CN114191041B

CN114191041B - Method, device, apparatus and electronic device for outputting driving signal to surgical instrument

Info

Publication number: CN114191041B
Application number: CN202111497386.8A
Authority: CN
Inventors: 徐汪洋; 冯庆宇
Original assignee: Shanghai Yichao Medical Devices Co ltd
Current assignee: Shanghai Yichao Medical Devices Co ltd
Priority date: 2021-12-09
Filing date: 2021-12-09
Publication date: 2024-04-02
Anticipated expiration: 2041-12-09
Also published as: CN114191041A

Abstract

The embodiment of the disclosure provides a method, equipment, a device and electronic equipment for outputting a driving signal to a surgical instrument. The method comprises the following steps: detecting and processing signals in a circuit connected with the ultrasonic energy source and the surgical instrument to obtain an ultrasonic loop feedback signal; obtaining acoustic impedance based on the ultrasound loop feedback signal; determining a first output signal power of the ultrasonic energy source and a second output signal power of the high frequency electrical energy source based on the acoustic impedance; and controlling the ultrasonic energy source to output an ultrasonic driving signal with the power of the first output signal, and controlling the high-frequency electric energy source to output a high-frequency electric driving signal with the power of the second output signal. According to the technical scheme of the embodiment of the disclosure, by detecting the impedance in the surgical cutting process and adaptively adjusting the output driving signal power, the surgical process can be better matched, and the surgical effect with good coagulation effect and cutting performance can be realized.

Description

Method, device, apparatus and electronic device for outputting driving signal to surgical instrument

Technical Field

The present disclosure relates to ultrasonic surgical systems and high frequency electrosurgical systems for performing surgical procedures, and more particularly, to a method, apparatus, device, and electronic apparatus for outputting a drive signal to a surgical instrument.

Background

Both ultrasonic surgical instruments (hereinafter referred to as ultrasonic blades) and high frequency electrosurgical instruments (hereinafter referred to as electrosurgical blades) are used in surgical procedures. Ultrasonic cutters have better cutting performance, but have poorer coagulation performance in surgery. The scalpels are classified into monopolar scalpels and bipolar scalpels according to the operation mode, and the bipolar scalpels have excellent coagulation performance, but have poor cutting performance in the surgical operation. If the two are combined, the coagulation effect and the excellent cutting performance effect can be realized in the surgical operation.

After the electrodes are arranged on the end effector of the ultrasonic blade, the efficacy of the ultrasonic blade and the bipolar electrotome can be achieved, and the multifunctional ultrasonic surgical instrument is called an ultrasonic electrotome. At present, the ultrasonic electric knife is mainly used or depends on experience judgment of doctors, the ultrasonic knife mode and the electric knife mode are switched in the cutting process in a manual control mode, so that the effect of cutting only or sealing coagulation only is conveniently achieved, but the effect of cutting and coagulation is achieved at the same time, the requirements on the doctors are relatively high, and especially when the cutting is carried out under the condition that tissue separation is needed, surgical errors can be caused once the control is improper, and serious consequences of excessive cutting or tissue burning occur. Obviously, the mode has the advantages of large limitation, strong dependence, poor applicability, difficult guarantee of the operation effect and difficult popularization and use.

Disclosure of Invention

In order to solve the problems in the related art, embodiments of the present disclosure provide a method, apparatus, device, and electronic device for outputting a driving signal to a surgical instrument.

One aspect of the present disclosure provides a method of outputting a drive signal to a surgical instrument, comprising:

detecting and processing signals in a circuit connected with the ultrasonic energy source and the surgical instrument to obtain an ultrasonic loop feedback signal;

obtaining acoustic impedance based on the ultrasound loop feedback signal;

determining a first output signal power of the ultrasonic energy source and a second output signal power of a high frequency electrical energy source based on the acoustic impedance; and

controlling the ultrasonic energy source to output an ultrasonic driving signal with the first output signal power, and controlling the high-frequency electric energy source to output a high-frequency electric driving signal with the second output signal power.

In accordance with an embodiment of the present disclosure, the method further includes detecting and processing signals in a circuit connecting the source of high frequency electrical energy to the surgical instrument, obtaining an electrical loop feedback signal,

obtaining an electrical impedance based on the electrical loop feedback signal;

the determining the first output signal power of the ultrasonic energy source and the second output signal power of the high frequency electrical energy source based on the acoustic impedance comprises:

A first output signal power of the ultrasonic energy source and a second output signal power of the high frequency electrical energy source are determined based on the acoustic impedance and the electrical impedance.

According to an embodiment of the present disclosure, the determining the first output signal power of the ultrasonic energy source and the second output signal power of the high frequency electrical energy source based on the acoustic impedance and the electrical impedance includes:

determining a composite impedance from the acoustic impedance and/or the electrical impedance;

the integrated impedance is matched to first impedance data to determine a first output signal power of the ultrasonic energy source and a second output signal power of the high frequency electrical energy source, the first impedance data comprising the output signal power of the ultrasonic energy source and the output signal power of the high frequency electrical energy source adapted to the integrated impedance value.

According to an embodiment of the present disclosure, the determining the first output signal power of the ultrasonic energy source and the second output signal power of the high frequency electrical energy source based on the acoustic impedance and the electrical impedance comprises:

matching the combined impedance with second impedance data during an initial stage of cutting to determine a type of tissue to be cut, the second impedance data including a differential combined impedance value for different types of tissue during the initial stage of cutting;

A first output signal power of the ultrasound energy source and a second output signal power of the high frequency electrical energy source are determined based on the combined impedance and the tissue type.

According to an embodiment of the disclosure, the determining the first output signal power of the ultrasonic energy source and the second output signal power of the high frequency electrical energy source based on the integrated impedance and the tissue type includes:

the combined impedance is matched to first impedance data based on the tissue type to determine a first output signal power of the ultrasonic energy source and a second output signal power of the high frequency electrical energy source.

According to an embodiment of the present disclosure, the first impedance data includes an ultrasonic power coefficient and a high-frequency electric power coefficient adapted to the integrated impedance value; the method further comprises the steps of: obtaining an ultrasonic power set value and a high-frequency electric power set value;

the matching the combined impedance with first impedance data based on the tissue type to determine a first output signal power of the ultrasonic energy source and a second output signal power of a high frequency electrical energy source comprises:

based on the tissue type, matching the integrated impedance with first impedance data, determining an ultrasonic power coefficient and a high-frequency electric power coefficient corresponding to the tissue type;

Determining a first output signal power as a product of the ultrasonic power coefficient and the ultrasonic power set point, and determining a second output signal power as a product of the high-frequency electric power coefficient and the high-frequency electric power set point.

determining a cutting phase based on the rate of change of the integrated impedance;

based on the cutting phase, a first output signal power of the ultrasonic energy source and a second output signal power of the high frequency electrical energy source are determined.

