72 results about "Cut needle" patented technology

The utility model discloses a puncture rotary cutting needle for thyroid nodule treatment, which is characterized in that an outer tube and an inner tube are sleeved on the puncture rotary cutting needle, the inner tube is rotatably connected in the outer tube, and an outer side rotary cutting opening and an inner side rotary cutting opening are respectively arranged on the outer tube and the inner tube and are matched to form a rotary cutting window communicated with an inner cavity of the inner tube; the far end of the outer tube is constructed to be provided with the puncture tip, so that a puncture function is further realized on the basis of realizing rotary cutting and suction, thyroid tissues can be punctured and rotary-cut at the same time in a puncture entering process, the condition that the thyroid tissues need to enter and exit for multiple times is avoided, and the problem that an existing rotary cutting planer tool is difficult to adapt to a thyroid surgery scene is solved. According to the embodiment, the far end of the outer side rotary cutting opening extends to a part of the puncture tip, so that the opening position of the rotary cutting window at the far end is relatively lower than the opening position of the rotary cutting window at the near end, and when the thyroid tissue is sucked under negative pressure, the adsorption force to the thyroid tissue at the far end can be larger; and therefore, a better inhalation effect can be obtained.

The present application proposes an illumination assembly, a gear shifting assembly, an electric tube cutting needle. The electric tube cutting needle defines a front end and a rear end of the travel of a winding slider in the winding assembly by means of a detection module and a control module, and achieves an electrified winding operation and excitation reset operation by means of a motor drive module which drives the winding assembly and the excitation assembly, which can ensure that the winding slider stops when the backward movement reaches the rear end during the winding process, as well as that the winding slider stops when the forward movement reaches the front end during the reset process. Compared with the conventional manual tube cutting needles that require manual winding operation, it is more labour-saving and stable, and can improve the efficiency and convenience of the operation of the tube cutting needle.

The invention discloses an automatic calibration method and system for a cutting knife needle, a cutting machine and a storage medium. The method comprises the steps that a cutting knife needle is controlled to execute a gradient retraction cutting sequence, and the extension length of the knife needle retracts by a preset gradient length after each time of cutting; collecting a trace image formed on the calibration material by cutting each time through a camera; automatically identifying the shallowest effective cutting trace in the sequence based on image analysis; and calculating the reference zero point of the tool nose according to the sequence number corresponding to the trace, the preset gradient length and the initial extension length. The calibration material has a high-contrast substrate layer and contrast layer structure. The invention further discloses a system for implementing the method, the cutting machine comprising corresponding hardware and a storage medium. According to the invention, full automation of the calibration process is realized, dependence on artificial experience is eliminated, and the method has the advantages of high calibration precision, high efficiency, good consistency and the like.

The invention discloses a microscopic automatic cutting method and device for tumor cell sampling. The method comprises the following steps: acquiring a WSI image; identifying all tumor areas and positions thereof on the WSI image; acquiring an initial image by adopting a visual monitoring device; obtaining a tumor area and a position thereof on the initial image; identifying the position of the needle head of the cutting needle on the initial image; calculating through a path planning algorithm to obtain a motion path of the cutting needle; cutting on the slide; in the cutting process, a visual monitoring device is used for obtaining a real-time image, the real-time image is compared with the initial image, the deformation quantity of the normal tissue area is obtained, and when the deformation quantity exceeds a threshold value, cutting is stopped; otherwise, performing cutting until the current tumor area is cut completely; and after the current tumor area is cut, moving the slide, and repeating the steps until all tumor areas on the slide are cut. According to the invention, the position of the tumor area can be accurately identified, and high-precision positioning and full-automatic cutting are realized.

The invention relates to a biopsy needle and a control method thereof. The biopsy needle comprises a main machine and a remote controller. The host comprises a wireless module receiving end, a microcontroller, a biopsy needle winding mechanism, a biopsy needle ejection mechanism and a biopsy needle triggering mechanism, the biopsy needle winding mechanism comprises a winding sliding block, and the biopsy needle ejection mechanism comprises a cutting needle seat and a compression spring. The host and the remote controller are in wireless transmission connection, so that the biopsy needle can be remotely controlled to be wound and excited, the state process of winding and excitation of the biopsy needle can be remotely controlled, the biopsy tissue obtaining operation can be remotely completed, a doctor does not need to manually complete excitation, the system is far away from the radiation environment, and the operation efficiency is improved. And the health of doctors is protected.

