CN112843506B - Surgical system and ultrasonic suction knife system - Google Patents

Abstract

The invention discloses a surgical system, an ultrasonic suction knife system and a control method thereof, wherein a three-dimensional model of a target tissue and a blood vessel to be removed is constructed by acquiring imaging data of the target tissue and imaging data of the blood vessel to be removed, the three-dimensional model and positioning data of a part to be operated are subjected to overlapping positioning, the positioning data of the blood vessel are determined, then the relative positions of the ultrasonic suction knife and the target tissue and the blood vessel are determined according to the positioning data of the blood vessel and the positioning data of the ultrasonic suction knife, namely the relative positions of the ultrasonic suction knife and the blood vessel are determined, and corresponding control parameters are obtained by combining the diameters of the blood vessel according to the relative positions. Because the control parameters are determined according to the relative positions of the ultrasonic suction knife and the blood vessel and the diameter of the blood vessel, the tumor can be removed and the blood vessel can be prevented from being damaged.

Description

Surgical system, ultrasonic suction knife system

technical field

The invention relates to the field of medical devices, in particular to an operation system, an ultrasonic suction knife system and a control method thereof.

Background technique

The ultrasonic suction knife system is mainly used in tumor removal surgery, which utilizes the cavitation effect and mechanical effect of ultrasound to pulverize and remove tumor tissue or normal tissue. Because the ultrasonic suction knife system is mainly aimed at soft tissues with high water content, it can crush and remove tumor tissue or normal soft tissue without damaging vascular tissue to a certain extent. However, when the ultrasonic action time is long or the output energy is large, Tiny blood vessels are also damaged. In tumor resection, it is often necessary to adjust the ultrasonic parameters output by the ultrasonic suction knife system to avoid damage to the blood vessels. However, some brain tumors have rich blood supply, and the thickness of blood vessels is also different. The set ultrasound parameters are incorrect, resulting in blood vessel damage.

Contents of the invention

The technical problem mainly solved by the present invention is how to realize the ultrasonic suction knife system to prevent the blood vessels from being damaged when removing the target tissue.

According to the first aspect, an embodiment provides a method for controlling an ultrasonic suction knife system, including:

Acquiring a three-dimensional model of the site to be operated, the three-dimensional model at least including blood vessels at the site to be operated and target tissue to be removed;

According to the three-dimensional model, the positioning data of the site to be operated on, and the positioning data of the ultrasonic suction knife, determine the relative position of the ultrasonic suction knife and the blood vessels at the site to be operated on in the three-dimensional model;

Control parameters of the ultrasonic suction knife system are obtained at least according to the relative position; the control parameters are used to control the ultrasonic suction knife system to output corresponding ultrasonic waves and/or generate corresponding negative pressure.

Further, according to the three-dimensional model, the positioning data of the site to be operated, and the positioning data of the ultrasonic suction knife, determine the relative position of the ultrasonic suction knife and the blood vessels in the three-dimensional model, including:

Obtain the positioning data of the site to be operated and the real-time positioning data of the ultrasonic suction knife;

According to the acquired positioning data of the site to be operated, the three-dimensional model is overlapped and positioned with the site to be operated to obtain the positioning data of blood vessels at the site to be operated;

According to the positioning data of the blood vessel and the acquired real-time positioning data of the ultrasonic suction knife, the real-time relative position of the ultrasonic suction knife and the blood vessel is determined.

Further, said obtaining the three-dimensional model of the site to be operated includes:

Obtaining imaging data of the site to be operated and imaging data of blood vessels at the site to be operated;

The imaging data of the site to be operated and the imaging data of blood vessels in the site to be operated are processed to generate a three-dimensional model of the site to be operated.

Further, the obtaining of the control parameters of the ultrasonic suction knife system at least according to the relative position includes:

obtaining the diameter of the blood vessel;

Finding control parameters corresponding to the relative position and the diameter in a preset database;

The found control parameters are set as the control parameters of the ultrasonic suction knife system.

