CN112635022B - Evaluation method and system for hydrophilic interface for holding biological tissue - Google Patents

Evaluation method and system for hydrophilic interface for holding biological tissue Download PDF

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CN112635022B
CN112635022B CN202011364362.0A CN202011364362A CN112635022B CN 112635022 B CN112635022 B CN 112635022B CN 202011364362 A CN202011364362 A CN 202011364362A CN 112635022 B CN112635022 B CN 112635022B
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force
hydrophilic interface
liquid film
biological tissue
film tension
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CN112635022A (en
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易波
蒋娟
朱晒红
王延磊
王国慧
凌颢
李政
雷阳
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Third Xiangya Hospital of Central South University
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    • G16H20/00—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance
    • G16H20/40—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N13/00—Investigating surface or boundary effects, e.g. wetting power; Investigating diffusion effects; Analysing materials by determining surface, boundary, or diffusion effects
    • G01N13/02—Investigating surface tension of liquids
    • G—PHYSICS
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    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N19/00—Investigating materials by mechanical methods
    • G01N19/04—Measuring adhesive force between materials, e.g. of sealing tape, of coating
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
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    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
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    • G01—MEASURING; TESTING
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Abstract

The invention discloses an evaluation method and a system for a hydrophilic interface for holding biological tissues, wherein the structural parameters of the hydrophilic interface to be evaluated and the maximum slipping force and the minimum damage force of the hydrophilic interface for holding the biological tissues are obtained; and calculating the liquid film tension of the hydrophilic interface according to the structural parameters, judging whether the liquid film tension is larger than the maximum slipping force and smaller than the minimum damage force, judging whether the hydrophilic interface is qualified if the liquid film tension is larger than the maximum slipping force and smaller than the minimum damage force, and judging that the hydrophilic interface is unqualified if the liquid film tension is smaller than the maximum slipping force or larger than the force value of the minimum damage force, so that the selected hydrophilic interface can be ensured to hold the biological tissue on the basis of not damaging the biological tissue, and avoiding tissue damage and slipping caused by contacting the tissue with an unsuitable hydrophilic interface area.

Description

Evaluation method and system for hydrophilic interface for holding biological tissue
Technical Field
The invention relates to the field of manufacturing of hydrophilic interfaces of surgical instruments, in particular to an evaluation method and an evaluation system for a hydrophilic interface for holding biological tissues.
Background
Unlike open surgery and traditional laparoscopic surgery, the surgical robot can complete the surgical operation through the mapping action of a mechanical device, a surgeon cannot directly contact the tissues, force loads born by hydrophilic interfaces of the tissues in the surgery cannot be fed back in real time through limb receptors, the stress condition of the tissues is judged only through visual feedback and the operation experience of the surgeon, the force feedback is absent, the force load output cannot be regulated timely and accurately, and irreversible damage such as tissue tearing and bleeding is easy to occur. Therefore, how to avoid tissue damage and slippage caused by contacting tissues with an unsuitable hydrophilic interface area fully embodies the minimally invasive treatment advantage of the robotic surgery and becomes a real problem to be solved in clinical work.
Disclosure of Invention
The invention provides an evaluation method of a hydrophilic interface for holding biological tissues, which is used for solving the technical problems of tissue damage and slipping caused by contacting tissues with an unsuitable hydrophilic interface area in the prior art.
In order to solve the technical problems, the technical scheme provided by the invention is as follows:
a method of evaluating a hydrophilic interface for holding biological tissue, comprising the steps of:
obtaining structural parameters of a hydrophilic interface to be evaluated and the maximum slipping force and the minimum damage force of the hydrophilic interface to be evaluated for holding biological tissues;
and calculating the liquid film tension of the hydrophilic interface according to the structural parameters, judging whether the liquid film tension is larger than the maximum slipping force and smaller than the minimum damage force, judging that the hydrophilic interface is qualified if the liquid film tension is larger than the maximum slipping force and smaller than the minimum damage force, and judging that the hydrophilic interface is unqualified if the liquid film tension is smaller than the maximum slipping force or larger than the force value of the minimum damage force.
Preferably, the maximum slip force and the minimum damage force are obtained through the following steps:
the clamping test is carried out on the biological tissue by using different forces, and the force value which has the smallest force and can clamp the biological tissue is selected as the maximum slipping force; and selecting a force value with minimum force and damaging the biological tissue as the minimum damage force.
