CN111024289A - Soft tissue biomechanical parameter measuring method and system - Google Patents
Soft tissue biomechanical parameter measuring method and system Download PDFInfo
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- CN111024289A CN111024289A CN201911404070.2A CN201911404070A CN111024289A CN 111024289 A CN111024289 A CN 111024289A CN 201911404070 A CN201911404070 A CN 201911404070A CN 111024289 A CN111024289 A CN 111024289A
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- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
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Abstract
The invention provides a soft tissue biomechanical parameter measuring method and system. The method comprises the following steps: (1) clamping and fixing the soft tissue to be measured in a fixed splint, and fixedly connecting the fixed splint with a dynamometer; (2) controlling a surgical blade through a probe, and performing puncturing and cutting operations on the soft tissue to be detected along a preset feed path; (3) acquiring and recording the stress magnitude and the change of the soft tissue to be tested through the dynamometer so as to obtain a puncture force curve and a cutting force curve; (4) and (5) updating the soft tissue to be detected, repeating the steps (1) to (3) and obtaining biomechanical parameters of different soft tissues of the jaw face. The invention can simulate the cutting process in the real operation process, obtains the biomechanical parameters of different tissues of the maxillofacial region, such as the piercing force, the cutting force and the like, and lays a foundation for the construction of a subsequent soft tissue force tactile feedback model.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a method and a system for measuring biomechanical parameters of soft tissues.
Background
Virtual Reality (VR) technology has a great development in the medical field due to its interactivity, immersion, and imagination, and has a broad development prospect. The VR technology can be used for operation teaching and operation training. Soft tissue physical modeling is crucial to achieve image and force haptic feedback in virtual surgery.
In order to establish a real-time and vivid soft tissue model which accords with biomechanical characteristics, the corresponding biomechanical related physical parameters of different soft tissues need to be measured so as to realize the soft tissue virtual operation. The measurement of the corresponding mechanical relevant physical parameters of the soft tissue needs to be carried out by constructing a soft tissue biomechanics parameter measuring system, fixing the scalpel blade on a probe, puncturing and cutting the soft tissue and measuring the reaction force in the operation process by utilizing a force sensor.
Because the biological soft tissue is an anisotropic and non-uniform viscoelastic body and has strong time dependence and difference, when cutting occurs, the boundary condition is very complex, accurate modeling is difficult to be carried out on the cutting from the aspects of mathematics and physics, and the establishment of a physical model with high simulation degree is always a difficult problem for researchers at home and abroad. In the surgical cutting process, the tissue displacement and deformation are large, so that epidermis or muscle fibers cannot be cut, the cutting condition under the physiological condition in the real surgery cannot be met, and the real surgical operation process cannot be simulated.
Disclosure of Invention
The invention aims to provide a soft tissue biomechanics parameter measuring method and system aiming at the problems in the prior art, which can prevent the soft tissue to be measured from generating excessive deformation in the cutting process, realize the simulation of the cutting process in the real operation process, obtain the biomechanics parameters of different soft tissues and lay the foundation for the construction of a subsequent soft tissue force tactile feedback model.
In order to achieve the above object, the present invention provides a soft tissue biomechanics parameter measuring method, comprising the following steps: (1) clamping and fixing soft tissue to be measured in a fixed splint, and fixedly connecting the fixed splint with a dynamometer; (2) controlling a surgical blade through a probe, and performing puncturing and cutting operations on the soft tissue to be detected along a preset feed path; (3) acquiring and recording the stress magnitude and the change of the soft tissue to be tested through the dynamometer so as to obtain a puncture force curve and a cutting force curve; (4) and (5) updating the soft tissue to be detected, repeating the steps (1) to (3) and obtaining biomechanical parameters of different soft tissues of the jaw face.
In order to achieve the above object, the present invention also provides a soft tissue biomechanics parameter measuring system, comprising: the device comprises a probe, a surgical blade fixed on the probe, a fixed clamping plate, a dynamometer fixedly connected with the fixed clamping plate and a numerical control device; the fixed splint is used for clamping and fixing the soft tissue to be detected; the numerical control device is used for controlling the surgical blade through the probe, performing puncturing and cutting operations on the soft tissue to be detected along a preset feed path, and acquiring and recording the stress size and the change of the soft tissue to be detected through the dynamometer so as to obtain a puncturing force curve and a cutting force curve.