Further, the control parameters include gears of the control parameters, and parameters of gears corresponding to different relative positions and different blood vessel diameters.

According to the second aspect, an embodiment provides a surgical system, including a neuronavigation system and an ultrasonic suction knife system, the neuronavigation system is used to generate a three-dimensional model of the site to be operated on, and the three-dimensional model includes at least the site to be operated on blood vessels and the target tissue to be removed; and used to obtain the positioning data of the site to be operated and the positioning data of the ultrasonic suction knife, and determine the ultrasonic The relative position of the suction knife and the blood vessels at the site to be operated on in the three-dimensional model;

The ultrasonic suction knife system is used to obtain the relative position of the ultrasonic suction knife and the blood vessels in the three-dimensional model of the site to be operated, and obtain the control parameters of the ultrasonic suction knife system at least according to the relative position, and control the ultrasonic suction through the control parameters. The knife outputs corresponding ultrasonic waves and/or generates corresponding negative pressure.

Further, according to the three-dimensional model, the positioning data of the site to be operated, and the positioning data of the ultrasonic suction knife, determine the relative position of the ultrasonic suction knife and the blood vessels in the three-dimensional model, including:

Obtain the positioning data of the site to be operated and the real-time positioning data of the ultrasonic suction knife;

According to the acquired positioning data of the site to be operated, the three-dimensional model is overlapped and positioned with the site to be operated to obtain the positioning data of blood vessels at the site to be operated;

According to the positioning data of the blood vessel and the acquired real-time positioning data of the ultrasonic suction knife, the real-time relative position of the ultrasonic suction knife and the blood vessel is determined.

Further, said generating a three-dimensional model of the site to be operated on includes:

Obtaining imaging data of the site to be operated and imaging data of blood vessels at the site to be operated;

The imaging data of the site to be operated and the imaging data of blood vessels in the site to be operated are processed to generate a three-dimensional model of the site to be operated.

Further, the obtaining the control parameters of the ultrasonic suction knife system at least according to the relative position includes:

obtaining the diameter of the blood vessel;

Finding control parameters corresponding to the relative position and the diameter in a preset database;

The found control parameters are set as the control parameters of the ultrasonic suction knife system.

According to a third aspect, an embodiment provides an ultrasonic suction knife system, including a handle, a knife and a control device, the control device is connected to the handle, the handle is connected to the knife, and the knife is used to output ultrasonic waves and generate The corresponding negative pressure, the control device is used to obtain the relative position of the ultrasonic suction knife and the blood vessel in the three-dimensional model of the site to be operated, and obtain the control parameters of the ultrasonic suction knife system at least according to the relative position, through the control parameters Control the tool to output the corresponding ultrasonic wave and/or generate the corresponding negative pressure;

Wherein, the relative position is determined according to the three-dimensional model of the site to be operated on, the positioning data of the site to be operated on and the positioning data of the ultrasonic suction knife, and the three-dimensional model of the site to be operated on at least includes the blood vessels of the site to be operated on and the target tissue to be removed .

According to the surgical system, the ultrasonic suction knife system and the control method thereof in the above embodiments, by acquiring the imaging data of the target tissue to be removed and the imaging data of blood vessels, a three-dimensional model of the target tissue and blood vessels to be removed is constructed, and then the three-dimensional model and the blood vessel to be removed are combined. The positioning data of the surgical site are superimposed and positioned, and the positioning data of the blood vessels are determined. Then, according to the positioning data of the blood vessels and the positioning data of the ultrasonic suction knife, the relative positions of the ultrasonic suction knife, the target tissue, and the blood vessel are determined, that is, the ultrasonic suction knife is positioned. According to the relative position of the blood vessel and the relative position, combined with the diameter of the blood vessel, the corresponding control parameters are obtained. Since the control parameters are determined according to the relative position of the ultrasonic suction knife and the blood vessel, and the diameter of the blood vessel, it is possible to avoid damage to the blood vessel while removing the tumor.