Another aspect of the present disclosure provides an apparatus for outputting a driving signal to a surgical instrument, comprising:

an ultrasonic energy source for outputting ultrasonic energy;

a high-frequency electric energy source for outputting high-frequency electric energy;

the detection circuit is used for detecting and processing signals in a circuit connected with the ultrasonic energy source and the surgical instrument to obtain an ultrasonic loop feedback signal;

a controller for determining acoustic impedance and electrical impedance based on the ultrasound loop feedback signal and determining a first output signal power of the ultrasound energy source and a second output signal power of the high frequency electrical energy source based on the acoustic impedance; and

And controlling the ultrasonic energy source to output an ultrasonic driving signal at the power of the first output signal, and simultaneously, controlling the high-frequency electric energy source to output a high-frequency electric driving signal at the power of the second output signal.

According to an embodiment of the present disclosure, the detection circuit is further configured to detect and process signals in a circuit in which the high frequency electrical energy source is connected to the surgical instrument, resulting in an electrical loop feedback signal;

the controller is further configured to: an electrical impedance is obtained based on the electrical loop feedback signal, and a first output signal power of the ultrasonic energy source and a second output signal power of the high frequency electrical energy source are determined based on the acoustic impedance and the electrical impedance.

According to an embodiment of the present disclosure, the controller is further configured to:

determining a composite impedance from the acoustic impedance and/or the or electrical impedance;

a first output signal power of the ultrasonic energy source and a second output signal power of the high frequency electrical energy source are determined based on the combined impedance and the tissue type.

the combined impedance is matched to first impedance data based on the tissue type to determine a first output signal power of the ultrasonic energy source and a second output signal power of the high frequency electrical energy source, the first impedance data comprising the output signal power of the ultrasonic energy source and the output signal power of the high frequency electrical energy source adapted to the combined impedance value.

According to an embodiment of the present disclosure, the first impedance data further comprises an ultrasonic power coefficient of the ultrasonic energy source and a high frequency electric power coefficient of the high frequency electric energy source adapted to the integrated impedance value, the controller further being configured to:

obtaining an ultrasonic power set value and a high-frequency electric power set value;

Matching the combined impedance with first impedance data based on the tissue type to determine an ultrasonic power coefficient and a high frequency electric power coefficient corresponding to the tissue type;

According to an embodiment of the present disclosure, the apparatus further comprises a memory for storing the first impedance data.

According to an embodiment of the present disclosure, the apparatus further comprises a memory for storing the second impedance data.

According to an embodiment of the present disclosure, the apparatus further comprises an input for receiving the ultrasonic power setting and the high frequency electric power setting.

The detection module is configured to detect and process signals in a circuit connected with the ultrasonic energy source and the surgical instrument, and obtain an ultrasonic loop feedback signal;

an obtaining module configured to obtain an acoustic impedance based on the ultrasound loop feedback signal;

a determination module configured to determine a first output signal power of the ultrasonic energy source and a second output signal power of a high frequency electrical energy source based on the acoustic impedance; and

a control module configured to control the ultrasonic energy source to output at the first output signal power and the high frequency electrical energy source to output at the second output signal power.

Another aspect of the disclosure provides an electronic device comprising at least one processor and at least one memory for storing one or more computer-readable instructions, wherein the one or more computer-readable instructions, when executed by the at least one processor, cause the processor to perform the method as described above.

Another aspect of the present disclosure provides a computer-readable storage medium storing computer-executable instructions that, when executed, are configured to implement a method as described above.

Another aspect of the present disclosure provides a computer program comprising computer executable instructions which when executed are for implementing a method as described above.

According to the technical scheme of the embodiment of the disclosure, the signal power for driving the surgical instrument is adaptively adjusted by detecting the change of the impedance generated by clamping the tissue by the surgical instrument, so that the progress of the operation can be better matched, and the coagulation effect and the surgical effect with excellent cutting performance can be realized.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.

Drawings

Other features, objects and advantages of the present disclosure will become more apparent from the following detailed description of non-limiting embodiments, taken in conjunction with the accompanying drawings. In the drawings:

FIG. 1 schematically illustrates a schematic diagram of one application scenario of a method of outputting a drive signal to a surgical instrument according to an embodiment of the present disclosure;

FIG. 2 schematically illustrates a flow chart of a method of outputting a drive signal to a surgical instrument according to an embodiment of the present disclosure;

FIG. 3 schematically illustrates a flow chart of a method of outputting a drive signal to a surgical instrument according to another embodiment of the present disclosure;

FIG. 4 schematically illustrates a flow chart of a method of outputting a drive signal to a surgical instrument according to another embodiment of the present disclosure;

FIG. 5a schematically illustrates a flow chart of a method of outputting a drive signal to a surgical instrument according to another embodiment of the present disclosure;

FIG. 5b schematically illustrates a flow chart of a method of outputting a drive signal to a surgical instrument according to another embodiment of the present disclosure;

FIG. 6 schematically illustrates a flow chart of a method of outputting a drive signal to a surgical instrument according to another embodiment of the present disclosure;

FIG. 7 schematically illustrates a flow chart of a method of outputting a drive signal to a surgical instrument according to another embodiment of the present disclosure;

FIG. 8 schematically illustrates the trend of the impedance of a tissue during a cutting procedure;

FIG. 9 schematically illustrates a block diagram of an apparatus for outputting a drive signal to a surgical instrument in accordance with an embodiment of the present disclosure;

FIG. 10 schematically illustrates a block diagram of an apparatus for outputting a drive signal to a surgical instrument according to another embodiment of the present disclosure;

FIG. 11 schematically illustrates a block diagram of an apparatus for outputting a drive signal to a surgical instrument in accordance with another embodiment of the present disclosure;

FIG. 12 schematically illustrates a block diagram of an apparatus for information processing to output a drive signal to a surgical instrument in accordance with an embodiment of the present disclosure;

FIG. 13 schematically illustrates a block diagram of an electronic device according to an embodiment of the disclosure;

fig. 14 schematically illustrates a block diagram of a computer system suitable for implementing a method and apparatus for outputting a drive signal to a surgical instrument, in accordance with an embodiment of the present disclosure.

Detailed Description

Hereinafter, exemplary embodiments of the present disclosure will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily implement them. In addition, for the sake of clarity, portions irrelevant to description of the exemplary embodiments are omitted in the drawings.

In this disclosure, it should be understood that terms such as "comprises" or "comprising," etc., are intended to indicate the presence of features, numbers, steps, acts, components, portions, or combinations thereof disclosed in this specification, and are not intended to exclude the possibility that one or more other features, numbers, steps, acts, components, portions, or combinations thereof are present or added.