The present invention discloses a soft tissue tumor puncture biopsy needle device, including a needle tube, a needle handle and a driving unit. A cylinder cavity is provided inside the needle handle; the proximal end of the needle tube is connected to the needle handle and the internal channel of the needle tube is connected to the cylinder cavity; a piston is slidably connected in the cylinder cavity, a driving structure is installed on the needle handle, and the output end of the driving unit is connected to the piston, which is used to drive the piston to slide in the cylinder cavity; an exhaust port connected to the outside is also provided on the cylinder cavity, and a one-way valve that only allows gas to flow from the cylinder cavity to the outside is provided on the exhaust port. The soft tissue tumor puncture biopsy needle device provided by the present invention can continuously draw the target object into the internal channel of the needle tube without the need for multiple punctures, and at the same time, it is not necessary to leave a safe distance like a cutting needle.

According to the rotary-cut needle body and the rotary-cut needle equipment, the developing definition can be improved in the operation that a rotary-cut needle is used for excising tissue, and a doctor is helped to accurately judge the condition of the target tissue. The rotary cutting needle body comprises a hollow inner needle and an outer needle with a cutting groove in the far end, and further comprises an ultrasonic probe, and the ultrasonic probe is located in the inner needle; the ultrasonic probe is in a long strip shape, and an ultrasonic generator at the far end of the ultrasonic probe is located at the position of the cutting groove. The rotary-cut needle equipment comprises a rotary-cut needle handle and a collecting box, and further comprises the rotary-cut needle body. The far end of the rotary cutting needle device is the far end of the outer needle, and the near end of the rotary cutting needle device is the collecting box.

The utility model relates to an infusion needle recovery device which is arranged right above a recovery barrel and comprises a mounting plate, a first spring, a second spring and a blade, firstly, a medical worker holds an infusion tube to be vertically arranged, so that a needle head is vertically downward, the medical worker holds the infusion tube to gradually move downwards, the needle head sequentially penetrates through a second hole and a first hole, one end of an L-shaped plate is manually pulled, the L-shaped plate is arranged on a rotating shaft in a sleeving mode, the L-shaped plate starts to rotate, and a second spring is further compressed; one end of the L-shaped plate is separated from the limiting groove, the first spring in a compressed state pushes the sliding plate to move, the blade makes contact with an infusion tube and then cuts the infusion tube, the cut needle falls into the recycling barrel, then needle recycling is completed, and through the structure, it is avoided that medical staff make direct contact with the used infusion needle.

The application discloses a tube cutting needle exciting structure and an operating method, and belongs to the field of medical equipment. The tube cutting needle exciting structure is used for exciting a tube cutting needle, and the tube cutting needle comprises a tube cutting needle assembly and a shell. The tube cutting needle assembly comprises an inner needle, an outer needle and a cutting needle, and the inner needle, the outer needle and the cutting needle are connected with an inner needle seat, an outer needle seat and a cutting needle seat arranged in the shell respectively. The tube cutting needle exciting structure further comprises an upper string sliding block. A second track parallel to a needle insertion direction is arranged on an inner wall of the shell, and the cutting needle seat, the outer needle seat and the inner needle seat are arranged on the second track. The upper string sliding block can drive the cutting needle seat, the outer needle seat or the inner needle seat to move reversely to the needle insertion direction to an upper string position, so that the tube cutting needle is excited. The tube cutting needle exciting structure has good structural stability. The upper string sliding block can be driven by power, so that the operation is labor-saving, and the doctor's physical strength is saved. In addition, the problem of poor biopsy needle structural stability caused by another power-saving structure is avoided.

The application discloses a kind of electric tube cutting needle's tuning block and electric tube cutting needle, further improve existing electric tube cutting needle.The electric tube cutting needle's tuning block of the present application includes stop hook, bottom plate, sliding slot and second push button, wherein the stop hook includes first arm, second arm, third arm, fourth arm and connecting part;The bottom plate is connected with the bottom of sliding slot and the two are coplanar;Second push button is installed on the lower surface of bottom plate;First arm and second arm are connected into L shape, second arm is connected with the top edge of the first wall of sliding slot and second arm is consistent with the extension direction of the first wall;Third arm and fourth arm are connected into L shape, fourth arm is connected with the top edge of the second wall of sliding slot and second arm is consistent with the extension direction of the second wall;Connecting part, first arm and third arm form U shape.The electric tube cutting needle contains the tuning block, and the tuning block is not easy to be damaged during the use of the electric tube cutting needle.