Description of drawings

Fig. 1 is a schematic structural view of a surgical system of an embodiment;

Fig. 2 is a flow chart of the control method of the ultrasonic suction knife system of an embodiment;

Fig. 3 is a flow chart of an embodiment of removing a tumor using an ultrasonic suction knife system.

Detailed ways

The present invention will be further described in detail below through specific embodiments in conjunction with the accompanying drawings. Wherein, similar elements in different implementations adopt associated similar element numbers. In the following implementation manners, many details are described for better understanding of the present application. However, those skilled in the art can readily recognize that some of the features can be omitted in different situations, or can be replaced by other elements, materials, and methods. In some cases, some operations related to the application are not shown or described in the description, this is to avoid the core part of the application being overwhelmed by too many descriptions, and for those skilled in the art, it is necessary to describe these operations in detail Relevant operations are not necessary, and they can fully understand the relevant operations according to the description in the specification and general technical knowledge in the field.

In addition, the characteristics, operations or characteristics described in the specification can be combined in any appropriate manner to form various embodiments. At the same time, the steps or actions in the method description can also be exchanged or adjusted in a manner obvious to those skilled in the art. Therefore, the various sequences in the specification and drawings are only for clearly describing a certain embodiment, and do not mean a necessary sequence, unless otherwise stated that a certain sequence must be followed.

The serial numbers assigned to components in this document, such as "first", "second", etc., are only used to distinguish the described objects, and do not have any sequence or technical meaning. The "connection" and "connection" mentioned in this application all include direct and indirect connection (connection) unless otherwise specified.

When using the ultrasonic suction knife system, adjusting its amplitude, pulse and/or negative pressure can adjust its efficiency of removing the target tissue of the operation site, the greater the amplitude, pulse and/or negative pressure, the higher the efficiency and the lower the safety ; The smaller the amplitude, pulse and/or negative pressure, the lower the efficiency and the higher the safety.

The existing ultrasonic suction knife system requires the doctor to observe and judge the distance between the suction knife and the blood vessel during the operation. Sometimes in order not to damage the blood vessel, the ultrasonic suction knife system will use lower amplitude and/or pulse to crush the target tissue, and sometimes in order to avoid Blood vessels are attracted to the tip of the ultrasonic aspiration knife, and lower negative pressure is also used to absorb tissue; similarly, sometimes in order to remove the target tissue faster, the ultrasonic aspiration knife system uses higher amplitude and/or pulse to crush the target tissue , or use higher negative pressure to absorb tissue, but this method is easy to damage blood vessels, cause bleeding, increase the difficulty of surgery, and even affect the patient's physical function or life.

In the embodiment of the present invention, please refer to FIG. 1. FIG. 1 is a schematic structural diagram of a surgical system in an embodiment, including: a neuronavigation system and an ultrasonic suction knife system, and the neuronavigation system is used to generate a three-dimensional image of the site to be operated on. Model, the three-dimensional model at least includes the blood vessels of the site to be operated and the target tissue to be removed; and is used to obtain the positioning data of the site to be operated and the positioning data of the ultrasonic suction knife, and according to the three-dimensional model, the positioning of the site to be operated data and the positioning data of the ultrasonic suction knife, determine the relative position of the ultrasonic suction knife and the blood vessels at the site to be operated on in the three-dimensional model;