In addition, it should be noted that, without conflict, the embodiments of the present disclosure and features of the embodiments may be combined with each other. The present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

It should be noted that the acquisition or presentation of data in this disclosure is either authorized, confirmed, or actively selected by the user.

Embodiments of the present disclosure provide a method of outputting a drive signal to a surgical instrument, comprising: detecting and processing signals in a circuit connected with the ultrasonic energy source and the surgical instrument to obtain an ultrasonic loop feedback signal; obtaining acoustic impedance based on the ultrasound loop feedback signal; determining a first output signal power of the ultrasonic energy source and a second output signal power of a high frequency electrical energy source based on the acoustic impedance; and controlling the ultrasonic energy source to output an ultrasonic drive signal at the first output signal power, and the high-frequency electric energy source to output a high-frequency electric drive signal at the second output signal power.

The surgical instrument in the present disclosure includes one or more of an ultrasonic electrosurgical instrument (ultrasonic electric knife for short), an ultrasonic surgical instrument (ultrasonic electric knife for short), and a high-frequency electrosurgical instrument (electric knife for short, including monopolar electric knife and bipolar electric knife).

Fig. 1 schematically illustrates a schematic diagram of one application scenario of a method of outputting a drive signal to a surgical instrument according to an embodiment of the present disclosure. It should be noted that fig. 1 is only an example of an application scenario of the method for outputting a driving signal to a surgical instrument according to the embodiment of the present disclosure, so as to help a person skilled in the art understand the technical content of the present disclosure, and does not mean that the method for outputting a driving signal to a surgical instrument according to the embodiment of the present disclosure may not be applied to other scenarios.

As shown in fig. 1, the surgical system may include an output device 110, a surgical instrument 120, a cable 130, and an ultrasonic transducer 140. Wherein the output device 110 may further comprise a display and input panel 150. The surgical instrument 120 in this application scenario is an ultrasonic blade that includes an ultrasonic blade bar 160 at the end effector and an electrode-mounted jaw 170, and a manual switch 180 at the handle. The cable 130 connects the output device 110 and the ultrasonic transducer 140. The ultrasonic transducer 140 is used to convert ultrasonic electrical energy into mechanical energy that drives the ultrasonic blade 160 at the end of the surgical instrument 120 to vibrate.

According to an embodiment of the present disclosure, the output device 110 includes an ultrasonic energy source, a high frequency electrical energy source, and a controller, and has the functions of outputting ultrasonic drive signals, high frequency electrical drive signals, and data processing, which may drive the surgical instrument 120 coupled to the output device 110 to perform a surgical procedure. The output device 110 may also adaptively adjust the power of the output drive signal based on feedback of the output signal. The output device 110 may also receive input information from the display and input panel 150 and display surgical related information thereon.

By having an ultrasonic energy source and a high frequency electrical energy source, the output device 110 may drive several different electrosurgical instruments. For example, the output device 110 may drive the ultrasonic blade in conjunction with the bipolar blade, or the output device 110 may drive the ultrasonic blade in conjunction with the ultrasonic blade, in which case the output device 110 may also be provided with multiple output ports for simultaneously connecting multiple surgical instruments.

A method of outputting a driving signal to a surgical instrument according to an embodiment of the present disclosure is described below with reference to fig. 2.

Fig. 2 schematically illustrates a flow chart of a method of outputting a drive signal to a surgical instrument according to an embodiment of the present disclosure.

As shown in fig. 2, the method includes operations S210 to S240.

In operation S210, signals in a circuit connecting the ultrasonic energy source with the surgical instrument are detected and processed to obtain an ultrasonic loop feedback signal;

obtaining acoustic impedance based on the ultrasound loop feedback signal in operation S220;

in operation S230, determining a first output signal power of the ultrasonic energy source and a second output signal power of a high frequency electrical energy source based on the acoustic impedance;

in operation S240, the ultrasonic energy source is controlled to output an ultrasonic driving signal at the first output signal power, and the high frequency electric energy source is controlled to output a high frequency electric driving signal at the second output signal power.

According to the technical scheme of the embodiment of the disclosure, the signal power for driving the surgical instrument is adaptively adjusted by detecting the change of the impedance generated by the tissue clamped by the surgical instrument, so that the progress of the operation can be better matched, and the coagulation effect and the surgical effect with good cutting performance can be realized.

The ultrasonic energy source is also called an ultrasonic generator, and can convert power frequency alternating current into ultrasonic electric signals matched with the ultrasonic transducer, so as to drive the ultrasonic transducer to convert electric energy into mechanical energy and drive the ultrasonic cutter bar to work. The operating frequency of ultrasonic blades used in surgery is 20-100 kHz, most commonly 55.5 kHz. The frequency of the signal output by the ultrasonic energy source in embodiments of the present disclosure may also be within this range.

The high-frequency electric energy source is also called a high-frequency signal generator for outputting a high-frequency electric signal to the electric knife. The frequency range of the electric knife used in surgery is between 0.3 and 5MHz, and the high frequency refers to the frequency between 0.3 and 5MHz, and the frequency of the signal output by the high-frequency electric energy source in the embodiment of the disclosure is also in the range.

The magnitude and switching of the signal power of the outputs of the ultrasonic energy source and the high frequency electrical energy source in embodiments of the present disclosure are both adjustable, controlled by a controller that enables power adaptation. Therefore, the surgical instrument can be ensured to work stably in operation, the advantages of the ultrasonic knife and the electric knife can be fully exerted, and the occurrence of excessive cutting or tissue burning caused by improper power setting is reduced.

The ultrasonic energy source and the high-frequency electric energy source can be configured in the case of the same output device (namely, in the same case of the output device); or in the chassis of different output devices, controlled by one of the output devices. Two independent energy sources are also possible, either alone or in conjunction with a controller that implements power-adaptive adjustments, to implement the functions of the output device 110 illustrated in fig. 1.

According to an embodiment of the present disclosure, signals in a circuit to which an energy source is connected to a surgical instrument are detected and processed, including at least a voltage signal V (t) and a current signal I (t) in the circuit, and an impedance in the circuit is derived from R (t) =v (t)/I (t). Thus, the ultrasonic impedance R may be obtained by the voltage signal and the current signal in the circuit (i.e., the ultrasonic loop) to which the ultrasonic energy source is connected to the surgical instrument _US (t), hereinafter referred to as "acoustic impedance", the corresponding electrical impedance R is obtained by the voltage signal and the current signal in the circuit (i.e. the electrical circuit) to which the source of high-frequency electrical energy is connected to the surgical instrument _ES (t). The detection and processing of the signal may include the necessary filtering and amplification of the analog signal output by the signal source and the processing of high-speed sampling of the analog signal to obtain a corresponding digital signal. The ultrasonic loop feedback signal is a digital signal obtained by processing the detected voltage signal and the detected current signal in the ultrasonic loop, and the electric loop feedback signal is a digital signal obtained by processing the detected voltage signal and the detected current signal in the electric loop. This type of digital signal facilitates digital processing and computation by the processor of the control system to achieve the desired result.