Preferably, the structural parameters of the hydrophilic interface include the radius of the circumscribed circle of the nanoparticle in the hydrophilic interface and the width of the gap between adjacent nanoparticles.
Preferably, the shape of the nano particles of the hydrophilic interface is regular hexagon, and the calculation of the liquid film tension of the hydrophilic interface according to the structural parameters is realized by the following formula:
wherein R is the radius of the circumcircle of the nano particles, h is the thickness of the liquid film, gamma is the surface tension of the liquid film, w is the gap width between adjacent nano particles, F L Is liquidAnd a membrane tension, S, is a surface area of the hydrophilic interface, the surface area being used to generate the liquid membrane tension to hold the biological tissue.
A computer system comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of any of the methods described above when the computer program is executed.
The invention has the following beneficial effects:
according to the method and the system for evaluating the hydrophilic interface for holding the biological tissue, the structural parameters of the hydrophilic interface to be evaluated and the maximum slipping force and the minimum damage force of the hydrophilic interface for holding the biological tissue are obtained; and calculating the liquid film tension of the hydrophilic interface according to the structural parameters, judging whether the liquid film tension is larger than the maximum slipping force and smaller than the minimum damage force, judging whether the hydrophilic interface is qualified if the liquid film tension is larger than the maximum slipping force and smaller than the minimum damage force, and judging that the hydrophilic interface is unqualified if the liquid film tension is smaller than the maximum slipping force or larger than the force value of the minimum damage force, so that the selected hydrophilic interface can be ensured to hold the biological tissue on the basis of not damaging the biological tissue, and avoiding tissue damage and slipping caused by contacting the tissue with an unsuitable hydrophilic interface area.
In addition to the objects, features and advantages described above, the present invention has other objects, features and advantages. The invention will be described in further detail with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention. In the drawings:
FIG. 1 is a flow chart of a method of evaluating a hydrophilic interface for holding biological tissue in accordance with the present invention;
FIG. 2 is a partial block diagram of a hydrophilic interface to be evaluated in the present invention.
Detailed Description
Embodiments of the invention are described in detail below with reference to the attached drawings, but the invention can be implemented in a number of different ways, which are defined and covered by the claims.
Embodiment one:
as shown in fig. 1, the invention discloses an evaluation method for a hydrophilic interface for holding biological tissues, which comprises the following steps:
obtaining structural parameters of a hydrophilic interface to be evaluated and the maximum slipping force and the minimum damage force of the hydrophilic interface to be evaluated for holding biological tissues;
and calculating the liquid film tension of the hydrophilic interface according to the structural parameters, judging whether the liquid film tension is larger than the maximum slipping force and smaller than the minimum damage force, judging that the hydrophilic interface is qualified if the liquid film tension is larger than the maximum slipping force and smaller than the minimum damage force, and judging that the hydrophilic interface is unqualified if the liquid film tension is smaller than the maximum slipping force or larger than the force value of the minimum damage force.
In addition, in this embodiment, the invention also discloses a computer system, which includes a memory, a processor, and a computer program stored on the memory and capable of running on the processor, where the processor executes the computer program to implement the steps of the method.
According to the method and the system for evaluating the hydrophilic interface for holding the biological tissue, the structural parameters of the hydrophilic interface to be evaluated and the maximum slipping force and the minimum damage force of the hydrophilic interface for holding the biological tissue are obtained; and calculating the liquid film tension of the hydrophilic interface according to the structural parameters, judging whether the liquid film tension is larger than the maximum slipping force and smaller than the minimum damage force, judging whether the hydrophilic interface is qualified if the liquid film tension is larger than the maximum slipping force and smaller than the minimum damage force, and judging that the hydrophilic interface is unqualified if the liquid film tension is smaller than the maximum slipping force or larger than the force value of the minimum damage force, so that the selected hydrophilic interface can be ensured to hold the biological tissue on the basis of not damaging the biological tissue, and avoiding tissue damage and slipping caused by contacting the tissue with an unsuitable hydrophilic interface area.
Embodiment two:
embodiment two is an expanded embodiment of the embodiment, which is different from embodiment one in that specific steps of an evaluation method for a hydrophilic interface for holding biological tissue are refined.