The three-dimensional model of the site to be operated is generated by the image processing module 2 in the neuronavigation system according to the acquired imaging data of the site to be operated (including the imaging data of the target tissue to be removed) and the imaging data of blood vessels at the site to be operated. The imaging data of the site to be operated is conventional medical imaging data, such as CT imaging data, nuclear magnetic resonance (MRI) imaging data, and the like. Since ordinary CT imaging or magnetic resonance imaging of blood vessels will not show clearly, the imaging data of blood vessels at the site to be operated is generally obtained by perfusion imaging (CT perfusion imaging or MRI, etc.), and the image of the site to be operated can also be obtained. Hemodynamic information. For example, the imaging data of blood vessels can be obtained by CT angiography (CTA) technique of vascular imaging of the site to be operated, the imaging data of blood vessels can be obtained by magnetic resonance (MRA) angiography of the site to be operated, or by digital subtraction (DSA) ) technology to obtain imaging data of blood vessels by imaging blood vessels of the site to be operated on. Of course, any two or three of these three methods can also be combined to obtain the final imaging data of blood vessels. The imaging data of the site to be operated and the imaging data of blood vessels are mostly two-dimensional imaging data. The image processing module 2 constructs a three-dimensional image of the site to be operated by using existing image processing techniques such as image synthesis to construct multiple two-dimensional imaging data of the site to be operated on from different angles. Model.

The positioning data of the site to be operated is the position coordinate data of the key points of the site to be operated. Taking the brain as an example, the key points can be the eyebrow arch, wing point (forehead, top, etc.), zygomatic arch, etc. The position coordinate data can be Acquired through existing positioning technologies such as infrared.

The positioning data of the ultrasonic suction knife is the position coordinate data of the key point (such as the tip of the tool) of the ultrasonic suction knife, that is, the real-time position coordinate data, which can be obtained through the existing infrared positioning technology. In this embodiment, the position detection module 1 of the neuronavigation system acquires the positioning data of the ultrasonic suction knife in real time, and thus obtains the real-time positioning data of the ultrasonic suction knife. The position detection module 1 outputs the acquired real-time positioning data of the ultrasonic suction knife to the image processing module 2 .

The image processing module 2 overlaps and positions the three-dimensional model and the site to be operated according to the acquired positioning data of the site to be operated, to obtain the positioning data of blood vessels at the site to be operated; in this embodiment, inputting the positioning data of the site to be operated In the neuronavigation system, the registration operation is performed to realize the overlapping positioning of the 3D model and the site to be operated.

The neuronavigation system then determines the real-time relative position of the ultrasonic suction knife and the blood vessel according to the positioning data of the blood vessel and the acquired real-time positioning data of the ultrasonic suction knife.

The ultrasonic suction knife system is used to obtain the relative position of the ultrasonic suction knife and the blood vessels in the three-dimensional model of the site to be operated, and obtain the control parameters of the ultrasonic suction knife system at least according to the relative position, and control the ultrasonic suction through the control parameters. The knife outputs corresponding ultrasonic waves and/or generates corresponding negative pressure.

The ultrasonic suction knife system in this embodiment includes a handle 5, a knife, a negative pressure generating device and a control device 3. The control device 3 is connected to the handle 5. The handle 5, the handle 5 and the knife are ultrasonic suction knife in a narrow sense.

The handle 5 has an ultrasonic transducer for generating ultrasonic waves.

The tool is used to output ultrasonic waves and generate corresponding negative pressure.

The negative pressure generating device is used to generate negative pressure, and is communicated with the cutter through a pipeline, so that the tip of the cutter generates negative pressure. The negative pressure generating device may be a pump.

The control device 3 is used to obtain the relative position of the ultrasonic suction knife and the blood vessel in the three-dimensional model of the site to be operated, and at least obtain the control parameters of the ultrasonic suction knife system according to the relative position, and the control parameters are used to control the corresponding output of the ultrasonic suction knife. Ultrasound and/or generate corresponding negative pressure. In other words, the control device 3 controls the ultrasonic transducer by controlling the parameters to adjust the amplitude and pulse of the output ultrasonic waves, and controls the negative pressure generating device by controlling the parameters to adjust the negative pressure at the tip of the knife, so that the ultrasonic suction knife system is Efficiently removes target tissue without damaging blood vessels.

