CN112509646B - Hydrophilic interface manufacturing method and system for holding biological tissue - Google Patents
Hydrophilic interface manufacturing method and system for holding biological tissue Download PDFInfo
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Abstract
The invention discloses a method and a system for manufacturing a hydrophilic interface for sucking biological tissues, wherein the maximum slippage force and the minimum injury force of the biological tissues are obtained in advance, and a force value which is greater than the maximum slippage force and less than the minimum injury force is selected as the optimized liquid film tension; the method comprises the steps of determining an optimized structural parameter value corresponding to the optimized liquid film tension according to the relationship between the structural parameter of the hydrophilic interface and the liquid film tension, manufacturing the hydrophilic interface according to the optimized structural parameter value, thereby realizing the accurate design of the structural parameter of the hydrophilic interface, accurately controlling the liquid film tension of the manufactured hydrophilic interface between the maximum slippage force and the minimum damage force, enabling the liquid film tension generated by the hydrophilic interface to realize the stable and nondestructive clamping and traction of the interface and human tissues, and avoiding the technical problem that the existing surgical instruments are easy to cause tissue damage and slippage when clamping biological tissues.
Description
Technical Field
The invention relates to the field of manufacturing of hydrophilic interfaces of surgical instruments, in particular to a method and a system for manufacturing a hydrophilic interface for sucking biological tissues.
Background
Different from open surgery and traditional endoscopic surgery, the surgical robot finishes surgical operation through mapping action of a mechanical device, a surgeon cannot directly contact tissues, cannot feed back force load borne by a tissue hydrophilic interface in the surgery in real time through a limb receptor, judges the stress condition of the tissues only through visual feedback and the operation experience of the surgeon, has force feedback deficiency, cannot timely and accurately regulate and control force load output, and is easy to cause irreversible injuries such as tissue tearing, bleeding and the like. Therefore, how to eliminate abnormal mechanical contact of an instrument-tissue hydrophilic interface under the condition of force feedback deficiency, avoid tissue injury and slippage, fully embody the minimally invasive treatment advantages of the robot operation, and become a practical problem to be solved urgently in clinical work.
Disclosure of Invention
The invention provides a method and a system for manufacturing a hydrophilic interface for sucking biological tissues, which are used for solving the technical problem that the tissue is easy to damage and slip when the existing surgical instrument clamps the biological tissues.
In order to solve the technical problems, the technical scheme provided by the invention is as follows:
a method of making a hydrophilic interface for holding biological tissue, comprising the steps of:
acquiring the maximum slipping force and the minimum injury force for sucking the biological tissue; selecting a force value which is greater than the maximum slippage force and less than the minimum damage force as the optimized liquid film tension; and determining an optimized structural parameter value corresponding to the optimized liquid film tension according to the relationship between the structural parameter of the hydrophilic interface and the liquid film tension, and manufacturing the hydrophilic interface according to the optimized structural parameter value.
Preferably, the obtaining of the maximum slipping force and the minimum injury force for holding the biological tissue specifically comprises the following steps:
carrying out a clamping test on the biological tissue by using different forces, wherein the force value which is the smallest and can clamp the biological tissue is selected as the maximum slipping force; and selecting the force value which has the minimum force and causes damage to the biological tissue as the minimum damage force.
Preferably, the method for determining the optimized structural parameter value corresponding to the optimized liquid film tension according to the relationship between the structural parameter of the hydrophilic interface and the liquid film tension comprises the following steps:
determining the shape of the nano particles used for preparing the hydrophilic interface, and constructing an objective function model between the structural parameters of the hydrophilic interface and the liquid film tension according to the shape of the nano particles; the objective function model takes the structure parameter as an independent variable and takes the liquid film tension as a dependent variable;
and bringing the optimized liquid film tension into the objective function model, and solving a structural parameter corresponding to the optimal solution of the objective function model.
Preferably, the shape of the nanoparticle is a regular hexagon, and the structural parameters include the radius of the circumscribed circle of the nanoparticle and the width of the gap between adjacent nanoparticles.