According to the embodiment of the disclosure, the cutting process is tracked through acoustic impedance detection in the surgical cutting process and is used as a basis for adaptively adjusting the power of the driving signal. The impedance may reflect tissue changes at the cut site, such as protein denaturation, etc., so that the cutting process can be matched to adaptively adjust the output drive signal power. For example, when the ultrasonic electric knife is used for cutting the liver, the vibration of the ultrasonic knife bar can realize the cutting function, the high-frequency electric energy applied by the electric jaw can assist in coagulation, when the acoustic impedance is detected to be increased, the signal power for driving the ultrasonic knife is also increased, so that the ultrasonic knife bar is accelerated to vibrate, when the impedance is increased, the signal power applied to the electric jaw is also increased, the coagulation efficiency or the water evaporation efficiency can be improved, and thus, the ultrasonic electric knife is used for accelerating the cutting process and reducing bleeding, and better operation effect can be obtained. For example, when cutting small intestine, because tissue toughness is high, cutting takes more time, when using ultrasonic electric knife, the signal power for driving ultrasonic knife can be increased to accelerate cutting, and the signal power applied on the electric jaw is kept at proper level to evaporate water in tissue, assisting cutting.

According to an embodiment of the present disclosure, a first output signal power of the ultrasonic energy source and a second output signal power of the high frequency electrical energy source are determined based on the acoustic impedance. For example, when an increase or decrease in acoustic impedance is detected, the output signal power of the ultrasonic energy source and the high-frequency energy source is correspondingly increased or decreased by an amount equal to or equal to the amount of change in acoustic impedance value with reference. For another example, when a sudden increase or decrease in acoustic impedance value is detected, which may represent a significant change in the cut tissue, the output signal power of the super energy source and the high frequency energy source is adjusted in response to the change.

Fig. 3 schematically illustrates a flow chart of a method of outputting a drive signal to a surgical instrument according to another embodiment of the present disclosure.

As shown in fig. 3, the method includes operations S210, S220, operations S310 to S330, and operation S240.

In operation S310, detecting and processing signals in a circuit in which a high frequency electrical energy source is connected to a surgical instrument, resulting in an electrical loop feedback signal;

obtaining an electrical impedance based on the electrical loop feedback signal in operation S320;

in operation S330, a first output signal power of the ultrasonic energy source and a second output signal power of the high frequency electrical energy source are determined based on the acoustic impedance and the electrical impedance.

According to an embodiment of the present disclosure, a first output signal power of the ultrasonic energy source and a second output signal power of the high frequency electrical energy source are determined based on the acoustic impedance and the electrical impedance. The power of the ultrasonic driving signal can be adjusted according to the acoustic impedance, and the power of the high-frequency electric driving signal can be adjusted according to the electrical impedance; the power of the two drive signals may also be adjusted solely on the basis of acoustic impedance, or solely on the basis of electrical impedance; or combine the characteristics of the two impedances to adjust the power of the two drive signals. In determining the output signal power, the next first output signal power P1 and second output signal power P2 may be determined based on the currently detected acoustic impedance value and electrical impedance value, e.g., the detected acoustic impedance value at the current time is R _US (n), then P1 (n+1) =d1×r _ES (n)+c1，P2(n+1)＝d2*R _US (n) +c2, where d1, d2, c1, c2 are coefficients set by the system, which may be constants fitted based on experimental data and computational analysis. In determining the output signal power, P1 and P2 may also be determined jointly by the current and historically detected acoustic impedance values and electrical impedance values, e.g.,

P1(n+1)＝D ₁ (R _US (n),R _US (n-1),…,R _US (n-x))

P2(n+1)＝D ₂ (R _ES (n),R _ES (n-1),…,R _ES (n-y))

wherein D1 and D2 are functions set by the system, the functions can be a function obtained by fitting according to experimental data, and x and y are constants set by the system. In addition, P1 and P2 may be determined from empirical data, as described in the examples below.

Fig. 4 schematically illustrates a flow chart of a method of outputting a drive signal to a surgical instrument according to another embodiment of the present disclosure.

As shown in fig. 4, the method includes operations S210, S220, S310, S320, S410, S420, and operation S240.

In operation S410, a composite impedance is determined from the acoustic impedance and/or the electrical impedance;

in operation S420, the integrated impedance is matched with first impedance data including the output signal power of the ultrasonic energy source and the output signal power of the high frequency electrical energy source adapted to the integrated impedance value to determine a first output signal power of the ultrasonic energy source and a second output signal power of the high frequency electrical energy source.

According to embodiments of the present disclosure, the use of the combined impedance may better fit the relationship between the impedance change in the cutting process and the actual cutting process. The combined impedance R (t) is the acoustic impedance R _US (t) and/or electrical impedance R _ES The function of (t), the specific functional relationship may be obtained from experimental analysis. One of the functional relationships is: the composite impedance is the result of smoothing only the acoustic impedance, or the composite impedance is the result of smoothing only the electrical impedance. Another relationship may be: the combined impedance is a linear average of the acoustic impedance smoothing value and the electrical impedance smoothing value. Yet another relationship may be: the composite impedance is a smoothed value of the acoustic impedance within time t1, and is a linear average of the smoothed value of the acoustic impedance and the smoothed value of the electrical impedance within time intervals t1 and t2, and is the smoothed value of the acoustic impedance after time exceeds t2. The specific values of t1 and t2 relate to the progress of cutting, and may be values set empirically or values obtained according to the characteristics of the acoustic impedance and the electrical impedance, for example, when the acoustic impedance rises sharply at the beginning of cutting and then falls down to no longer significantly change, t1 is considered to be reached, and when the acoustic impedance rises significantly at the second half of cutting, t2 is considered to be reached.

According to an embodiment of the present disclosure, the combined impedance is matched to the first impedance data to determine a first output signal power of the ultrasonic energy source and a second output signal power of the high frequency electrical energy source. Wherein the first impedance data comprises an output signal power of the ultrasonic energy source and an output signal power of the high frequency electrical energy source adapted to the integrated impedance value. For example, at the current detection time, the obtained integrated impedance value is R1, and from the first impedance data, it can be found that the first output signal power of the ultrasonic energy source matching the impedance value of R1 is P1 and the second output signal power of the high-frequency electric energy source is P2. In this embodiment, the power of the adapted impedance value in the first impedance data is a suggested value obtained by processing and analyzing experimental data and empirical data. The first impedance data may be pre-stored data with fixed values, or may be data updated in real time by continuously accumulating information during the implementation of the actual surgical application.