Due to the difference in the thickness of blood vessels, it has a certain influence on determining the relative position of the ultrasonic suction knife and the blood vessel. Therefore, the control device 3 of the ultrasonic suction knife system should also consider the diameter of the blood vessel when determining the control parameters, specifically including: obtaining the blood vessel from the three-dimensional model The diameter of the blood vessel in this embodiment is the outer diameter of the blood vessel; the control parameters corresponding to the relative position and the diameter are found in the preset database; the found control parameters are set to ultrasonic suction The control parameters of the knife system.

Based on the above operation system and the ultrasonic suction knife system, as shown in Figure 2, it is a flow chart of a control method for determining the control parameters of the ultrasonic suction knife system according to the three-dimensional model of the site to be operated on, the positioning data of the site to be operated, and the positioning data of the ultrasonic suction knife ,include:

In step 201, a three-dimensional model of a site to be operated is acquired through a neuronavigation system, and the three-dimensional model at least includes blood vessels of the site to be operated and a target tissue to be removed. The three-dimensional model can display the structure, size, etc. of the target tissue and blood vessels to be removed in the site to be operated.

Step 202 , the neuronavigation system determines the real-time relative position of the ultrasonic suction knife and the blood vessel at the site to be operated in the three-dimensional model according to the three-dimensional model, the positioning data of the site to be operated, and the real-time positioning data of the ultrasonic suction knife.

Specifically include:

Step 2021, obtaining the positioning data of the site to be operated and the real-time positioning data of the ultrasonic suction knife; since the position of the ultrasonic suction knife is constantly changing during the operation, it is necessary to obtain its positioning data in real time. The positioning data of the site to be operated on in this embodiment is the coordinate data of the key points of the site to be operated on in the visual coordinate system. The coordinates of these key points can be obtained by common positioning methods such as infrared. For example, the key points commonly used in the brain are the eyebrow arch, pterus (forehead, top, etc.), zygomatic arch and other positions. In one embodiment, a position sensor chip can be attached to the position of the key point. The coordinate data output by the chip can be obtained, or the head-mounted device with positioning function can be used to collect the coordinate data of key points through the pre-set collection points in the head-mounted device, so as to obtain the positioning data of the site to be operated, through the above The coordinate data of the key points is used to construct the three-dimensional structure of the site to be operated in the visual coordinate system.

The real-time positioning data of the ultrasonic suction knife in this embodiment refers to the coordinate data of the key point (knife tip) of the ultrasonic suction knife in the space coordinate system. In this embodiment, when selecting the key point of the ultrasonic suction knife, in order to facilitate calculation, a point is selected at the end of the ultrasonic suction knife handle 5 as the handle origin position, and then the distance from the handle origin position to the tool tip is measured, so that only the handle origin position, and then obtain the positioning data of the tip of the ultrasonic suction knife through position conversion, so the positioning data of the ultrasonic suction knife in this embodiment includes: the coordinate data of the origin of the handle of the ultrasonic suction knife, and the distance from the origin of the handle to the tip of the tool data.

In this embodiment, when obtaining the position of the origin of the handle, it can be obtained by setting a positioning label on the ultrasonic suction knife, or by infrared positioning. In this embodiment, infrared positioning is used for obtaining. As shown in Figure 1, a positioning device 4 is set at the origin of the handle, and a chip or circuit with infrared transceiver function can be used as the positioning device. The positioning device 4 can receive and reflect infrared rays, and pass through the position detection device 1 in the neuronavigation system Multiple infrared rays are emitted, and after being reflected by the positioning device 4, the position coordinate data of the origin of the handle can be obtained.

Step 2022, according to the acquired positioning data of the site to be operated, the 3D model is overlapped and positioned with the site to be operated to obtain the positioning data of blood vessels at the site to be operated; the 3D model obtained through various image data is in the image coordinate Therefore, it is necessary to display the 3D model and the 3D structure of the site to be operated in the visual coordinate system by means of coordinate changes, so as to obtain the positions of the target tissues and blood vessels in the 3D model in the visual coordinate system. The above-mentioned process can be completed by directly registering in the existing neuronavigation system, as shown in FIG. 1 , which is output after being processed by the image processing model of the neuronavigation system.