A surgical robotic system includes a combination end effector for performing suturing operations. The end effector includes a pair of pivotable jaws each of which includes a distal gripping surface and a proximal cutting body having a straight and / or a curved blade that is occluded unless the jaws are sufficiently open. The opening angle and the aperture between the jaws as well as the corresponding gripping surfaces and blades is controlled by a paddle movable relative to a handle. The system includes a controller for implementing various control schemes for guiding, adjusting, and providing feedback to user inputs through the paddle for controlling the aperture between the jaws and operating the end effector in gripping and cutting modes.

The utility model discloses a closed rotary-cut needle positioning device, which belongs to the technical field of medical equipment, aims to solve the problem that the existing rotary-cut needle is inaccurate in self-inspection and positioning, and comprises a driving handle and a rotary-cut device, the driving handle is connected with the rotary-cut device in an embedded manner, a rotary-cut needle body is connected inside the rotary-cut device, and the rotary-cut needle body is connected with the rotary-cut needle body. A rotary cutting needle driving gear set is installed at one end of the rotary cutting needle body, a black bar code is engraved on the rotary cutting needle body, an identification module is installed on one side of the black bar code, a groove is formed in the side, close to the rotary cutting device, of the driving handle, and a photoelectric sensor set and a driving handle gear set are installed in the groove. The rotary cutting pin gear set corresponds to the driving handle gear set in position and is connected with the driving handle gear set in a meshed mode, and the black bar code and recognition module corresponds to the photoelectric sensor set in position.

The application discloses an electric tube cutting needle, which comprises a tube cutting needle assembly and a shell, the tube cutting needle assembly comprises an inner needle, an outer needle and a cutting needle, the inner needle, the outer needle and the cutting needle are connected with an inner needle seat, an outer needle seat and a cutting needle seat arranged in the shell respectively, the electric tube cutting needle further comprises an upper string sliding block and an electric driving mechanism, wherein the upper string sliding block is used for driving the tube cutting needle assembly to realize upper string; the electric driving mechanism is connected with the upper string sliding block and is used for driving the upper string sliding block to make linear reciprocating motion. The electric tube cutting needle can drive the upper string by the motor, is more labor-saving, saves the physical strength of doctors and guarantees normal operation of surgery; and the problem of poor structural stability of the biopsy needle caused by another labor-saving structure is avoided.

The invention discloses an acupuncture device based on rotary switching of acupuncture needles, and relates to the technical field of acupuncture devices. The device comprises a shell, an inlet is formed in one end of the shell, the inner side of the inlet is rotationally connected with a shielding plate through a hinge, a rotary needle cutting assembly is arranged on the inner side of the shell, and a clamping assembly is arranged on the inner side of the rotary needle cutting assembly. Through the arrangement of the rotary needle cutting assembly, the assembled filiform needle can be directly moved downwards for acupuncture, the problem caused by back-and-forth switching of the filiform needle in the acupuncture device can be avoided, meanwhile, the position of the filiform needle can be positioned, and therefore the stability of the filiform needle moving out of the acupuncture device can be improved.

The application discloses a needle cutting machine for fish-eye pin rows, which comprises a base, a pressing mechanism, a linkage mechanism, a needle pushing mechanism, a material feeding mechanism and a fish-eye pin row, the base comprises a vertical section and a horizontal section, and the included angle between the vertical section and the horizontal section is a right angle; the pressing mechanism is arranged on the vertical section of the base and is used for cutting the connection between the fish-eye pins; the needle pushing mechanism is arranged on the horizontal section of the base, and the material feeding mechanism is connected with the needle pushing mechanism; through cooperation of the pressing mechanism, the linkage mechanism, the needle pushing mechanism and the material feeding mechanism, the semi-automatic needle cutting work is realized, the problems that the automation cutting needs high investment and long delivery period and cannot meet the requirements of small batches and sample pieces in the experimental stage are solved, the problem that the manual bevelled forceps cannot meet the size requirements of the shoulder part of the fish-eye pin after cutting is solved, and the problem of low manual cutting efficiency is also solved.