Fig. 5a schematically illustrates a flow chart of a method of outputting a drive signal to a surgical instrument according to another embodiment of the present disclosure.

As shown in fig. 5a, the method includes operations S210, S220, S310, S320, operations S510 to S530, and operation S240.

In operation S510, determining a composite impedance from the acoustic impedance and/or the electrical impedance;

in operation S520, in an initial stage of cutting, matching the combined impedance with the second impedance data to determine a type of tissue to be cut;

in operation S530, a first output signal power of the ultrasonic energy source and a second output signal power of a high frequency electrical energy source are determined based on the combined impedance and the tissue type.

According to an embodiment of the present disclosure, the power of the drive signal is determined based on the type of tissue. The determination of the type of tissue to be cut can be done in two ways, the first is by manual setting, i.e. the doctor sets the type of tissue to be cut at this time before cutting, which is suitable for simple cutting operations; the complex conditions often encountered in actual surgery are that a single cut may encounter multiple tissues, and readjusting power during the surgical procedure may not only be inefficient but may not be adjustable due to condition limitations. The second mode is the mode for automatically identifying the tissue type, which is widely applicable, can greatly reduce the difficulty of the operation and improve the operation efficiency.

In accordance with an embodiment of the present disclosure, identifying the type of tissue being cut is determined by matching the combined impedance to the second impedance data during an initial stage of the cut. For example, a time window for identifying the tissue type is set in the initial stage of cutting, the detected comprehensive impedance value is compared with the impedance characteristic values of different types of tissues in the second impedance data, and the tissue type with the highest matching degree is identified. The different tissues have impedance differences when being cut due to the physical characteristic differences of the different tissues, and the different tissues can be distinguished and integrated impedance values in the initial cutting stage through processing and analyzing experimental data and empirical data, and the results are stored in the second impedance data.

The following illustrates how embodiments of the present disclosure determine a first output signal power of the ultrasonic energy source and a second output signal power of the high frequency electrical energy source.

For example, in the initial stage of cutting, the identified tissue type is type 1, the relation between the corresponding output signal powers P1 and P2 and the impedance is P1 (n+1) =d1×r (n) +c1, and P2 (n+1) =d2×r (n) +c2, so when the detected integrated impedance value is R (n), the first output signal power of the ultrasonic energy source and the second output signal power of the high-frequency electric energy source can be obtained according to P1 (n+1) =d1×r (n) +c1, and P2 (n+1) =d2×r (n) +c2. If the identified tissue type is type 2, the corresponding relation between the output signal power P1 and P2 and the impedance may be P1 (n+1) =d3×r (n) +c3, and P2 (n+1) =d4×r (n) +c4, where d1-d4 and c1-c4 are set values or values determined through training of the machine learning model.

By adopting the embodiment of the disclosure, when different tissues are encountered in surgical cutting, the cutting power more suitable for the tissues can be automatically adjusted, so that the cutting performance is improved.

Fig. 5b schematically illustrates a flow chart of a method of outputting a drive signal to a surgical instrument according to another embodiment of the present disclosure.

As shown in fig. 5b, the method includes an operation S540 different from S530 on the basis of the embodiment illustrated in fig. 5 a.

In operation S540, the combined impedance is matched with the first impedance data based on the tissue type to determine a first output signal power of the ultrasonic energy source and a second output signal power of the high frequency electrical energy source.

According to an embodiment of the present disclosure, after obtaining a tissue type by matching with second impedance data at an initial stage of cutting, the combined impedance is matched with first impedance data corresponding to the tissue based on the tissue type to determine a first output signal power of an ultrasonic energy source and a second output signal power of a high frequency electrical energy source. The first impedance data comprises the output signal power of the ultrasonic energy source and the output signal power of the high-frequency electric energy source which are matched with the comprehensive impedance value, and different tissue types can respectively correspond to the first impedance data so as to realize power self-adaptive adjustment aiming at the tissue types. For example, the total impedance value obtained at a certain detection time is R1, and P1 and P2 matching the impedance value of R1 found from the first impedance data of the tissue type 1 may be completely different from the result found from the first impedance data of the tissue type 2. The first impedance data may be pre-stored data with fixed values, or may be data updated in real time by continuously accumulating information during the implementation of the actual surgical application.

Fig. 6 schematically illustrates a flow chart of a method of outputting a drive signal to a surgical instrument according to another embodiment of the present disclosure.

As shown in fig. 6, the method includes operations S210, S220, S310, S320, S510, S520, operations S610 to S630, and operation S240.

In operation S610, an ultrasonic power set value and a high-frequency electric power set value are obtained;

in operation S620, the integrated impedance is matched with the first impedance data based on the tissue type, and an ultrasonic power coefficient and a high-frequency electric power coefficient corresponding to the tissue type are determined;

in operation S630, it is determined that the first output signal power is a product of the ultrasonic power coefficient and the ultrasonic power set value, and the second output signal power is a product of the high-frequency electric power coefficient and the high-frequency electric power set value.

According to the embodiment of the disclosure, the power coefficients of the ultrasonic driving signal and the high-frequency electric signal, which are adaptive to the impedance value, are stored in the first impedance data, and are simply referred to as the ultrasonic power coefficient and the high-frequency electric power coefficient, and the actually output signal power needs to be determined together with the power set value, so that wider applicability can be obtained, and the safety of the system is improved. For example, the doctor can set the ultrasonic power set value and the high-frequency electric power set value according to the preliminary judgment, so that the maximum power output by the ultrasonic knife and the electric knife in the operation process is limited, and the operation risk is reduced. The ultrasonic power setting and the high frequency electric power setting may be set by an input terminal which is typically integrated into a panel with display and input functions, such as the display and input panel 150 of the front end of the output device 110 illustrated in fig. 1. The ultrasonic power setting and the high frequency electric power setting may also be default configurations, for example, gear steps pre-storing some ultrasonic power setting for the surgical procedure, which may be selected by manual switch 180 at the handle of surgical instrument 120 illustrated in fig. 1, and the high frequency electric power setting may be a default setting in output device 110.

In the embodiments illustrated in fig. 5a, 5b and 6 described above, multiple matches may be made during the initial stages of cutting to increase the accuracy of identifying tissue types. For example, the time window for the first recognition is set to be the time when the ultrasonic electric knife is electrified to the time T0, after the tissue type is recognized, the tissue type is continuously matched within the time window of T0-T1 according to the corresponding power output, and then the tissue type is selected according to the matching result of the time. This process provides an error correction mechanism to identify the tissue type, preventing errors in identifying tissue from causing output power mismatch to the tissue.