Step 2023, according to the positioning data of the blood vessel and the acquired real-time positioning data of the ultrasonic suction knife, determine the real-time relative position of the ultrasonic suction knife and the blood vessel.

In order to determine the real-time relative position of the ultrasonic suction knife and the blood vessels in the 3D model, it is necessary to introduce the position data of the key points in the space coordinate system of the ultrasonic suction knife into the 3D structure of the site to be operated on in the visual coordinate system through coordinate transformation. The structure of the site to be operated includes the target tissue and blood vessels. Finally, the real-time relative position of the ultrasonic suction knife and the blood vessel is calculated in the visual coordinate system. In this embodiment, the real-time relative position of the ultrasonic suction knife and the blood vessel is the real-time relative position of the knife tip and the blood vessel .

Step 203, the ultrasonic suction knife system obtains the relative position of the ultrasonic suction knife and the blood vessel in the three-dimensional model of the site to be operated, and at least obtains the control parameters of the ultrasonic suction knife system according to the relative position; the control parameters are used to control the ultrasonic suction The knife system outputs corresponding ultrasonic waves and generates corresponding negative pressure. There may be multiple blood vessels in the three-dimensional model, and the ultrasonic aspiration knife system obtains the relative position of the blood vessel closest to the ultrasonic aspiration knife.

According to the relative position of the ultrasonic suction knife and the blood vessel, the control parameter of the ultrasonic suction knife output can be determined, so that the ultrasonic suction knife will not damage the blood vessel under this control parameter. In this embodiment, a safety range can be preset. When the relative position is greater than the safe range When the relative position is within the safe range, the tumor is resected with the control parameters manually set in advance or obtained by querying the database according to the tumor type. Parameters, the safe control parameters can be determined by checking the database.

Due to the large difference in the thickness of blood vessels in the human body, for example, the diameter of capillaries is very small, while the diameter of aortic vessels is relatively large, so the size of the diameter also has a certain impact on the relative position of the ultrasonic suction knife and the blood vessel. If the diameter of the blood vessel is too large, the relative position will be safe. The range needs to be set larger, and the diameter of the blood vessel is small, so the safety range of the relative position can also be set smaller. In the case that the relative position of the ultrasonic suction knife and the blood vessel is the same, the diameter of the blood vessel is different, and the control parameters of the ultrasonic suction knife system are also different. Therefore, the control parameters of the ultrasonic suction knife system are determined, including:

The diameter of the blood vessel is obtained from the three-dimensional model; the diameter of the blood vessel in this embodiment refers to the outer diameter of the blood vessel.

The control parameters corresponding to the relative position and the diameter are found in a preset database. It can be seen that the control parameters of the ultrasonic suction knife system of the present invention are determined by the relative position and the diameter without manual setting, and the relative position and the diameter can be automatically detected without manual intervention, avoiding artificial If the cause is wrong, the accuracy of the control parameters is improved, and the damage to the blood vessel can be effectively avoided.

The found control parameters are set as the control parameters of the ultrasonic suction knife system.

The ultrasonic suction knife system generally adjusts the control parameters by setting the parameter gears, so the control parameters include the gears of the control parameters, and the parameters of the gears corresponding to different relative positions and different blood vessel diameters.

Due to the rich blood supply of many brain tumors and obvious differences in the thickness of blood vessels, it is difficult for doctors to accurately judge the location of blood vessels during the operation. When the target tissue to be removed is a tumor, the flow chart of removing the tumor through the ultrasonic suction knife system includes:

Step 101, before the operation, conduct a routine cranial CT or MRI scan of the site to be operated by CT equipment or nuclear magnetic resonance equipment, so as to determine the location, extent and type of the tumor, as well as the hemodynamic information of the tumor to be resected.