A closed rotary-cut needle calibration device relates to the technical field of medical equipment and is characterized in that a driving handle is rotatably connected with an outer needle tube and an inner needle tube, the inner needle tube is positioned in the outer needle tube and rotatably connected with the outer needle tube, one ends of the outer needle tube and the inner needle tube, which are positioned in the driving handle, are respectively connected with a driving motor, and the outer needle tube is provided with a sampling cutter groove; the position of the inner needle tube corresponds to the position of the sampling cutter groove, a central identification point is arranged at one end, close to the mounting rack, of the outer needle tube, and a positioning mark is arranged in the middle of one end, close to the outer needle tube, of the mounting rack; according to the closed type rotary cutting needle calibrating device, the driving motor drives the outer needle tube to rotate, the notch of the sampling cutter groove in the outer needle tube faces the reference position in the middle over the outer needle tube, the position of the inner needle tube is determined through the vertex limiting mark and the original point limiting mark on the outer needle tube, and operation of workers is facilitated.

The utility model discloses a pin cutting needle which comprises a pin cutting needle body, the pin cutting needle body is composed of a head end, a pre-cutting part and a tail end which are integrally arranged, the pre-cutting part is located between the head end and the tail end, and the pre-cutting part comprises a first needle foot and a second needle foot which are used for cutting of the pin cutting needle body. In the production process, the pre-cutting part is provided with a plurality of stitches, redundant stitches are cut off according to needs, the consistency of knitting needles is improved, machines do not need to be switched frequently in some procedures, the situation of mismatching in use is avoided, the consistency of the knitting needles is unified, the machines do not need to be switched frequently in some procedures in production, and the production efficiency is improved. And the processing speed is improved.

The invention discloses a tumor tissue microdissection method, device and equipment and a storage medium, and the method comprises the steps: firstly obtaining the contact area of a cutting needle, determining the size of a Tiles image block and a Patch unit which are obtained through grid division of a pathological image, and enabling the Patch unit to be matched with a single-time cutting region of the cutting needle; segmenting the pathological image into Tiles to be detected, and preprocessing to remove a background; the method comprises the following steps: screening tumor Tiles through Tiles-level classification, segmenting the tumor Tiles into Patch units, and distinguishing tumor, para-carcinoma and invalid Patches through Patch-level classification; the tumor concentration is calculated, target Tiles conforming to the preset concentration are screened, a cutting path is generated, and equipment cutting is controlled. According to the method, accurate matching of image analysis granularity and cutting hardware precision is realized, tumor concentration can be quantified, para-carcinoma tissues can be accurately removed, and cutting precision, efficiency and automation degree are remarkably improved.

The utility model discloses an auxiliary device for cutting off a needle head, which comprises a tool apron, a tool body is rotatably connected to the top of the tool apron close to the left end of the tool apron, an L-shaped hook is fixedly connected to the bottom of the left side of the tool apron, the tool apron is a tube body, the section of the tool apron is I-shaped, and a sliding rod matched with the tool apron for use is sleeved on the inner surface of the tool apron. The end, away from the tool apron, of the sliding rod is hook-shaped, the position, close to the end, of the top of the sliding rod is in threaded connection with a fixing knob, and the front face of the tool apron is further in threaded connection with a locking bolt limiting movement of the sliding rod. According to the device, the relative positions of the tool apron and the sliding rod can be adjusted, so that the device can be matched with sharp instrument boxes of different sizes, tools are fixed to the sharp instrument boxes, extra scissors or tool storage is not needed, the structure is simple, application and popularization are convenient, and the structure of the sharp instrument boxes does not need to be specially modified.

The utility model discloses a rotary cutting electric coagulation hemostasis needle which comprises an outer needle tube, an inner needle tube and an inner needle tube. The inner needle tube is located in the containing cavity and can move in the axial direction of the outer needle tube; the far-end needle tip is made of a conductive material, is positioned at the farthest end of the outer needle tube, and is used as an electrode for electrode discharge to realize electric coagulation hemostasis; the insulating part is used for electrically isolating the far-end needle tip from the outer needle tube; the wire is used for connecting the far-end needle tip to a power supply module. According to the rotary-cut electrocoagulation hemostasis needle, the discharge electrode is arranged at the needle head of the rotary-cut needle, hemostasis is achieved in an electrocoagulation mode, and the rotary-cut electrocoagulation hemostasis needle has the advantages of being simple in structure, convenient to operate and the like.

