulation electrode 120 are controlled to work interactively.

[0151] It is evident that this interactive working mode enables seamless integration between the two at different surgical stages, fully leveraging their respective functions in tissue processing and nerve monitoring, avoiding operational incoordination and neglect of one aspect for another, thereby improving the coherence and precision of the entire surgical procedure and better ensuring surgical outcomes.

[0152] However, in actual use, high-frequency current and low-frequency current are used interchangeably, which raises a new problem. Radiofrequency cutting will cause tissue to heat up, thereby changing the electrical properties of local tissues. In addition, interference effects will also occur on the electrode surface. These effects will take a certain amount of time to eliminate, resulting in the impedance value measured by low-frequency current being inaccurate.

[0153] In some embodiments, the central processing module 310 is specifically used to acquire the radio frequency cutting parameters of the high-frequency current and the duration of the high-frequency current. The radio frequency cutting parameters include amplitude and frequency.

[0154] Specifically, while performing radio frequency cutting with high-frequency current, a parameter acquisition request command is sent to the radio frequency output electrode 110 through a wired (e.g., data transmission via a data cable) or wireless (e.g., using Bluetooth, Wi-Fi, or other wireless communication protocols) communication interface established with the radio frequency output electrode 110. After receiving the command, the radio frequency output electrode 110 transmits back real-time high-frequency current amplitude, frequency, and other parameter data.

[0155] The cumulative energy value is determined based on the radio frequency cutting parameters and the action time.

[0156] Specifically, the central processing module 310 records time using a built-in high-precision timer. When the high-frequency current stops acting, the timer stops, and the recorded duration data is processed. Based on a pre-defined energy calculation principle, parameters such as amplitude, frequency, and duration are substituted into the corresponding energy accumulation value calculation formula. For example, energy accumulation value = coefficient × amplitude × frequency × duration. This coefficient is determined through experimental and theoretical analysis based on different tissue types, equipment characteristics, and other factors. This energy accumulation value directly reflects the degree of energy impact on the tissue during the radiofrequency cutting operation within this duration, providing crucial data for subsequent assessments of tissue heating and determination of safe waiting times.

[0157] Determine thermal conductivity based on tissue type;

[0158] Among them, determining thermal conductivity based on tissue type refers to the process in the surgical procedure where the central processing module 310 obtains relevant characteristic parameters that reflect the tissue's ability to conduct heat, based on the identified specific tissue type (such as muscle tissue, adipose tissue, glandular tissue, etc.). This refers to obtaining key information such as thermal conductivity coefficient, which reflects the speed of heat conduction and heat transfer efficiency of the tissue, by querying a pre-set tissue characteristic database or using a pre-defined tissue type and thermal conductivity correlation model. This provides a basis for subsequent accurate assessment of the diffusion and dissipation of heat in the tissue.

[0159] Calculate the time correction factor based on thermal conductivity and application time;

[0160] In some embodiments, the time correction factor is the product of the reference factor, the time scaling factor, and the thermal conductivity scaling factor; the time scaling factor is the ratio of the action time to the reference time plus 1; the thermal conductivity scaling factor is the ratio of the thermal conductivity characteristic to the reference thermal conductivity characteristic.

[0161] In terms of parameter composition, the reference coefficient, as a unified adjustment parameter, can be calibrated as a whole according to the characteristics of different equipment to ensure universal adaptability; the time ratio, through the design of adding 1 to the ratio of the action time to the reference time, can automatically follow the changes in operation time and effectively reflect the heat accumulation effect; the thermal conductivity ratio, through the ratio of the actual thermal conductivity to the reference value, achieves precise matching of the heat dissipation characteristics of different tissues.

[0162] In terms of parameter combination applications, the product of the baseline coefficient and the time ratio constructs an adaptive safety protection mechanism, which not only ensures basic safety but also dynamically responds to changes in operation time. When this product is multiplied by the heat conduction ratio, it gains the ability to identify tissue characteristics, thereby achieving a more comprehensive adjustment function.

[0163] The safe waiting time is determined based on the accumulated energy value and the time correction factor.

[0164] In some embodiments, the safe waiting time is the product of the base cooling time, a time correction factor, and an energy ratio factor; the energy ratio factor is the ratio of the accumulated energy to the reference energy plus 1; the base cooling time is selected according to the tissue type.

[0165] In terms of parameter composition, the base cooling time, as an inherent heat dissipation time parameter of the tissue, accurately reflects the intrinsic thermal characteristics and basic heat dissipation requirements of different tissue types; the time correction coefficient provides dynamic and precise adjustment capability by integrating the influence of operation time and tissue thermal conductivity; and the energy ratio coefficient effectively quantifies the actual impact of radio frequency energy input on the tissue cooling process by adding 1 to the ratio of the energy accumulation value to the reference energy.