The invention has the advantages that the cutting path is set, and the fixed splint is adopted to fix the soft tissue, so that the soft tissue is prevented from being excessively deformed in the cutting process, and the cutting process in the real operation process can be simulated; the fixation splint can also increase the stability of soft tissue in the experiment during the puncture process. The invention can obtain the magnitude of the acting force when different tissues of the maxillofacial region are cut, and obtain corresponding biomechanical parameters such as piercing force, cutting force and the like, thereby laying a foundation for the construction of a subsequent soft tissue force tactile feedback model.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a flow chart of a soft tissue biomechanical parameter measurement method of the present invention;
FIG. 2 is a schematic structural diagram of an embodiment of the soft tissue biomechanical parameter measurement system of the present invention;
FIG. 3A is a schematic structural view of an embodiment of an upper splint of the present invention;
FIG. 3B is a schematic structural view of a lower splint according to an embodiment of the present invention
FIG. 3C is a schematic perspective view of the fixing sleeve of the fixing splint of the present invention
FIG. 3D is a front view of the retaining sleeve of the retaining splint of the present invention;
FIG. 4 is a partial schematic view of another embodiment of the lower splint of the retaining splint of the present invention;
FIG. 5A is a graph of skin penetration;
FIG. 5B is a cut curve of skin;
FIG. 6A is a puncture curve for a muscle;
fig. 6B is a cut curve of a muscle.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar components or components having the same or similar functions throughout. The terms "first," "second," "third," and the like in the description and in the claims, as well as in the drawings, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the objects so described are interchangeable under appropriate circumstances. Furthermore, the terms "comprising" and "having," as well as any variations thereof, are intended to cover non-exclusive inclusions. The directional phrases used in this disclosure include, for example: up, down, left, right, front, rear, inner, outer, lateral, etc., are simply directions with reference to the drawings. The embodiments described below by referring to the drawings and directional terms used are exemplary only, are used for explaining the present invention, and are not construed as limiting the present invention. In addition, the present invention provides examples of various specific processes and materials, but one of ordinary skill in the art may recognize applications of other processes and/or uses of other materials.
Referring to fig. 1, a flow chart of a method for measuring biomechanical parameters of soft tissue according to the present invention is shown. The method comprises the following steps: s11: clamping and fixing the soft tissue to be measured in a fixed splint, and fixedly connecting the fixed splint with a dynamometer; s12: controlling a surgical blade through a probe, and performing puncturing and cutting operations on the soft tissue to be detected along a preset feed path; s13: acquiring and recording the stress magnitude and the change of the soft tissue to be tested through the dynamometer so as to obtain a puncture force curve and a cutting force curve; s14: and updating the soft tissue to be detected, repeating the steps S11-S13, and obtaining biomechanical parameters of different soft tissues of the jaw face.
In a further embodiment, step S12 further includes: and setting the preset feed path through five-axis numerical control machining equipment, and further controlling the probe and further controlling the surgical blade. For example, by using a HURCO VMX42 five-axis numerical control machining device, the preset feed path is set through visual human-computer interaction, and the puncturing and cutting operations are controlled.
In a further embodiment, a means of attaching the probe to the scalpel blade is developed on the probe, i.e. the scalpel blade is secured to the probe using a 3D printed connector.
In a further embodiment, the fixation splint comprises: the force measuring device comprises an upper clamping plate and a lower clamping plate which are detachably connected, and a plurality of fixing sleeves which are used for connecting the lower clamping plate and the force measuring instrument; the utility model discloses a soft tissue puncture test device, including upper plate, lower plate, last splint with form the holding district between the lower plate for holding, centre gripping and fixing the soft tissue that awaits measuring, the upper plate with the corresponding position of lower plate is provided with puncture opening and cutting opening, puncture opening is used for carrying out the soft tissue puncture operation, cutting opening is used for carrying out the soft tissue cutting operation. The soft tissue to be detected can be well fixed through the fixing splint, and the soft tissue to be detected is prevented from being excessively deformed in the cutting process, so that the cutting process in the real operation process can be well simulated; meanwhile, the stability of the soft tissue to be measured can be improved in the puncturing process, and the measurement result of the biomechanical parameter of the soft tissue can be effectively obtained.