Preferably, the objective function model is:
wherein R is the circumscribed radius of the nanoparticles, h is the thickness of the liquid film, γ is the surface tension of the liquid film, w is the gap width between adjacent nanoparticles, and F L Is the liquid film tension, S is the hydrophilicityA surface area of an interface for creating a liquid film 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 executing the computer program.
The invention has the following beneficial effects:
1. according to the method and the system for manufacturing the hydrophilic interface for holding the biological tissue, the maximum slippage force and the minimum injury force of the biological tissue are obtained in advance, and the force value which is greater than the maximum slippage force and less than the minimum injury force is selected as the optimized liquid film tension; the method comprises the steps of determining an optimized structural parameter value corresponding to optimized liquid film tension according to the relationship between the structural parameter of a hydrophilic interface and the liquid film tension, manufacturing the hydrophilic interface according to the optimized structural parameter value, thereby realizing the accurate design of the structural parameter of the hydrophilic interface, accurately controlling the liquid film tension of the manufactured hydrophilic interface between the maximum slip force and the minimum damage force, enabling the liquid film tension generated by the hydrophilic interface to realize the stable and nondestructive clamping and traction of the interface and human tissues, and avoiding the technical problem that the tissue damage and the slip are easily caused when the existing surgical instrument clamps the biological tissues.
In addition to the above-described objects, features and advantages, the present invention has other objects, features and advantages. The present invention will be described in further detail below with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a flow chart of a method of making a hydrophilic interface for holding biological tissue according to the present invention;
FIG. 2 is a partial block diagram of a hydrophilic interface in a preferred embodiment of the present invention;
FIG. 3 is a first block diagram of a hydrophilic interface in a preferred embodiment of the present invention;
FIG. 4 is a second block diagram of a hydrophilic interface in a preferred embodiment of the invention.
Detailed Description
The embodiments of the invention will be described in detail below with reference to the drawings, but the invention can be implemented in many different ways as defined and covered by the claims.
The first embodiment is as follows:
in the present invention, the maximum slip-out force is defined as the minimum holding force capable of holding the biological tissue in the vertical direction of the tissue surface and preventing the tissue from slipping out of the forceps, and the minimum damage force is defined as the minimum holding force capable of holding the biological tissue in the vertical direction of the tissue surface and causing the tissue damage; since the maximum slippage force and the minimum injury force are related to the magnitude of the clamping force, the magnitude of the clamping force is defined as the force with which the tissue is pulled or unfolded horizontally.
The suction force of the hydrophilic interface is derived from liquid film tension, hydrodynamic pressure dependent on viscosity and intermolecular force (van der waals force), wherein the liquid film tension plays a main role and is influenced by the structure of the hydrophilic interface, so that the prepared hydrophilic interface can ensure that the liquid film tension is between the maximum slip force and the minimum damage force of the biological tissue by adjusting the structural parameters of the hydrophilic interface, and the hydrophilic interface which can be stably clamped and cannot damage the biological tissue is manufactured.
Therefore, in the invention, aiming at the clinical problem that tissues are easy to damage in the operation process due to the lack of surgical force feedback of a surgical robot, the salamander and wood frog sole microstructures are referred to, and the multi-dimensional wettability modification is carried out on the micro surfaces of the clamping instruments on the basis of the low-damage appearance of the instrument interface by adopting the photoetching-laminating technology and the sputtering-etching technology on the basis of the boundary liquid film regulation mechanism, the boundary strong friction mechanism and the directional friction mechanism to construct the interface hydrophilic micro-nano structure, so that a hydrophilic interface is formed, and the boundary liquid film tension and the boundary friction force of the instrument interface are increased.
As shown in FIG. 1, the present invention discloses a method for manufacturing a hydrophilic interface for holding biological tissue, comprising the steps of:
acquiring the maximum slipping force and the minimum injury force for sucking the biological tissue; selecting a force value which is greater than the maximum slippage force and less than the minimum damage force as the optimized liquid film tension; and determining an optimized structural parameter value corresponding to the optimized liquid film tension according to the relationship between the structural parameter of the hydrophilic interface and the liquid film tension, and manufacturing the hydrophilic interface according to the optimized structural parameter value.
In addition, in this embodiment, a computer system is further disclosed, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, the computer system implements the steps of any of the methods described above.