The present invention discloses a microscopic automatic cutting method and device for tumor cell sampling, comprising: acquiring a WSI image; identifying all tumor regions and their positions on the WSI image; acquiring an initial image using a visual monitoring device; obtaining the tumor regions and their positions on the initial image; identifying the position of the cutting needle tip on the initial image; calculating through a path planning algorithm to obtain the cutting needle movement path; performing cutting on the glass slide; during the cutting process, using the visual monitoring device to acquire a real-time image and comparing the real-time image with the initial image to obtain the deformation amount of the normal tissue region, and when the deformation amount exceeds the threshold, stopping the cutting; otherwise, continuously cutting until the current tumor region is cut; after the current tumor region is cut, moving the glass slide and repeating the above steps until all tumor regions on the glass slide are cut. The present invention can accurately identify the positions of tumor regions, achieving high-precision positioning and fully automatic cutting.

The invention belongs to the technical field of medical instruments, and relates to a visual multifunctional negative pressure suction rotary cutting system which comprises a machine shell, a negative pressure unit and an electric rotary cutting needle, the negative pressure unit comprises a multi-stage vacuum pump set, a buffer bottle, a flow meter, an electric field sterilizer, a multi-way pipeline, a pressure regulating valve and a liquid storage bottle, the multi-stage vacuum pump set is installed in the machine shell, and the buffer bottle is connected with the flow meter. A buffering bottle is connected to a negative pressure connector of the multi-stage vacuum pump set through a pipeline and connected with an electric field sterilizer through a pipeline provided with a flow meter, the electric field sterilizer is connected with a multi-way pipeline, one branch of the multi-way pipeline is connected to a liquid storage bottle through an electromagnetic valve, one branch of the multi-way pipeline is connected to a pressure regulating valve installed on a machine shell, and the other branch of the multi-way pipeline is connected to a water pump. And the liquid storage bottle is connected to the electric rotary cutting needle through a pipeline. The invention has the advantages of scientific and reasonable design, adjustable flow and pressure, safety, reliability, convenience in operation, reduction of pathogen transmission and easiness in implementation.

The utility model relates to the technical field of surgical instruments, in particular to an ophthalmologic surgical instrument. The ophthalmic surgical instrument comprises an operation main body, an operation handle and a locking piece, the operation body is provided with a limiting groove. The operating handle is movably connected to the operating main body and comprises a cutting part and a pressure applying part which are oppositely arranged; the locking piece is rotationally connected to the operating handle, the rotating axis of the locking piece is arranged in the first direction, and the locking piece is arranged between the cutting part and the pressure applying part; when the pressure applying part is stressed, the operation handle can move relative to the operation body, the locking piece moves to the position opposite to the limiting groove, then the locking piece can be screwed into the limiting groove, and the operation handle is locked. According to the capsulotomy needle, the problem that in the prior art, operation is tedious when a doctor uses the capsulotomy needle can be solved, the operation handle is rapidly locked and unlocked by controlling the locking piece, the operation steps are simplified, and the operation difficulty of the doctor on instruments is reduced.

The application discloses a method for controlling a cutting needle and a cutting machine. The method comprises the following steps: configuring a reference zero point of a cutting needle tip; when cutting a material to be cut, determining a corresponding target cutting length according to obtained material information of the material to be cut; and controlling the cutting needle to perform a cutting task on the material to be cut based on the reference zero point of the cutting needle tip and the target cutting length. The method can improve the adjustment efficiency of the cutting needle.

The utility model discloses a handle of rotary cutting equipment. The handle comprises a shell; the driving mechanism is located in the shell and used for driving the transmission mechanism of the rotary cutting needle, so that an inner needle knife of the rotary cutting needle translates in the axial direction and rotates in the circumferential direction; the adjusting unit is located on the surface of the shell and used for starting / stopping the driving mechanism so that the inner needle knife can horizontally move by a specific distance relative to an outer needle tube of the rotary cutting needle in the axial direction, and therefore the opening degree of a notch of the rotary cutting needle is adjusted. According to the rotary-cut equipment handle, by arranging the adjusting unit, a medical worker holding the rotary-cut equipment handle can directly adjust the opening degree of the notch of the rotary-cut needle, the medical worker does not need to depend on other people to be attended and matched beside a host in a non-sterile area, and the rotary-cut equipment handle has the advantages of being simple in structure, convenient to use, high in working efficiency and the like.