In the embodiments illustrated in fig. 5a, 5b and 6, there may be a situation that the degree of matching between the integrated impedance at the initial stage of cutting and the existing second impedance data is not satisfactory, and a suitable tissue type cannot be matched, and the embodiment illustrated in fig. 4 may be operated at this time, that is, the power of the output signal is matched by using the common first impedance data.

Fig. 7 schematically illustrates a flow chart of a method of outputting a drive signal to a surgical instrument according to another embodiment of the present disclosure.

As shown in fig. 7, the method includes operations S210, S220, S310, S320, operations S710 to S730, and operation S240.

In operation S710, a composite impedance is determined from the acoustic impedance and/or the electrical impedance;

in operation S720, determining a cutting phase based on the integrated impedance change rate;

in operation S730, a first output signal power of the ultrasonic energy source and a second output signal power of the high frequency electrical energy source are determined based on the cutting phase.

According to an embodiment of the present disclosure, the progress of cutting may be divided into an initial stage of cutting, a stage of cutting progress, and a final stage of cutting. Adjusting the drive signal power at each stage to adapt the cutting process may provide benefits to cutting. For example, in the initial stage of cutting, the ultrasonic knife is required to start to work quickly, the power for driving the ultrasonic knife can be output at a higher value, and the power of the electric knife only needs to be at a lower value; in the cutting progress stage, the cutter head is deep into the tissue, and needs to cut and synchronously coagulate, and at the moment, the respective advantages of the ultrasonic knife and the electric knife are utilized, so that the driving signal power is output according to 50% of the total power of the ultrasonic knife and the electric knife; and the cutting is about to be completed in the final stage of cutting, the quick cutting advantage of the ultrasonic knife is fully utilized, the signal power for driving the ultrasonic knife is output at a higher value, and the signal power for driving the electric knife only needs a lower value.

It has been found that the stage of cutting is also manifested by impedance characteristics of the tissue, for example, the impedance increases and decreases at the beginning of the cut, which is the initial stage of the cut, and then a relatively long and constant stage occurs, which is the stage of cutting, and the overall impedance increases rapidly from the final stage of the cut. Fig. 8 shows an example of such a trend of the impedance, and according to the impedance characteristics in fig. 8, the impedance changes smoothly after falling near the time t1, and changes rapidly after rising near the time t 2.

According to embodiments of the present disclosure, the cutting phase may be determined by integrating the rate of change of the impedance, thereby outputting the adapted ultrasonic drive signal and the high frequency electrical drive signal at different cutting phases. For example, when it is detected that the integrated impedance is reduced and then stabilized within a set time window, the cutting progress stage is considered to be entered, and when it is detected that the integrated impedance is rapidly increased in a set time window, the cutting end stage is considered to be entered.

According to an embodiment of the present disclosure, a first output signal power of the ultrasonic energy source and a second output signal power of the high frequency electrical energy source are determined based on the cutting phase. For example, in the initial stage of cutting, the signal power driving the ultrasonic blade and the electric blade may be proportionally output according to the ultrasonic power set value and the high-frequency electric power set value; in the cutting progress stage, the signal power for driving the ultrasonic blade and the electric blade can be adaptively adjusted according to the comprehensive impedance, and the method in the embodiment shown in the previous figures 3 to 7 is adopted; in the end stage of cutting, the power of the driving signal is still output proportionally according to the ultrasonic power set value and the high-frequency electric power set value. Therefore, the power adapting efficiency can be improved, and a better operation effect can be obtained.

In the foregoing embodiments, in order to facilitate explanation of the principles of the technical solutions of the present disclosure, the operation steps of the implementation are explained, and several operations may be combined to obtain a final power adjustment result in actual implementation.

According to the embodiment of the disclosure, by detecting the change of impedance generated by the tissue clamped by the surgical instrument, the signal power for driving the surgical instrument is adaptively adjusted, so that the surgical process can be better matched, and the surgical effect with good coagulation effect and cutting performance can be realized.

Based on the same inventive concept, the present disclosure also provides an apparatus for outputting a driving signal to a surgical instrument.

Fig. 9 schematically illustrates a block diagram of an apparatus 900 for outputting a drive signal to a surgical instrument according to an embodiment of the present disclosure. Wherein the device 900 may be implemented as part or all of a device by software, hardware, or a combination of both.

As shown in fig. 9, the apparatus 900 includes an ultrasonic energy source 910, a high frequency electrical energy source 920, a detection circuit 930, and a controller 940.

An ultrasonic energy source 910 for outputting ultrasonic energy;

a high-frequency electric energy source 920 for outputting high-frequency electric energy;

a detection circuit 930 for detecting and processing signals in a circuit where the ultrasonic energy source is connected to the surgical instrument, to obtain an ultrasonic loop feedback signal;

A controller 940 for determining an acoustic impedance based on the ultrasound loop feedback signal and determining a first output signal power of the ultrasound energy source and a second output signal power of the high frequency electrical energy source based on the acoustic impedance; and controlling the ultrasonic energy source to output an ultrasonic driving signal with the first output signal power, and simultaneously, controlling the high-frequency electric energy source to output a high-frequency electric driving signal with the second output signal power.

The detection circuit 930 is further configured to detect and process signals in a circuit where the high frequency electrical energy source is connected to the surgical instrument, resulting in an electrical loop feedback signal, according to embodiments of the present disclosure; the controller 940 is further configured to: an electrical impedance is obtained based on the electrical loop feedback signal, and a first output signal power of the ultrasonic energy source and a second output signal power of the high frequency electrical energy source are determined based on the acoustic impedance and the electrical impedance.

According to an embodiment of the present disclosure, the controller 940 is further configured to: determining a composite impedance from the acoustic impedance and/or the electrical impedance; the integrated impedance is matched to first impedance data to determine a first output signal power of the ultrasonic energy source and a second output signal power of the high frequency electrical energy source, the first impedance data comprising the output signal power of the ultrasonic energy source and the output signal power of the high frequency electrical energy source adapted to the integrated impedance value.

According to an embodiment of the present disclosure, the controller 940 is further configured to: determining a composite impedance from the acoustic impedance and/or the electrical impedance; matching the combined impedance with second impedance data during an initial stage of cutting to determine a type of tissue to be cut, the second impedance data including a differential combined impedance value for different types of tissue during the initial stage of cutting; a first output signal power of the ultrasonic energy source and a second output signal power of the high frequency electrical energy source are determined based on the combined impedance and the tissue type.

According to an embodiment of the present disclosure, the controller 940 is further configured to: the combined impedance is matched to first impedance data based on the tissue type to determine a first output signal power of the ultrasonic energy source and a second output signal power of the high frequency electrical energy source.