[0166] In terms of parameter coordination, the product of the base cooling time and the time correction coefficient constructs an intelligent tissue identification and response mechanism, which not only ensures the accurate identification of tissue characteristics, but also realizes dynamic adjustment to changes in operating conditions. When this product is multiplied by the energy ratio coefficient, it obtains the ability to accurately compensate for the energy accumulation effect, thereby achieving more comprehensive and accurate cooling time control.

[0167] As can be seen, the time correction factor is determined by multiplying the baseline factor, the time proportionality factor, and the thermal conductivity factor. The time proportionality factor considers the ratio of the action time to the reference time plus 1, reflecting the impact of the actual action time on the overall effect. The thermal conductivity factor reflects the ratio of the tissue's thermal conductivity to the reference thermal conductivity, relating to heat transfer. The safe waiting time is derived by multiplying the base cooling time, the time correction factor, and the energy proportionality factor. The energy proportionality factor involves the ratio of the accumulated energy to the reference energy plus 1. This calculation method closely integrates the actual tissue state, energy accumulation, and time, accurately determining the safe waiting time. This ensures that the waiting time more closely reflects the actual changes in the tissue during surgery, maximizing the protection of each stage of the surgery from interference from factors such as tissue heating.

[0168] It should be noted that in some new embodiments, when the central processing module 310 detects a change in the position of the working point exceeding a threshold, it will promptly restart the synchronous operation of the radio frequency output electrode 110 and the nerve stimulation electrode 120. Furthermore, by scheduling the operation of the nerve stimulation electrode 120 before the radio frequency output electrode 110, the nerve stimulation electrode 120 operates first, enabling precise detection of the tissue and surrounding nerve conditions in advance. This allows for the acquisition of crucial information such as tissue electrical properties and nerve distribution, providing a reliable reference for the subsequent operation of the radio frequency output electrode 110. This reduces the risk of accidentally damaging nerves or other important tissues due to unclear conditions after a position change, thus ensuring the safety of the surgery.

[0169] As can be seen, the central processing module 310 first acquires the radio frequency cutting parameters of the high-frequency current (including key elements such as amplitude and frequency) and the application time of the high-frequency current. By combining these two parameters, it accurately calculates the cumulative energy value, which reflects the degree of energy impact of radio frequency cutting on the tissue. Simultaneously, it determines the thermal conductivity of the tissue based on its type and calculates a time correction coefficient based on the application time. This coefficient comprehensively considers the tissue's ability to conduct heat and the impact of the application time. Finally, it determines the safe waiting time based on the cumulative energy value and the time correction coefficient. Even when high-frequency current cutting causes tissue heating and interference effects on the electrode surface, the calculated waiting time ensures that subsequent operations such as reliable neural monitoring are only performed after the tissue's electrical properties have stabilized and the interference effects have disappeared, effectively guaranteeing the accuracy of the neural monitoring results.

[0170] In some embodiments, the duration of the high-frequency current during a single interaction is determined based on the tissue type.

[0171] It is evident that precisely arranging the duration of high-frequency current according to tissue type avoids excessively long high-frequency current cycles that could lead to over-cutting, ensuring the efficiency and safety of tissue processing during surgery and improving the overall quality of the operation.

Claims

1. An endoscopic thyroid-specific nerve monitoring bipolar, characterized by, include: Functional electrode unit, signal detection unit, control processing unit, and tissue correction unit; The functional electrode unit includes: The radio frequency output electrodes, located at both ends, are used to apply high-frequency current for tissue cutting and coagulation. The nerve stimulation electrodes are placed at either extreme to apply low-frequency current for nerve stimulation and monitoring. The signal detection unit includes: An impedance detection electrode, positioned at the other extreme, is correspondingly positioned to the nerve stimulation electrode and is used to acquire the voltage signal after a low-frequency current passes through the tissue. Impedance modeling unit, used to convert the voltage signal into an impedance value; The control processing unit includes: A location positioning module is used to determine the location of a working point, which is between two extreme points; The central processing module is used to control the synchronous operation of the radio frequency output electrode and the nerve stimulation electrode; to use the initial impedance value of the current working point as the type impedance; to determine the tissue type of the current working point through the type impedance; and to determine the tissue cutting result based on the tissue type and the impedance value change of the current working point. The central processing module is also used to determine, based on the tissue type, whether the rate of change of the impedance value at the current working point is within the preset cutting rate range; If the cutting rate is not within the preset range, the tissue correction unit is activated; The tissue correction unit includes: The feature extraction module is used to collect the low-frequency limiting resistance, high-frequency limiting resistance, characteristic frequency, and frequency dispersion coefficient of the working point at the current location. The Cole feature vector module is used to input the low-frequency limiting resistance, the high-frequency limiting resistance, the characteristic frequency, and the frequency dispersion coefficient into the Cole model to obtain the Cole feature vector; The organization type determination module is used to match the Cole feature vector with a preset organization feature database to determine the new organization type of the current work point; the organization feature database includes the Cole parameter range for different types of organizations; The central processing module is also used to modify the organization type using the new organization type.