The present invention relates to a needle cutting mechanism and a needle insertion device. The needle cutting mechanism includes a first shearing structure and a second shearing structure that are relatively arranged; the first shearing structure includes a first extrusion piece and a first shearing piece, and the first extrusion piece and the first shearing piece are arranged along the direction of the needle insertion; the second shearing structure includes a second extrusion piece that is compatible with the first extrusion piece, and a second shearing piece that is compatible with the first shearing piece, and the second extrusion piece and the second shearing piece are arranged along the direction of the needle insertion; the first extrusion piece and the second extrusion piece can move toward each other, and the working gap between the first extrusion piece and the second extrusion piece during extrusion is smaller than the diameter of the wire to be processed; the first shearing piece and the second shearing piece can move toward each other until they collide with each other. By adopting the above structure, the needle material can be firmly plugged into the PCB board, so as to solve the problems in the prior art that the metal needle material and the PCB board hole are easy to loosen and cannot be firmly plugged in, and the metal needle material is easy to break and needs to be repaired.

A telescoping assembly such as an endobronchial ultrasound needle (EBUS) assembly includes a motor coupled to a biopsy needle within a telescoping housing to rotate (such as to oscillate) the needle during tissue harvest to improve harvesting.

The invention relates to the technical field of sharp instrument boxes, and discloses a sharp instrument box capable of cutting needles and a control method thereof.The sharp instrument box comprises a box body and a box cover, the box body is provided with a containing cavity used for containing sharp instruments, the box body is provided with a cutting hole and a recycling hole which are communicated with the containing cavity, the box cover is rotationally arranged on the box body, and a cutting knife is arranged on the box cover; the box cover is driven to rotate to have a box closing state and a box opening state, and when the box cover is in the switching state, the cutting edge part of the cutting knife cuts the cutting hole. By arranging the box cover rotatably arranged on the box body, when the box cover is driven to rotate and has a box closing state and a box opening state, the box cover can be firstly in the box opening state during use, then one end of an infusion tube is put into the containing cavity through the cutting hole, and finally the box cover is driven to be in the box closing state; at the moment, the cutting edge part of the cutting knife can be driven to cut off the infusion tube, the needle head falls into the containing cavity, meanwhile, the sharp instrument box is closed, and two purposes are achieved.

A puncture needle is connected with a freezing mechanism, a rotary-cut needle tube arranged on the puncture needle in a sleeving mode is arranged, a mechanical rotary-cut structure is in linkage with the rotary-cut needle tube, a limiting mechanism is arranged, the rotary-cut needle tube is limited to the near-end position, and pre-stored mechanical energy is formed; a release mechanism linked with the freezing mechanism and the limiting mechanism is further arranged, and the release mechanism is set to start the freezing mechanism and release the pre-stored mechanical energy in a first release position and a second release position respectively, so that the peripheral tissue of the puncture needle is frozen firstly through the single-stroke pushing of the release mechanism; the mechanical rotary cutting mechanism converts the pre-stored mechanical energy output by the limiting mechanism into composite rotary cutting motion of the rotary cutting needle tube to achieve rotary cutting of frozen tissue, so that rotary cutting sampling is completed, the whole process is mechanical, extra electric power or pneumatic power is not needed, the whole product is miniaturized, the weight can be effectively reduced, and operation is convenient.

The application discloses a rotary cutting device, a rotary cutting system and a driving control method thereof, and relates to the technical field of medical devices, in particular to a rotary cutting device, a rotary cutting system and a driving control method thereof. The rotary cutting device comprises a rotary cutting driving body and a first control unit. The rotary cutting driving body is connected with a rotary cutting needle and is used for driving the rotary cutting needle to rotate and cut tissues. The rotary cutting driving body is connected with the first control unit. The first control unit comprises a current monitoring module. The current monitoring module is used for collecting current signals of the rotary cutting driving body in real time. The first control unit is provided with an upper limit threshold value of the current of the rotary cutting driving body. When the current value corresponding to the current signals is greater than the upper limit threshold value of the current, the first control unit adjusts the rotary cutting driving body to reduce the first rotating speed of the rotary cutting driving body. The application can adaptively reduce the rotary cutting rotating speed when high-hardness tissues are cut, avoid damage of the rotary cutting needle blade, and improve the efficiency and safety of the rotary cutting operation.