In a further embodiment, the fixing splint is made of a white photosensitive resin material, such as SLA industrial grade white photosensitive resin, and is prepared by a 3D printing method, so as to facilitate the preparation of the fixing splint.
In a further embodiment, the preset feed path is: and controlling the surgical blade to vertically cut into the soft tissue to be tested, puncturing the soft tissue to be tested and penetrating into a target tissue layer, and then controlling the surgical blade to form an angle of 45 degrees with the soft tissue to be tested and horizontally cutting.
Fig. 2-3D are also shown, in which fig. 2 is a schematic structural view of an embodiment of the soft tissue biomechanics parameter measuring system of the present invention, fig. 3A is a schematic structural view of an embodiment of an upper splint of the fixation splint of the present invention, fig. 3B is a schematic structural view of an embodiment of a lower splint of the fixation splint of the present invention, fig. 3C is a schematic perspective structural view of a fixation sleeve of the fixation splint of the present invention, and fig. 3D is a front view of the fixation sleeve of the fixation splint of the present invention.
As shown in fig. 2, the system includes: the device comprises a probe 182, a surgical blade 183 fixed on the probe 182, a fixed clamp plate 180, a force measuring instrument 181 fixedly connected with the fixed clamp plate 180, and a numerical control device 184.
The fixed splint 180 is used for clamping and fixing the soft tissue 19 to be detected; the numerical control device 184 is configured to control the scalpel blade 183 through the probe 182, perform puncturing and cutting operations on the soft tissue 19 to be measured along a preset feed path, and obtain and record the magnitude and change of the stress of the soft tissue 19 to be measured through the force measuring instrument 181, so as to obtain a puncturing force curve and a cutting force curve.
In a further embodiment, the numerical control device 184 employs five-axis numerical control machining equipment, and sets the preset feed path through visual human-computer interaction by using the five-axis numerical control machining equipment, so as to control the probe and further control the surgical blade. For example, by using a HURCO VMX42 five-axis numerical control machining device, the preset feed path is set through visual human-computer interaction, and the puncturing and cutting operations are controlled.
In a further embodiment, a means of attaching the probe to the scalpel blade is developed on the probe, i.e. the scalpel blade is secured to the probe using a 3D printed connector.
In a further embodiment, the load cell 181 uses a Kistler9256C2 precision cutting force on-line measuring device.
In a further embodiment, the fixing clip 180 includes: an upper clamp plate 11 and a lower clamp plate 12 detachably connected, and a plurality of fixing sleeves 13 connecting the lower clamp plate 12 and the load cell 181; the utility model discloses a soft tissue puncture device, including upper plate 11, lower plate 12, upper plate 11 with form holding area 103 between the lower plate 12 for holding, centre gripping and fixing the soft tissue 19 that awaits measuring, upper plate 11 with the corresponding position of lower plate 12 is provided with puncture opening and cutting opening, puncture opening is used for carrying out the soft tissue puncture operation, cutting opening is used for carrying out the soft tissue cutting operation.
Specifically, the fixing clip 180 has a working area 101 and a fixing area 102 surrounding the working area 101. In the corresponding working area 101, an accommodating area 103 is formed between the upper splint 11 and the lower splint 12 and is used for accommodating the soft tissue 19 to be measured; the upper splint 11 and the lower splint 12 are tightly connected in the fixing area 102, so as to clamp and fix the soft tissue 19 to be measured in the accommodating area 103; the fixing sleeve 13 is used for connecting the lower clamp plate 12 with the load cell 181, so as to fix the fixing clamp plate 180 on the load cell 181. After the fixing splint 180 is fixed to the force measuring unit 181, the scalpel blade 183 fixed to the probe 182 is used to perform a soft tissue piercing operation through the piercing opening, and a soft tissue cutting operation is performed through the cutting opening. The fixing splint can well fix the soft tissue to be detected and prevent the soft tissue to be detected from being excessively deformed in the cutting process, so that the cutting process in the real operation process can be well simulated; meanwhile, the stability of the soft tissue to be measured can be improved in the puncturing process, and the measurement result of the biomechanical parameters of the soft tissue can be effectively obtained.