In this embodiment, an evaluation method for a hydrophilic interface for holding biological tissue is disclosed, comprising the steps of:
obtaining structural parameters of a hydrophilic interface to be evaluated and the maximum slipping force and the minimum damage force of the hydrophilic interface to be evaluated for holding biological tissues;
and calculating the liquid film tension of the hydrophilic interface according to the structural parameters, judging whether the liquid film tension is larger than the maximum slipping force and smaller than the minimum damage force, judging that the hydrophilic interface is qualified if the liquid film tension is larger than the maximum slipping force and smaller than the minimum damage force, and judging that the hydrophilic interface is unqualified if the liquid film tension is smaller than the maximum slipping force or larger than the force value of the minimum damage force.
The method comprises the steps of obtaining structural parameters of a hydrophilic interface to be evaluated, and measuring the structural parameters from an electron microscope photo by taking the electron microscope photo of the surface of the hydrophilic interface, which is used for adsorbing tissues; in addition, in order to obtain more accurate structural parameters and avoid errors caused by manual labeling, multiple hydrophilic interface electronic microscope pictures with known accurate structural parameters can be obtained from historical data, the electronic microscope pictures are labeled by using the corresponding structural parameters to obtain multiple training samples, a neural network model taking the electronic microscope pictures as input quantity and the corresponding structural parameters as output quantity is constructed, and then the multiple training samples are input into the application network model for training to obtain a trained structural parameter model; and inputting the electron microscope photo of the hydrophilic interface to be evaluated into the trained structural parameter model to obtain the structural parameter of the hydrophilic interface to be evaluated.
The maximum slipping force and the minimum damage force are obtained through the following steps:
the clamping test is carried out on the biological tissue by using different forces, and the force value which has the smallest force and can clamp the biological tissue is selected as the maximum slipping force; and selecting a force value with minimum force and damaging the biological tissue as the minimum damage force. Specifically, the method for obtaining the maximum slipping force and the minimum damage force for holding the biological tissue comprises the following steps:
step 1: using the forceps heads to clamp the biological tissue along the vertical direction of the surface of the biological tissue with an initial clamping force (such as 1N), and observing whether the forceps heads under the initial clamping force can clamp the biological tissue;
1A if the biological tissue cannot be clamped (i.e. macroscopic movement between the binding clip and the tissue occurs), then f is gradually increased based on the initial force α (e.g., 0.5N) and with each increment of f α The biological tissue is clamped by the clamping force until f is increased α The biological tissue is clamped by the clamping force after the clamping force, and f is gradually reduced on the basis of the current clamping force μ (e.g., 0.1N) and with each reduction of f μ The biological tissue is clamped by the clamping force until f is reduced μ The biological tissue is not clamped by the clamping force, and the current clamping force is +f μ The maximum slip force;
1B, if the biological tissue can be clamped (namely when macroscopic movement occurs between the forceps head and the tissue), f is gradually reduced on the basis of initial force α And with each reduction of f α The biological tissue is clamped by the clamping force until f is reduced α The biological tissue is not clamped by the clamping force after the clamping, and f is gradually increased on the basis of the current force μ And with each increase f μ The biological tissue is clamped by the clamping force until f is increased μ The clamping force of the device can clamp the biological tissue, and the current force is the maximum slipping force;
step 2: step-wise increasing f on the basis of maximum slip force α And with each increase f α The biological tissue is clamped by the clamping force until f is increased α When the biological tissue is clamped by the clamping force, macroscopic damage is caused, and f is gradually reduced on the basis of the current force μ And with each reduction of f μ Clamping force after clampingThe biological tissue is reduced until f μ The biological tissue is clamped by the clamping force after the clamping, and the damage to the biological tissue can not be seen by naked eyes, the current force is +f μ I.e. the maximum damaging force.
In this embodiment, the biological tissue may be either human tissue or animal tissue, wherein the biological tissue may be stomach, small intestine, colon, rectum, liver, gall bladder, blood vessel, omentum, etc.
Small intestine: the safety domain measurement result of the rabbit small intestine of the team is as follows: the minimum injury force is 5.6-8.56N (smooth forceps head), and therefore, the safety domain of human intestinal tissues is estimated to be about 7-12N. Meanwhile, due to the limitation of the preparation process, the minimum morphology of the prepared micro-nano structure is 16um.
Colon: the safety threshold of the pig cecum is 22-37N under 5N pulling force by adopting a plane clamp with the size of 16mm x 8 mm. Considering that the traction force in human surgery is less than 5N, the estimated safety domain value of human colon is 10-18N.