According to the method and the system for manufacturing the hydrophilic interface for holding the biological tissue, the maximum slippage force and the minimum damage force of the biological tissue are obtained in advance, and the force value which is greater than the maximum slippage force and less than the minimum damage force is selected as the optimized liquid film tension; the method comprises the steps of determining an optimized structural parameter value corresponding to optimized liquid film tension according to the relationship between the structural parameter of a hydrophilic interface and the liquid film tension, manufacturing the hydrophilic interface according to the optimized structural parameter value, thereby realizing the accurate design of the structural parameter of the hydrophilic interface, accurately controlling the liquid film tension of the manufactured hydrophilic interface between the maximum slip force and the minimum damage force, enabling the liquid film tension generated by the hydrophilic interface to realize the stable and nondestructive clamping and traction of the interface and human tissues, and avoiding the technical problem that the tissue damage and the slip are easily caused when the existing surgical instrument clamps the biological tissues.
Example two:
the second embodiment is an expanded embodiment, which is different from the first embodiment in that the method for manufacturing the hydrophilic interface for holding the biological tissue is refined, and specifically comprises the following steps:
(1) obtaining a maximum slippage force and a minimum trauma force holding the biological tissue:
step 1: clamping the biological tissue by using a clamping force (such as 1N) with initial force along the vertical direction of the surface of the biological tissue by using a forceps head, and observing whether the forceps head under the force can clamp the biological tissue;
1A, if the biological tissue can not be clamped (namely, when the forceps head and the tissue are moved by naked eyes), f is gradually increased on the basis of the initial force α (e.g., 0.5N) with each increment f α The latter clamping force clamps the biological tissue until f is increased α The latter clamping force clamps the biological tissue, and f is gradually reduced on the basis of the current clamping force μ (e.g., 0.1N) and decrease f each time μ The latter clamping force clamps the biological tissue until f is reduced μ The back clamping force can not clamp the biological tissue, then the current clamping force + f μ I.e. the maximum slip force;
1B if the biological tissue can be clamped (i.e. the forceps head and the tissue move with naked eyes), f is gradually reduced on the basis of the initial force α With each decrease of f α The latter clamping force clamps the biological tissue until f is reduced α The later clamping force can not clamp the biological tissue, and f is gradually increased on the basis of the current force μ With each increase of f μ The latter clamping force clamps the biological tissue until the increased f μ The clamping force can clamp the biological tissue, and the current force is the maximum slipping force;
step 2: increasing f gradually on the basis of maximum slipping force α With each increment of f α The latter clamping force clamps the biological tissue until f is increased α When the biological tissue is clamped by the later clamping force, macroscopic damage is caused, and f is gradually reduced on the basis of the current force μ With each reduction of f μ The clamping force holds the biological tissue until f is reduced μ Clamping the biological tissue by the later clamping force without causing macroscopic damage, and then, clamping the biological tissue by the current force + f μ The maximum force of injury is the maximum force of injury.
(2) Selecting a force value which is greater than the maximum slippage force and less than the minimum damage force as the optimized liquid film tension:
since the maximum slip force and the minimum damage force may be measured with a certain error in an actual test, an intermediate value between the two values of the maximum slip force and the minimum damage force is preferably used as the optimum liquid film tension.
(3) Determining an optimized structural parameter value corresponding to the optimized liquid film tension according to the relationship between the structural parameter of the hydrophilic interface and the liquid film tension:
determining the shape of the nano particles used for preparing the hydrophilic interface, and constructing an objective function model between the structural parameters of the hydrophilic interface and the liquid film tension according to the shape of the nano particles; the objective function model takes the structure parameter as an independent variable and takes the liquid film tension as a dependent variable;
and bringing the optimized liquid film tension into the objective function model, and solving a structural parameter corresponding to the optimal solution of the objective function model.
In this embodiment, the shape of the nanoparticle is a regular hexagon, the structural parameters include the radius of the circumscribed circle of the nanoparticle and the width of the gap between adjacent nanoparticles, and in order to achieve the purpose of "clamping without slipping, holding without damaging", the micro-nano structural parameters must be made: the circumscribed radius of the nano particles and the width of the gap between adjacent nano particles are kept within a certain range, so that the liquid film tension is within the range of a safety domain of the biological tissue, wherein the range of the safety domain is [ maximum slipping force, minimum damage force ].