It should be noted that, in order to obtain the hemodynamic information of the tumor to be resected more accurately, perfusion imaging can be used to better image the tumor to be resected.

Step 102, according to the type of tumor to be resected, enter an instruction corresponding to the tumor type through the human-computer interaction system to query the tumor database and use the control parameter as the first control parameter according to the control parameter corresponding to the previous cut of this type of tumor , configure the first control parameter for the ultrasonic suction knife system through the control device of the ultrasonic suction knife system.

Step 103, after the craniotomy and osteogenesis window, use the ultrasonic probe to detect the tumor outside the dura mater to obtain the preliminary range and size of the tumor, so as to determine the range and size of the dura mater incision, and after the dura mater is cut, pass The ultrasonic probe probes the surface of the brain tissue to further obtain the accurate range, size, location of the tumor, the depth of the tumor from the dura mater, the echo of the lesion, the boundary of the tumor, the relationship between the tumor and its neighbors, and the blood flow inside and around the tumor. , the control device of the ultrasonic suction knife system judges whether it is necessary to fine-tune the first control parameter, or the control device of the ultrasonic suction knife system judges whether an instruction for fine-tuning the first control parameter input by the user is received; if fine-tuning is required , the first control parameter is fine-tuned according to the fine-tuning instruction input by the user to obtain the second control parameter, for example, the second control parameter is obtained based on the first control parameter and a preset empirical formula; otherwise, the ultrasonic suction knife system The control device continues to control the output of the ultrasonic suction knife with the first control parameter.

Step 104, during the operation, according to the change of the tumor or the surrounding conditions, determine whether to automatically adjust the control parameters through the control device of the ultrasonic suction knife system, if the control device needs to automatically adjust, the control device of the ultrasonic suction knife system according to the received The control instruction automatically adjusts the control parameters, as in step 105; if the control device does not need to automatically adjust, then continue to control the output of the ultrasonic suction knife system with the current control parameters.

Step 105, the control device of the ultrasonic suction knife system obtains the real-time relative position of the ultrasonic suction knife and the blood vessel from the neuronavigation system.

The specific implementation process for the neuronavigation system to determine the real-time relative position of the ultrasonic suction knife and the blood vessel has been described in detail above, and will not be repeated here.

Step 106 , the control device of the ultrasonic suction knife system determines the corresponding control parameters according to the obtained relative position of the ultrasonic suction knife and the blood vessel, the diameter parameter of the blood vessel and the preset safety range.

Judging the relative position between the ultrasonic suction knife and the blood vessel according to the control device, if the relative position is less than the safe range, combined with the blood vessel diameter parameters (such as the outer diameter of the blood vessel), select the corresponding control parameters in the pre-set database to control the ultrasonic suction knife The output of the system; if the relative position is greater than the safe range, continue to control the output of the ultrasonic suction knife system with the current control parameters.

The control device of the ultrasonic suction knife system determines the corresponding control parameters according to the obtained relative position between the ultrasonic suction knife and the blood vessel, the diameter parameter of the blood vessel and the preset safety range, which has been described in detail above. I won't repeat them here.

Step 107, configure the control parameters determined above to the ultrasonic suction knife system through the control device of the ultrasonic suction knife system, so that the ultrasonic suction knife outputs corresponding ultrasonic waves and/or corresponding negative pressure to remove the tumor.