Liver: under the condition of no tension, 24.0mm is adopted 2 The tooth pliers clamp fresh pork liver, and the tissue injury force is 5N. Therefore, the safety domain estimated value of human liver tissue is 6-10N.
Stomach: considering that the stomach wall tissue is thicker, the muscle layer and submucosa are rich, the compression resistance is stronger, and the security domain of the stomach tissue is estimated to be 12-20N.
Blood vessel: the vessel wall contains abundant elastic fibers, but the vessel intima is fragile and is easily broken by stress, and the vessel safety domain value is estimated to be 9-15N.
Wherein, the structural parameters of the hydrophilic interface comprise the radius of the circumcircle of the nano particles in the hydrophilic interface and the gap width between adjacent nano particles.
When the shape of the nano particles of the hydrophilic interface is regular hexagon, calculating the liquid film tension of the hydrophilic interface according to the structural parameters is realized by the following formula:
wherein R is the radius of the circumcircle of the nano particles, h is the thickness of the liquid film, gamma is the surface tension of the liquid film, w is the gap width between adjacent nano particles, F L Is the liquid film tension, S is the surface area of the hydrophilic interface, which is used to create the liquid film tension to hold the biological tissue.
In this embodiment, the surface tension γ of the liquid film can be expressed by the empirical formula of Harkins (Ha Gensi): gamma= 75.796-0.145T-0.00024T 2 T is the temperature in degrees centigrade, gamma is mN/m, the applicable temperature of the empirical formula is 10-60 ℃, and gamma is 70.427mN/m at 35 ℃.
In summary, the method and the system for evaluating the hydrophilic interface for holding the biological tissue acquire the structural parameters of the hydrophilic interface to be evaluated and the maximum slipping force and the minimum damage force of the hydrophilic interface for holding the biological tissue; and calculating the liquid film tension of the hydrophilic interface according to the structural parameters, judging whether the liquid film tension is larger than the maximum slipping force and smaller than the minimum damage force, judging whether the hydrophilic interface is qualified if the liquid film tension is larger than the maximum slipping force and smaller than the minimum damage force, and judging that the hydrophilic interface is unqualified if the liquid film tension is smaller than the maximum slipping force or larger than the force value of the minimum damage force, so that the selected hydrophilic interface can be ensured to hold the biological tissue on the basis of not damaging the biological tissue, and avoiding tissue damage and slipping caused by contacting the tissue with an unsuitable hydrophilic interface area.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (3)

1. A method for evaluating a hydrophilic interface for holding biological tissue, comprising the steps of:
obtaining structural parameters of a hydrophilic interface to be evaluated and the maximum slipping force and the minimum damage force of the hydrophilic interface to be evaluated for holding biological tissues;
calculating the liquid film tension of the hydrophilic interface according to the structural parameters, judging whether the liquid film tension is larger than the maximum slipping force and smaller than the minimum damage force, judging that the hydrophilic interface is qualified if the liquid film tension is larger than the maximum slipping force and smaller than the minimum damage force, and judging that the hydrophilic interface is unqualified if the liquid film tension is smaller than the maximum slipping force or larger than the force value of the minimum damage force;
the structural parameters of the hydrophilic interface comprise the radius of a circumcircle of the nano particles in the hydrophilic interface and the width of a gap between adjacent nano particles;
the shape of the nano particles of the hydrophilic interface is regular hexagon, and the liquid film tension of the hydrophilic interface is calculated according to the structural parameters and is realized by the following formula:
；
wherein,,for the radius of the circumscribed circle of the nanoparticle, +.>Is of liquid film thickness->Is the surface tension of the liquid film>For the gap width between adjacent nanoparticles +.>Is the tension of the liquid film->For the surface area of the hydrophilic interface, the surface area is used forGenerating the liquid film tension to hold the biological tissue.
2. The method for evaluating a hydrophilic interface for holding biological tissue according to claim 1, wherein the maximum slip force, the minimum damage force are obtained by:
the clamping test is carried out on the biological tissue by using different forces, and the force value which has the smallest force and can clamp the biological tissue is selected as the maximum slipping force; and selecting a force value with minimum force and damaging the biological tissue as the minimum damage force.
3. A computer system comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the steps of the method of any of the preceding claims 1 to 2 when the computer program is executed.
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