2. The endoscope thyroid special nerve monitoring bipolar of claim 1, wherein: The feature extraction module specifically includes: The voltage response submodule is used to acquire the voltage response signal of low-frequency current at different frequencies to obtain voltage amplitude and phase information; The complex impedance value submodule is used to calculate the complex impedance value based on the voltage amplitude and the phase information. The complex impedance value is a complex form impedance that includes the impedance magnitude and the phase angle. A plotting submodule is used to plot the complex impedance value into a Nyquist plot, wherein the Nyquist plot is a planar graph with the real part of the complex impedance value as the horizontal axis and the imaginary part of the complex impedance value as the vertical axis. The fitting submodule is used to perform circular arc fitting on the Nyquist plot, wherein the low-frequency limiting resistance and the high-frequency limiting resistance are determined based on the intersection of the circular arc and the horizontal axis, and the geometric features of the circular arc are the characteristic frequency and the frequency dispersion coefficient.

3. The endoscopic thyroid-specific nerve monitoring bipolar of claim 1, wherein: The preset cutting rate range is determined by the tissue type.

4. The endoscopic thyroid-specific nerve monitoring bipolar of claim 1, wherein: The location positioning module specifically includes: The coordinate submodule is used to establish an initial coordinate transformation matrix based on the position coordinates of the detection point and the position coordinates of the working point; The posture angle sub-module is configured to collect posture angle data of the endoscope thyroid special nerve monitoring bipolar, and adjust the initial coordinate transformation matrix to obtain a real-time coordinate transformation matrix according to the posture angle data; The position calculation sub-module is configured to substitute the real-time position coordinates of the detection point into the real-time coordinate transformation matrix to calculate the position of the working point.

5. The endoscopic thyroid-specific nerve monitoring bipolar of claim 1, wherein: Further comprising: The tissue positioning module; The nerve stimulation electrode comprises a plurality of stimulation sub-electrodes; The impedance detection electrode comprises a plurality of detection sub-electrodes, and the detection sub-electrodes are opposite electrode pairs if receiving opposite stimulation sub-electrodes, and are oblique electrode pairs if receiving non-opposite stimulation sub-electrodes; The tissue positioning module is configured to calculate a voltage difference value from a first voltage signal obtained by the opposite electrode pair and a second voltage signal obtained by the oblique electrode pair; According to a preset voltage distance attenuation function, the voltage difference value is used to calculate a distance difference value between a first distance value of the opposite electrode pair to the target tissue and a second distance value of the oblique electrode pair to the target tissue; The first distance value or the second distance value is calculated according to the distance difference value and a preset distance between the opposite electrode pair and the oblique electrode pair; The position information of the target tissue is determined according to the position information of the opposite electrode pair and the first distance value, or the position information of the target tissue is determined according to the position information of the oblique electrode pair and the second distance value.

6. The endoscopic thyroid-specific nerve monitoring bipolar of claim 1, wherein, The step of controlling the radio frequency output electrode and the nerve stimulation electrode to work synchronously specifically comprises: The step of controlling the radio frequency output electrode and the nerve stimulation electrode to work alternately.

7. The endoscopic thyroid-specific nerve monitoring bipolar of claim 6, wherein, The central processing module is specifically configured to obtain a radio frequency cutting parameter of high-frequency current and an action time of high-frequency current, the radio frequency cutting parameter comprising an amplitude and a frequency; An energy accumulation value is determined according to the radio frequency cutting parameter and the action time; A heat conduction characteristic is determined according to the tissue type; A time correction coefficient is calculated according to the heat conduction characteristic and the action time; A safe waiting time is determined according to the energy accumulation value and the time correction coefficient.

8. The endoscopic thyroid-specific nerve monitoring bipolar of claim 7, wherein, The time correction coefficient is a product of a reference coefficient, a time proportion coefficient and a heat conduction coefficient proportion; the time proportion coefficient is a ratio of the action time to a reference time plus 1; The heat conduction coefficient proportion is a ratio of the heat conduction characteristic to a reference heat conduction characteristic; The safe waiting time is a product of a basic cooling time, the time correction coefficient and an energy proportion coefficient; the energy proportion coefficient is a ratio of the energy accumulation value to a reference energy plus 1; The base cooling time is selected according to tissue type; wherein T is the safety waiting time, T0 is the base cooling time, K t is the time correction coefficient, k3 is the energy proportion coefficient, A is the reference coefficient, for the time scale factor, t is the action time, t0is the reference time, The heat conduction coefficient proportion is λ / λ0, the energy accumulation value is E, and the reference energy is E0.

9. The endoscopic thyroid-specific nerve monitoring bipolar of claim 6, wherein, The duration of high-frequency current in one interaction process is determined according to the tissue type.

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