In a further embodiment, the fixing clamp plate 180 is made of a white photosensitive resin material, such as SLA industrial grade white photosensitive resin.
In a further embodiment, the upper clamping plate 11, the lower clamping plate 12 and the fixing sleeve 13 are respectively prepared by a 3D printing method, so as to facilitate the preparation of the fixing clamping plate 180.
As shown in fig. 3A, the upper clamping plate 11 may be a rectangular thin plate, preferably a round-corner square structure. In the working area 101, the upper splint 11 is provided with a puncture opening 111 and a cutting opening 112, the puncture opening 111 is used for performing soft tissue puncture operation, and the cutting opening 112 is used for performing soft tissue cutting operation.
In a further embodiment, the piercing openings 111 of the upper splint 11 include a first sub-piercing opening 111a and a second sub-piercing opening 111b, which are disposed at two opposite ends of the working area 101. The cutting opening 112 of the upper splint 11 includes a plurality of elongated sub-cutting openings distributed between the first sub-piercing openings 111a and the second sub-piercing openings 111 b. Preferably, the plurality of elongated sub-cutting openings are evenly distributed between the first sub-piercing opening 111a and the second sub-piercing opening 111 b.
In a further embodiment, in the fixing area 102, the upper splint 11 is provided with a plurality of fixing holes 113, and the fixing member 17 is used to fasten the upper splint 11 and the lower splint 12 through the fixing holes 113, so as to clamp and fix the soft tissue 19 to be measured in the accommodating area 103. In this embodiment, the number of the fixing holes 113 on the upper plate 11 is 4, and the fixing holes are respectively arranged at 4 top corners of the upper plate 11. Specifically, the fixing holes 113 are arranged on two opposite sides of the puncture opening 111 of the upper splint 11. Optionally, the fixing hole 113 is a threaded hole, and the fixing member 17 is a screw and a nut that are matched with each other.
In this embodiment, the upper clamping plate 11 is a round-corner square thin plate, the side length of the thin plate is 150mm, and the thickness of the thin plate is 5 mm; the working area 101 is located in the middle of the upper clamping plate 11 and ranges from 120mm to 120 mm. The first sub-piercing opening 111a and the second sub-piercing opening 111b have the same size, and are rectangular openings having a length of 70mm and a width of 20 mm. The sizes of the plurality of elongated sub-cutting openings are the same, the elongated sub-cutting openings are all elongated openings with the length of 100mm and the width of 4mm, and 5-10 sub-cutting openings, for example 7 sub-cutting openings, can be arranged according to the size of the working area. The diameter of the fixing hole 113 may be 2-5mm, preferably 3mm, to better fit the fixing member.
As shown in fig. 3B, the lower jaw 12 may be a rectangular thin plate, preferably of a rounded square configuration. In correspondence with the working area 101, the lower splint 12 is provided with a piercing opening 121 and a cutting opening 122, the piercing opening 121 being used for performing soft tissue piercing operations, and the cutting opening 122 being used for performing soft tissue cutting operations.
In a further embodiment, the piercing openings 121 of the lower splint 12 include a first sub-piercing opening 121a and a second sub-piercing opening 121b, which are oppositely disposed at two ends of the working area 101. The cutting opening 122 of the lower splint 12 includes a plurality of elongated sub-cutting openings distributed between the first sub-piercing openings 121a and the second sub-piercing openings 121 b. Preferably, the plurality of elongated sub-cutting openings are evenly distributed between the first sub-piercing opening 121a and the second sub-piercing opening 112 b.
In a further embodiment, in the fixing area 102, the lower splint 12 is provided with a plurality of fixing holes 123, and the fixing member 17 is used to fasten the upper splint 11 and the lower splint 12 through the fixing holes 123, so as to clamp and fix the soft tissue 19 to be measured in the accommodating area 103. In this embodiment, the number of the fixing holes 123 on the lower plate 12 is 4, and the fixing holes are respectively disposed at 4 top corners of the lower plate 12. Specifically, the fixing holes 123 are oppositely arranged on two sides of the puncture opening 121 of the lower splint 12. Optionally, the fixing hole 123 is a threaded hole, and the fixing member 17 is a screw and a nut that are matched with each other.