As shown in fig. 2, the nanoparticles may generate liquid film tension, and the gap portions between adjacent nanoparticles are free of liquid film tension. Therefore, for the whole hydrophilic interface, the average liquid film tension is equivalent to that generated by three blue areas of the upper graph and is evenly distributed in an area formed by a triangle with the side length being L, namely, the liquid film tensions generated by 1/2 hexagons are evenly distributed in the triangular area, and therefore, the liquid film tension is calculated by adopting the following objective function model:
wherein R is the circumscribed radius of the nanoparticles, h is the thickness of the liquid film, γ is the surface tension of the liquid film, w is the gap width between adjacent nanoparticles, and F L For liquid film tension, S is the surface area of the hydrophilic interface that is used to create the liquid film tension to hold the biological tissue, set by the size of the holding device of the instrument being used.
In this embodiment, the surface tension γ of the liquid film can be obtained by using an empirical formula of Harkins (hagus): gamma 75.796-0.145T-0.00024T 2 T is in degrees Celsius and gamma is in mN/m, the empirical formula is applicable at temperatures of 10-60 ℃ and gamma is 70.427mN/m at 35 ℃.
According to practical experience, when the thickness of the liquid film is less than 200nm, the liquid film on the surface of the nano particles deforms and is in adhesive contact with biological tissues, so that the effect of adsorbing the biological tissues by the nano particles is achieved, and when the thickness of the liquid film is further reduced, the surface tension gamma of the liquid film is difficult to further maintain deformation, so that the surfaces of the nano particles are quickly separated from the biological tissues, and residual liquid is left between the nano particles. Therefore, the liquid film thickness was temporarily set to 200 nm.
Wherein, since the interface is practically applied to the clamping device of the surgical robot, according to the size of the contact surface between the clamping device and the biological tissue, in the embodiment, the dimension of the hydrophilic interface is defined as 20mm long and 5mm wide, i.e. the surface area of the hydrophilic interface is 100 × 10 6 um 2 。
After determining the thickness of the liquid film, the surface area of the hydrophilic interface, the surface tension of the liquid film and the optimized liquid film tension, substituting the thickness of the liquid film, the surface area of the hydrophilic interface, the surface tension of the liquid film and the optimized liquid film tension into the objective function model, and solving the optimal solution of the objective function model by taking the circumscribed circle radius threshold value and the gap width threshold value of the selected nano particles as constraint conditions, namely R is greater than 0 and less than 50nm, wherein the types of the nano particles selected by the circumscribed circle radius threshold value and the gap width threshold value of the nano particles, the selected preparation process and the selected equipment are determined.
The hydrophilic interface manufactured according to the circumscribed radius and the gap width of the nano particles corresponding to the optimal solution of the nano particles can be prepared by a photoetching-film coating method and a 3D printing method.
The constructed first hydrophilic interface is shown in fig. 3, the left drawing of fig. 3 is a macroscopic top view of the first clear water interface in the invention, the black part in fig. 3 represents a micro-nano structure, and the white part is a groove part; the middle diagram in fig. 3 is an enlargement of the interface of the left diagram part, the upper part of the diagram in fig. 3 is an enlargement of the black part of the left diagram, the black part (i.e. the micro-nano structure) of the left diagram is composed of gray hexagonal parts with alternated grooves, the gray area is a contact part with the tissue, the black part is a small groove, and the white part is a large groove. Fig. 3 right drawing is a macroscopic side view of the entire interface: the gray columns represent the hexagons of the middle graph, and the white areas between the two gray columns represent the small trenches of the middle graph; the white area between the two black columns represents the large trench of the middle figure.
In fig. 3, the macroscopic structure of the interface is a white groove part and a black contact area, the purpose of clamping is achieved through occlusion deformation of tissues from a macroscopic view, a large number of hexagonal bionic structures are arranged in the black contact area after further amplification, the structures can clamp the tissues through the generated liquid film tension, the characteristics of the traditional tissue forceps are kept by the hydrophilic interface in fig. 3, and the advantages of the novel bionic tissue forceps are integrated.