Fig. 10 schematically illustrates a block diagram of an apparatus 1000 for outputting a drive signal to a surgical instrument according to another embodiment of the present disclosure.

As shown in fig. 10, the device 1000 further comprises a memory 1010 in addition to the device 900 illustrated in fig. 9.

A memory 1010 for storing the first impedance data comprising the output signal power of the ultrasound energy source and the output signal power of the high frequency electrical energy source adapted to the combined impedance value and the second impedance data comprising the differential combined impedance value of different types of tissue at the initial stage of the cutting.

According to an embodiment of the present disclosure, the first impedance data further comprises an ultrasonic power coefficient of the ultrasonic energy source and a high frequency electric power coefficient of the high frequency electric energy source adapted to the integrated impedance value.

According to an embodiment of the present disclosure, the controller 940 is further configured to: obtaining an ultrasonic power set value and a high-frequency electric power set value; determining an ultrasonic power coefficient and a high-frequency electric power coefficient corresponding to the tissue type by searching first impedance data in a memory; determining a first output signal power as a product of the ultrasonic power coefficient and the ultrasonic power set point, and determining a second output signal power as a product of the high-frequency electric power coefficient and the high-frequency electric power set point.

Fig. 11 schematically illustrates a block diagram of an apparatus 1100 for outputting a drive signal to a surgical instrument according to another embodiment of the present disclosure.

As shown in fig. 11, the apparatus 1100 further comprises an input 1110 for receiving the ultrasonic power set point and the high frequency electric power set point in addition to the apparatus 1000 illustrated in fig. 10.

The apparatus of the embodiments of the present disclosure may perform the various methods described above, and the repetition is not repeated.

Based on the same inventive concept, the present disclosure further provides an apparatus for outputting a driving signal to a surgical instrument, and an apparatus 1200 for outputting a driving signal to a surgical instrument according to an embodiment of the present disclosure will be described with reference to fig. 12.

Fig. 12 schematically illustrates a block diagram of an apparatus 1200 for outputting a drive signal to a surgical instrument in accordance with an embodiment of the present disclosure. The apparatus 1200 may be implemented as part or all of an electronic device by software, hardware, or a combination of both.

As shown in fig. 12, the apparatus 1200 for outputting a drive signal to a surgical instrument includes a detection module 1210, an acquisition module 1220, a determination module 1230, and a control module 1240. The apparatus 1200 for outputting a driving signal to a surgical instrument may perform the various methods described above.

A detection module 1210 configured to detect and process signals in a circuit in which the ultrasonic energy source is connected to the surgical instrument to obtain an ultrasonic loop feedback signal;

an obtaining module 1220 configured to obtain acoustic impedance from a feedback signal based on the ultrasound loop;

a determination module 1230 configured to determine a first output signal power of the ultrasonic energy source and a second output signal power of a high frequency electrical energy source based on the acoustic impedance;

a control module 1240 configured to control the ultrasonic energy source to output at the first output signal power and the high frequency electrical energy source to output at the second output signal power.

The present disclosure also discloses an electronic device, fig. 13 shows a block diagram of an electronic device according to an embodiment of the present disclosure.

As shown in fig. 13, the electronic device 1300 includes a memory 1310 and a processor 1320, wherein the memory 1310 is configured to store a program for supporting the electronic device to execute the information processing method or the code generating method in any of the above embodiments, and the processor 1320 is configured to execute the program stored in the memory 1310.

According to an embodiment of the present disclosure, the memory 1310 is configured to store one or more computer instructions, wherein the one or more computer instructions are executed by the processor 1320 to implement the steps of:

obtaining acoustic impedance based on the ultrasound loop feedback signal;

According to an embodiment of the present disclosure, the processor 1320 is further configured to perform detecting and processing signals in a circuit in which the high frequency electrical energy source is connected to the surgical instrument, obtaining an electrical loop feedback signal, and obtaining an electrical impedance based on the electrical loop feedback signal; a first output signal power of the ultrasonic energy source and a second output signal power of the high frequency electrical energy source are determined based on the acoustic impedance and the electrical impedance.

According to an embodiment of the present disclosure, the processor 1320 is further configured to perform: determining a composite impedance from the acoustic impedance and/or the electrical impedance; the combined impedance is matched to the first impedance data to determine a first output signal power of the ultrasonic energy source and a second output signal power of the high frequency electrical energy source.

The processor 1320 is further configured to perform, during an initial cutting phase, matching the combined impedance to second impedance data to determine a type of tissue to be cut; a first output signal power of the ultrasound energy source and a second output signal power of the high frequency electrical energy source are determined based on the combined impedance and the tissue type.

According to an embodiment of the present disclosure, the processor 1320 is further configured to perform, based on the tissue type, matching the combined impedance with first impedance data to determine a first output signal power of the ultrasonic energy source and a second output signal power of the high frequency electrical energy source.

According to an embodiment of the present disclosure, the first impedance data includes an ultrasonic power coefficient and a high-frequency electric power coefficient adapted to the integrated impedance value; the processor 1320 is further configured to perform: obtaining an ultrasonic power set value and a high-frequency electric power set value; based on the tissue type, matching the integrated impedance with first impedance data, determining an ultrasonic power coefficient and a high-frequency electric power coefficient corresponding to the tissue type; determining a first output signal power as a product of the ultrasonic power coefficient and the ultrasonic power set point, and determining a second output signal power as a product of the high-frequency electric power coefficient and the high-frequency electric power set point.

According to an embodiment of the present disclosure, the processor 1320 is further configured to perform determining a composite impedance from the acoustic impedance and/or the electrical impedance; determining a cutting phase based on the rate of change of the integrated impedance; based on the cutting phase, a first output signal power of the ultrasonic energy source and a second output signal power of the high frequency electrical energy source are determined. A first output signal power of the ultrasonic energy source and a second output signal power of the high frequency electrical energy source are determined.

Fig. 14 schematically illustrates a block diagram of a computer system 1400 suitable for implementing the methods described above, in accordance with an embodiment of the present disclosure.

As shown in fig. 14, the computer system 1400 includes a processor 1401, which can execute various processes in the above-described embodiments in accordance with a program stored in a Read Only Memory (ROM) 1402 or a program loaded from a storage section 1408 into a Random Access Memory (RAM) 1403. In the RAM1403, various programs and data required for the operation of the system 1400 are also stored. The processor 1401, ROM 1402, and RAM1403 are connected to each other through a bus 1404. An input/output (I/O) interface 1405 is also connected to the bus 1404.