In a further embodiment, in the working area 101, the lower splint 12 is further provided with a plurality of connecting holes 124, the aperture of one side of the connecting holes 124 close to the soft tissue 19 to be measured is smaller than the aperture of one side of the connecting holes 124 far away from the soft tissue 19 to be measured, and the fixing splint 180 is fixed on the force measuring instrument 181 through the connecting holes 124 by using the fixing sleeve 13. In this embodiment, the number of the connection holes 124 on the lower clamp plate 12 is 4, and the connection holes are respectively disposed on two sides of the lower clamp plate 12 near the cutting area where the cutting opening 122 is disposed. Specifically, the connecting holes 124 are oppositely arranged two by two between the piercing opening 111 and the cutting opening 122 of the lower splint 12. That is, 2 of the connection holes 124 are provided between the first sub-piercing opening 121a and the cutting region, and another 2 of the connection holes 124 are provided at a relative position between the second sub-piercing opening 121b and the cutting region.
In this embodiment, the lower clamp plate 12 and the upper clamp plate 11 have the same structure, and also adopt round-corner square thin plates with the same size, and the working area is set to be the same. The lower clamping plate 12 further comprises the connecting hole 124. The aperture of the connecting hole 124 close to one side of the soft tissue 19 to be detected is 2-4mm, preferably 3 mm; the aperture of one side far away from the soft tissue 19 to be detected is 4-6mm, preferably 5.5 mm; thereby better fitting the fixing sleeve 13.
As shown in fig. 3C to 3D, the fixing sleeve 13 may be a cylindrical sleeve having a tapered bore. The aperture D1 penetrating into the inner side of the connecting hole 124 of the lower plate 12 is smaller than the aperture D2 exposed to the outer side of the connecting hole 124. In the present embodiment, the length L1 of the fixing sleeve 13 connected between the lower jaw 12 and the load cell 181 is 8mm, the bore diameter D1 on the side penetrating into the connecting hole 124 of the lower jaw 12 is 3mm, and the bore diameter D2 on the side exposed outside the connecting hole 124 is 5 mm.
Referring to fig. 4, a partial structural view of another embodiment of the lower splint according to the present invention is shown. In the corresponding working area 101, one side of the lower splint 12 close to the soft tissue 19 to be tested is provided with a burr 125, and the soft tissue 19 to be tested can be better fixed by the burr 125. In this embodiment, in the 120mm × 120mm working area 101, a plurality of conical burrs with a diameter of 1.5mm and a height of 1mm are distributed in an array, so that the soft tissue 19 to be measured fastened on the lower splint 12 is further fixed, and the soft tissue 19 to be measured is further prevented from being greatly deformed in the cutting process, so that the cutting process in the real surgery process can be well simulated, and the measurement result of biomechanical parameters of the soft tissue can be effectively obtained. It should be noted that, in the corresponding working area 101, a side of the upper splint 11 close to the soft tissue 19 to be measured may also have burrs for further fixing the soft tissue.
The soft tissue biomechanics parameter measuring system of the present invention will be further described with reference to the measurement results.
Please refer to fig. 5A-5B and fig. 6A-6B, wherein fig. 5A is a skin puncturing curve, fig. 5B is a skin cutting curve, fig. 6A is a muscle puncturing curve, and fig. 6B is a muscle cutting curve.
The invention utilizes HURCO VMX42 five-axis numerical control processing equipment and Kistler9256C2 dynamometer to construct a soft tissue biomechanics parameter measuring system, utilizes a 3D printing joint to fix a surgical blade on a probe, utilizes a 3D printing fixing splint to clamp and fix soft tissues to be measured and connects the dynamometer, thereby simulating real surgical operation.
In the surgical cutting process, the surgical blade firstly vertically cuts into the soft tissue to puncture the soft tissue, then downwards reaches the target tissue layer, and then the blade is changed to form 45 degrees with the soft tissue to carry out horizontal cutting. The soft tissue is fixed by the fixing splint, so that the soft tissue is prevented from being deformed excessively in the cutting process, and the cutting process in the real operation process can be simulated; the fixation splint can also increase the stability of soft tissue in the experiment during the puncture process. The force measuring instrument is used for obtaining the stress and the change of different soft tissues in the whole puncturing and cutting processes, so that a puncturing force curve and a cutting force curve are obtained, as shown in fig. 5A-5B and fig. 6A-6B.