In this embodiment, the probability data of blood vessel damage of different diameters under different control parameters is obtained through experiments, and a safe control parameter database for blood vessels of different diameters is obtained by combining clinical test and clinical experience data. The database can be built in the ultrasonic suction knife system, and can also be queried by the control device through a communication connection with the ultrasonic suction knife system. Table 1 shows the appropriate control parameters for different types of tumors determined based on clinical trials and clinical experience data, and Table 2 shows the control parameters and the probability of vascular injury obtained after automatic adjustment based on the control device.

tumor type amplitude negative pressure pulse Glioma A5 B3 C5 Meningioma A3 B3 C5

Table 1

amplitude negative pressure pulse Vessel diameter Vascular Injury Probability A5.1 B3.1 C5.1 D1 X1 A3.1 B3.1 C5.1 D2 X2

Table 2

In Table 1, glioma and meningioma are taken as examples respectively. According to the types of the two tumors, the first control parameters (amplitude, negative pressure and pulse) of the ultrasonic suction knife are obtained by querying the tumor type and the control parameter database of the ultrasonic suction knife. Table 2 shows the control parameters obtained after adjusting the first control parameter by the control device, combined with the blood vessel diameter, the injury probability of the blood vessel can be obtained. Obtaining the database according to the clinical trials is conducive to obtaining a more appropriate corresponding relationship between different relative positions, different vessel diameters and different control parameters.

The above uses specific examples to illustrate the present invention, which is only used to help understand the present invention, and is not intended to limit the present invention. For those skilled in the technical field to which the present invention belongs, some simple deduction, deformation or replacement can also be made according to the idea of the present invention.

Claims (4)

1. The surgical system is characterized by comprising a nerve navigation system and an ultrasonic suction knife system, wherein the nerve navigation system is used for generating a three-dimensional model of a part to be operated, and the three-dimensional model at least comprises a blood vessel of the part to be operated and target tissues to be removed; the three-dimensional model is overlapped with the to-be-operated position according to the acquired positioning data of the to-be-operated position, so as to obtain the positioning data of the blood vessel of the to-be-operated position; determining the real-time relative position of the ultrasonic suction knife and the blood vessel according to the positioning data of the blood vessel and the acquired real-time positioning data of the ultrasonic suction knife; the positioning data of the to-be-operated position are position coordinate data of key points of the to-be-operated position;

the ultrasonic suction knife system is used for acquiring the relative position of the ultrasonic suction knife and a blood vessel in a three-dimensional model of the part to be operated, obtaining control parameters of the ultrasonic suction knife system at least according to the relative position, and controlling the ultrasonic suction knife to output corresponding ultrasonic waves and/or generate corresponding negative pressure through the control parameters.

2. The surgical system of claim 1, wherein the neuro-navigation system generates a three-dimensional model of the site to be operated on, comprising:

acquiring imaging data of a part to be operated on and imaging data of blood vessels of the part to be operated on;

processing imaging data of the to-be-operated position and imaging data of blood vessels of the to-be-operated position to generate a three-dimensional model of the to-be-operated position.

3. The surgical system of claim 1, wherein the ultrasonic-aspiration-blade-system-based at least on the relative positions, deriving control parameters of the ultrasonic-aspiration-blade-system comprises:

obtaining the diameter of the blood vessel;

searching control parameters corresponding to the relative position and the diameter in a preset database;

and setting the searched control parameters as the control parameters of the ultrasonic suction knife system.

4. The ultrasonic suction knife system comprises a handle, a knife and a control device, wherein the control device is connected with the handle, the handle is connected with the knife, and the knife is used for outputting ultrasonic waves and generating corresponding negative pressure;

the relative position is determined according to the three-dimensional model of the to-be-operated position, the positioning data of the to-be-operated position and the positioning data of the ultrasonic suction knife, and the three-dimensional model and the to-be-operated position are subjected to overlapped positioning to obtain the positioning data of the blood vessel of the to-be-operated position; determining the real-time relative position of the ultrasonic suction knife and the blood vessel according to the positioning data of the blood vessel and the acquired real-time positioning data of the ultrasonic suction knife; the positioning data of the to-be-operated position are position coordinate data of key points of the to-be-operated position; the three-dimensional model of the to-be-operated position at least comprises a blood vessel of the to-be-operated position and target tissues to be removed.

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