The constructed second hydrophilic interface is shown in fig. 4, and the left diagram of fig. 4 is a macroscopic top view of the second interface, wherein a black part represents a micro-nano structure, and a white part represents a groove part; the middle diagram of fig. 4 is an enlarged view of the interface of the left diagram part, wherein the upper part is an enlargement of the black part of the left diagram, and it can be seen that the black part (i.e. the micro-nano structure) of the left diagram of fig. 4 is composed of hexagonal parts with grooves alternated, wherein the hexagonal parts are composed of cylinders with more tiny gray points. Wherein the gray area is the contact part with the tissue, the black part is the small groove, and the white part is the large groove. The right image of fig. 4 is a macroscopic side view of the entire interface: the gray columns represent the columns of the middle graph, and the white areas between the two gray columns represent the small grooves of the middle graph; the white area between the two black columns represents the large trench of the middle figure. The hexagonal structure of the second hydrophilic interface in fig. 4 is more tiny than fig. 3, can be regarded as that secondary structure has been increased in fig. 3 structure, and this interface has hexagonal structure to have more meticulous secondary structure on hexagonal structure, more accord with wood frog, salamander sole micro-nano structure.
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, gallbladder, blood vessel, omentum, etc.
The interface manufactured in the embodiment can be used for a clamping device of a surgical robot, can also be used for other medical instruments, such as laparoscopes, surgical forceps, surgical tweezers and the like, and can also be used for other biomedical instruments.
The method for manufacturing the hydrophilic interface for sucking the biological tissue can be particularly applied to constructing the hydrophilic micro-nano structure interface of the surgical robot instrument, and accurately designing the structural parameters of the hydrophilic micro-nano structure, so that the tension of the boundary liquid film of the interface and the boundary friction force are increased, the interface and the human tissue are stably clamped and drawn only through the boundary friction force generated by the tension of the boundary liquid film of the instrument interface, and no tissue deformation damage exists. Meanwhile, according to the damage force load range of different human tissues (such as stomach, small intestine, colon, rectum, liver, gallbladder, blood vessel, omentum and the like), the microstructure parameters of the hydrophilic interface corresponding to the damage force load range are determined, the maximum liquid film tension of the interface is designed to be less than the minimum damage force, and the interface can be separated from the tissue when the tissue is about to be damaged. Research and manufacture the non-invasive robot instrument interface suitable for different tissues of human body.
According to the steps, the optimal hydrophilic interface of the following biological tissues is obtained through experimental calculation:
small intestine: the measurement result of the security domain of the rabbit intestines of the team is as follows: the minimum injury force is 5.6-8.56N (smooth forceps head), and in view of this, 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 micro-nano structure which can be prepared is 16 um. Therefore, aiming at small intestinal tissues, a hexagonal bionic interface with the gap width of 16um and the diameter of the circumscribed circle of the nano particles of 25-70um can be prepared; or the width of the gap is 30um, the diameter of the circumscribed circle of the nano particles is 50-130um, or the width of the gap is 50um, the diameter of the circumscribed circle of the nano particles is 80-220um, and so on.
Colon: the safety threshold of the pig cecum is 22-37N under 5N tension by using a 16 mm-8 mm plane clamp. Considering that the pulling force in human surgery is less than 5N, the safety domain estimation value of human colon is 10-18N. Therefore, aiming at small intestinal tissues, a hexagonal bionic interface with the gap width of 16um and the diameter of the circumscribed circle of the nano particles of 40-200um can be prepared; or the gap width is 30um, the diameter of the circumscribed circle of the nano particles is 75-200um, or the gap width is 50um, and the diameter of the circumscribed circle of the nano particles is 120-330 um;
liver: under the condition of no tension, the thickness of the material is 24.0mm 2 The tooth-shaped forceps clamp the fresh pork liver, and the tissue damage force is 5N. Therefore, the estimated safety range of the human liver tissue is 6-10N. Therefore, aiming at small intestinal tissues, a hexagonal bionic interface with the gap width of 20um and the diameter of the circumscribed circle of the nano particles of 16-50um can be prepared; or the width of the gap is 30um, the diameter of the circumscribed circle of the nano particles is 25-80um, or the width of the gap is 50um, and the diameter of the circumscribed circle of the nano particles is 40-120 um.