The following components are connected to the I/O interface 1405: an input section 1406 including a keyboard, a mouse, and the like; an output portion 1407 including a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and the like, a speaker, and the like; a storage section 1408 including a hard disk or the like; and a communication section 1409 including a network interface card such as a LAN card, a modem, and the like. The communication section 1409 performs communication processing via a network such as the internet. The drive 1410 is also connected to the I/O interface 1405 as needed. Removable media 1411, such as magnetic disks, optical disks, magneto-optical disks, semiconductor memory, and the like, is installed as needed on drive 1410 so that a computer program read therefrom is installed as needed into storage portion 1408. The processor 1401 may be implemented as a processor CPU, GPU, TPU, FPGA, NPU or the like.

In particular, according to embodiments of the present disclosure, the methods described above may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program tangibly embodied on a medium readable thereby, the computer program comprising program code for performing the method described above. In such an embodiment, the computer program can be downloaded and installed from a network via the communication portion 1409 and/or installed from the removable medium 1411.

The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

The units or modules referred to in the embodiments of the present disclosure may be implemented in software or in programmable hardware. The units or modules described may also be provided in a processor, the names of which in some cases do not constitute a limitation of the unit or module itself.

As another aspect, the present disclosure also provides a computer-readable storage medium, which may be a computer-readable storage medium included in the electronic device or the computer system in the above-described embodiments; or may be a computer-readable storage medium, alone, that is not assembled into a device. The computer-readable storage medium stores one or more programs for use by one or more processors in performing the methods described in the present disclosure.

The foregoing description is only of the preferred embodiments of the present disclosure and description of the principles of the technology being employed. It will be appreciated by those skilled in the art that the scope of the invention referred to in this disclosure is not limited to the specific combination of features described above, but encompasses other embodiments in which any combination of features described above or their equivalents is contemplated without departing from the inventive concepts described. Such as those described above, are mutually substituted with the technical features having similar functions disclosed in the present disclosure (but not limited thereto).

Claims

1. A method of outputting a drive signal to a surgical instrument, comprising:

obtaining acoustic impedance based on the ultrasound loop feedback signal;

detecting and processing signals in a circuit in which a high-frequency electrical energy source is connected with a surgical instrument, obtaining an electrical loop feedback signal, and obtaining electrical impedance based on the electrical loop feedback signal;

determining a composite impedance from the acoustic impedance and the electrical impedance, the composite impedance being a function of the acoustic impedance and the electrical impedance over time;

determining a first output signal power of the ultrasonic energy source and a second output signal power of the high frequency electrical energy source based on the integrated impedance; and

2. The method of outputting a drive signal to a surgical instrument of claim 1, wherein the determining a first output signal power of the ultrasonic energy source and a second output signal power of a high frequency electrical energy source based on the combined impedance comprises:

3. The method of outputting a drive signal to a surgical instrument according to claim 1, wherein the determining a first output signal power of the ultrasonic energy source and a second output signal power of a high frequency electrical energy source based on the combined impedance comprises:

4. The method of outputting a drive signal to a surgical instrument according to claim 3, wherein the determining a first output signal power of an ultrasonic energy source and a second output signal power of a high frequency electrical energy source based on the combined impedance and the tissue type comprises:

5. The method of outputting a drive signal to a surgical instrument according to claim 4, wherein the first impedance data includes an ultrasonic power coefficient and a high frequency electric power coefficient adapted to a composite impedance value; the method further comprises the steps of: obtaining an ultrasonic power set value and a high-frequency electric power set value;

6. The method of outputting a drive signal to a surgical instrument according to claim 1, wherein the determining a first output signal power of the ultrasonic energy source and a second output signal power of a high frequency electrical energy source based on the combined impedance comprises:

7. An apparatus for outputting a drive signal to a surgical instrument, comprising:

an ultrasonic energy source for outputting ultrasonic energy;

the detection circuit is used for detecting and processing signals in a circuit connected with the ultrasonic energy source and the surgical instrument to obtain an ultrasonic loop feedback signal, and detecting and processing signals in a circuit connected with the high-frequency electric energy source and the surgical instrument to obtain an electric loop feedback signal;

a controller for determining an acoustic impedance based on the ultrasound loop feedback signal, obtaining an electrical impedance based on the electrical loop feedback signal, and determining a composite impedance from the acoustic impedance and the electrical impedance, the composite impedance being a function of the acoustic impedance and the electrical impedance over time; determining a first output signal power of the ultrasonic energy source and a second output signal power of the high frequency electrical energy source based on the integrated impedance; and controlling the ultrasonic energy source to output an ultrasonic driving signal with the first output signal power, and simultaneously, controlling the high-frequency electric energy source to output a high-frequency electric driving signal with the second output signal power.

8. The apparatus for outputting a drive signal to a surgical instrument of claim 7, wherein the controller is further configured to:

9. The apparatus for outputting a drive signal to a surgical instrument of claim 7, wherein the controller is further configured to:

10. The apparatus for outputting a drive signal to a surgical instrument according to claim 9, the controller further configured to:

11. The apparatus for outputting a drive signal to a surgical instrument according to claim 10, wherein the first impedance data further comprises an ultrasonic power coefficient of an ultrasonic energy source and a high frequency electric power coefficient of a high frequency electric energy source adapted to the combined impedance value, the controller further configured to:

12. The apparatus for outputting a drive signal to a surgical instrument according to claim 8, further comprising a memory for storing the first impedance data.

13. The apparatus for outputting a drive signal to a surgical instrument according to claim 9, further comprising a memory for storing the second impedance data.

14. The apparatus for outputting a drive signal to a surgical instrument according to claim 11, further comprising an input for receiving the ultrasonic power setting and high frequency electric power setting.

15. The apparatus for outputting a drive signal to a surgical instrument of claim 7, wherein the controller is further configured to:

16. An apparatus for outputting a drive signal to a surgical instrument, comprising:

the detection module is configured to detect and process signals in a circuit connected with the ultrasonic energy source and the surgical instrument to obtain an ultrasonic loop feedback signal, and detect and process signals in a circuit connected with the high-frequency electric energy source and the surgical instrument to obtain an electric loop feedback signal;

an obtaining module configured to obtain an acoustic impedance based on the ultrasound loop feedback signal and an electrical impedance based on the electrical loop feedback signal;

a determination module configured to determine a composite impedance from the acoustic impedance and the electrical impedance, the composite impedance being a function of the acoustic impedance and the electrical impedance over time; determining a first output signal power of the ultrasonic energy source and a second output signal power of the high frequency electrical energy source based on the integrated impedance; and

17. An electronic device, comprising:

one or more processors;

a memory for storing one or more computer programs,

wherein the one or more computer programs, when executed by the one or more processors, cause the one or more processors to implement the method of any of claims 1 to 6.

18. A computer readable storage medium having stored thereon executable instructions which when executed by a processor cause the processor to implement the method of any of claims 1 to 6.