By adopting the soft tissue biomechanical parameter measuring system, the magnitude of acting force when different tissues (such as skin, muscle and the like) of the maxillofacial region are cut is obtained, and biomechanical parameters such as the piercing force, the cutting force and the like of different soft tissues are also obtained, so that a foundation is laid for the construction of a subsequent soft tissue force tactile feedback model.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (10)
1. A soft tissue biomechanical parameter measuring method is characterized by comprising the following steps:
(1) clamping and fixing the soft tissue to be measured in a fixed splint, and fixedly connecting the fixed splint with a dynamometer;
(2) controlling a surgical blade through a probe, and performing puncturing and cutting operations on the soft tissue to be detected along a preset feed path;
(3) acquiring and recording the stress magnitude and the change of the soft tissue to be tested through the dynamometer so as to obtain a puncture force curve and a cutting force curve;
(4) and (5) updating the soft tissue to be detected, repeating the steps (1) to (3) and obtaining biomechanical parameters of different soft tissues of the jaw face.
2. The method of claim 1, wherein said securing a splint comprises: the force measuring device comprises an upper clamping plate and a lower clamping plate which are detachably connected, and a plurality of fixing sleeves which are used for connecting the lower clamping plate and the force measuring instrument;
the utility model discloses a soft tissue puncture device, including upper plate, lower plate, last splint with form the holding district between the lower plate for holding, centre gripping and fixing the soft tissue that awaits measuring, the upper plate with the corresponding position of lower plate is provided with puncture opening and cutting opening, puncture opening is used for carrying out the soft tissue puncture operation, cutting opening is used for carrying out the soft tissue cutting operation.
3. The method of claim 1, wherein step (2) further comprises: and the preset feed path is set through five-axis numerical control machining equipment, so that the probe is controlled, and the surgical blade is controlled.
4. The method of claim 1, wherein the preset feed path is: and controlling the surgical blade to vertically cut into the soft tissue to be tested, puncturing the soft tissue to be tested and penetrating into a target tissue layer, and then controlling the surgical blade to form an angle of 45 degrees with the soft tissue to be tested and horizontally cutting.
5. A soft tissue biomechanical parameter measurement system, the system comprising: the device comprises a probe, a surgical blade fixed on the probe, a fixed clamping plate, a dynamometer fixedly connected with the fixed clamping plate and a numerical control device;
the fixed splint is used for clamping and fixing the soft tissue to be detected;
the numerical control device is used for controlling the surgical blade through the probe, performing puncturing and cutting operations on the soft tissue to be detected along a preset feed path, and acquiring and recording the stress size and the change of the soft tissue to be detected through the dynamometer so as to obtain a puncturing force curve and a cutting force curve.
6. The system of claim 5, wherein the fixation splint comprises: the force measuring device comprises an upper clamping plate, a lower clamping plate and a plurality of fixing sleeves, wherein the upper clamping plate and the lower clamping plate are detachably connected, and the lower clamping plate and the force measuring instrument are connected through the fixing sleeves;
the utility model discloses a soft tissue puncture device, including upper plate, lower plate, last splint with form the holding district between the lower plate for holding, centre gripping and fixing the soft tissue that awaits measuring, the upper plate with the corresponding position of lower plate is provided with puncture opening and cutting opening, puncture opening is used for carrying out the soft tissue puncture operation, cutting opening is used for carrying out the soft tissue cutting operation.
7. The system of claim 6, wherein the upper splint and/or the lower splint has a burr on a side near the soft tissue to be measured for fixing the soft tissue to be measured.
8. The system of claim 5, wherein the surgical blade is secured to the probe using a 3D printed joint.
9. The system of claim 5, wherein the numerical control device is a five-axis numerical control machining apparatus.
10. The system according to claim 9, wherein the five-axis numerical control machining equipment sets the preset feed path through visual human-computer interaction.
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