Stomach: considering that the stomach wall tissue is thick, the muscle layer and the submucosa layer are rich, and the pressure resistance is strong, the value of the safety domain of the stomach tissue is estimated to be 12-20N. Therefore, aiming at small intestinal tissues, a hexagonal bionic interface with the groove width of 16um and the hexagonal diameter of 50-550um can be prepared; or the width of the groove is 30um, the diameter of the hexagon is 100-1800 um, or the width of the groove is 50um, the diameter of the hexagon is 170-1800um, and so on
Blood vessel: the vascular wall contains abundant elastic fibers, but the vascular intima is fragile and easy to be damaged by force, and the value of the vascular security domain is estimated to be 9-15N. Therefore, aiming at small intestinal tissues, a hexagonal bionic interface with the groove width of 16um and the hexagonal diameter of 35-100um can be prepared; or the width of the groove is 30um, the diameter of the hexagon is 60-180um, or the width of the groove is 50um, and the diameter of the hexagon is 100-300 um.
In summary, the method and system for manufacturing a hydrophilic interface for holding biological tissues in the present invention study the relationship between the damage force load range (i.e., the safety domain composed of the difference between the minimum damage force and the maximum slippage force in the vertical direction) of different human tissues (e.g., stomach, small intestine, colon, rectum, liver, gallbladder, blood vessel, omentum, etc.), the physiological anatomical features of different human tissues and the micro-nano structure parameters of different types of hydrophilic interfaces, explore the damage force load range of different tissues, and the maximum boundary friction force generated by different hydrophilic micro-nano structures; by accurately controlling the interface micro-nano structure parameters, the maximum liquid film tension of the interface is less than the minimum tissue damage force, the interface is automatically separated from the tissue before the tissue is damaged, and the mechanical damage of the instrument and the tissue is avoided, so that the function is not possessed by the existing laparoscopic surgical instrument and the existing imported surgical robot instrument.
The above description is only for the purpose of illustrating preferred embodiments of the present invention and is not to be construed as limiting the present invention, and it will be apparent to those skilled in the art that various modifications and variations can be made in the present invention. Any modification, equivalent replacement, or improvement 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 of making a hydrophilic interface for holding biological tissue, comprising the steps of:
acquiring the maximum slipping force and the minimum injury force for sucking the biological tissue; selecting a force value which is greater than the maximum slippage force and less than the minimum damage force as the optimized liquid film tension; determining an optimized structural parameter value corresponding to the optimized liquid film tension according to the relationship between the structural parameter of the hydrophilic interface and the liquid film tension, and manufacturing the hydrophilic interface according to the optimized structural parameter value;
determining an optimized structural parameter value corresponding to the optimized liquid film tension according to the relationship between the structural parameter of the hydrophilic interface and the liquid film tension, and specifically comprising the following steps:
determining the shape of the nano particles used for preparing the hydrophilic interface, and constructing an objective function model between the structural parameters of the hydrophilic interface and the liquid film tension according to the shape of the nano particles; the objective function model takes the structure parameter as an independent variable and takes the liquid film tension as a dependent variable;
substituting the optimized liquid film tension into the objective function model to solve a structural parameter corresponding to the optimal solution of the objective function model;
the shape of the nano particles is regular hexagon, and the structural parameters comprise the radius of a circumscribed circle of the nano particles and the width of a gap between adjacent nano particles;
the objective function model is:
wherein R is the radius of the circumscribed circle of the nanoparticles, h is the thickness of the liquid film, gamma is the surface tension of the liquid film, w is the width of the gap between adjacent nanoparticles, and F L S is the surface area of the hydrophilic interface for creating the liquid film tension to hold the biological tissue.
2. The method as claimed in claim 1, wherein obtaining the maximum slip force and the minimum damage force for holding the biological tissue comprises the following steps:
carrying out a clamping test on the biological tissue by using different forces, wherein the force value which is the smallest and can clamp the biological tissue is selected as the maximum slipping force; and selecting the force value which has the minimum force and causes damage to 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, wherein the steps of the method of any of the preceding claims 1 to 2 are performed when the computer program is executed by the processor.
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