CN114469270A - Control method of ultrasonic surgical instrument, surgical device and readable storage medium - Google Patents
Control method of ultrasonic surgical instrument, surgical device and readable storage medium Download PDFInfo
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- CN114469270A CN114469270A CN202210406874.1A CN202210406874A CN114469270A CN 114469270 A CN114469270 A CN 114469270A CN 202210406874 A CN202210406874 A CN 202210406874A CN 114469270 A CN114469270 A CN 114469270A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/32—Surgical cutting instruments
- A61B17/320068—Surgical cutting instruments using mechanical vibrations, e.g. ultrasonic
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/06—Measuring instruments not otherwise provided for
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00017—Electrical control of surgical instruments
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00017—Electrical control of surgical instruments
- A61B2017/00022—Sensing or detecting at the treatment site
- A61B2017/00026—Conductivity or impedance, e.g. of tissue
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00017—Electrical control of surgical instruments
- A61B2017/00022—Sensing or detecting at the treatment site
- A61B2017/00026—Conductivity or impedance, e.g. of tissue
- A61B2017/0003—Conductivity or impedance, e.g. of tissue of parts of the instruments
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/32—Surgical cutting instruments
- A61B17/320068—Surgical cutting instruments using mechanical vibrations, e.g. ultrasonic
- A61B2017/320082—Surgical cutting instruments using mechanical vibrations, e.g. ultrasonic for incising tissue
Abstract
Embodiments of the present disclosure provide a control method of an ultrasonic surgical instrument, a surgical apparatus, and a computer-readable storage medium. The control method comprises the following steps: before the ultrasonic cutter head cuts the target tissue, applying no-load voltage and no-load current to the ultrasonic surgical instrument, and vibrating the ultrasonic cutter head at a target amplitude under the action of the no-load voltage and the no-load current; acquiring feedback voltage and feedback current of an ultrasonic surgical instrument in the process of cutting a target tissue by an ultrasonic cutter head; and determining a cutting voltage and a cutting current from the feedback voltage and the feedback current and applying the cutting voltage and the cutting current to the ultrasonic surgical instrument such that an amplitude of the ultrasonic blade remains in a range during cutting of the target tissue by the ultrasonic blade as follows: the target amplitude is larger than or equal to 90% and smaller than or equal to 110%. The consistency of the cutting and sealing effects is effectively ensured.
Description
Technical Field
Embodiments of the present disclosure relate to a control method of an ultrasonic surgical instrument, a surgical apparatus, and a computer-readable storage medium.
Background
The ultrasonic surgical instrument is one of medical instruments commonly used in surgical operations and mainly comprises a host, a transducer and a waveguide rod, wherein one end of the transducer is connected with the host, the other end of the transducer is connected with the waveguide rod, and an ultrasonic cutter head is arranged at one end, far away from the transducer, of the waveguide rod. By controlling the foot switch or the hand switch, the electric energy is transmitted from the main machine to the energy converter; the transducer converts electric energy into mechanical energy of vibration based on a piezoelectric effect, and simultaneously drives a waveguide rod connected with the transducer to vibrate mechanically; the waveguide rod transmits the mechanical vibration to the ultrasonic blade head to vibrate the ultrasonic blade head; the ultrasonic cutter head is contacted with the target tissue, and the water in the target tissue is vaporized, the protein hydrogen bonds are broken and denatured, and the cells are disintegrated due to the heat generated by the friction between the ultrasonic cutter head and the target tissue in the vibration process of the ultrasonic cutter head, so that the cutting and the sealing of the target tissue are realized.
Disclosure of Invention
According to an embodiment of the present disclosure, there is provided a method of controlling an ultrasonic surgical instrument including an ultrasonic blade for cutting a target tissue, wherein the method includes: applying a no-load voltage and a no-load current to the ultrasonic surgical instrument before the ultrasonic blade cuts the target tissue, the ultrasonic blade vibrating at a target amplitude under the action of the no-load voltage and the no-load current; acquiring feedback voltage and feedback current of the ultrasonic surgical instrument in the process that the ultrasonic cutter head cuts the target tissue; and determining a cutting voltage and a cutting current from the feedback voltage and the feedback current and applying the cutting voltage and the cutting current to the ultrasonic surgical instrument such that an amplitude of the ultrasonic blade is maintained in a range during cutting of the target tissue by the ultrasonic blade as follows: the target amplitude is larger than or equal to 90% and smaller than or equal to 110%.
For example, the control method further includes: judging whether the ultrasonic cutter head cuts the target tissue completely; applying a holding voltage and a holding current to the ultrasonic surgical instrument if the ultrasonic blade has cut the target tissue, the holding current being less than the cutting current.
For example, the holding current is 75% or less of the cutting current.
For example, the determining whether the ultrasonic blade cuts the target tissue includes at least one of the following manners: mode 1: acquiring impedance of the ultrasonic surgical instrument in the process that the ultrasonic cutter head cuts the target tissue, and judging whether the ultrasonic cutter head cuts the target tissue completely according to the change trend of the impedance along with time; and mode 2: and in the process of cutting the target tissue by the ultrasonic cutter head, acquiring the resonant frequency of the ultrasonic surgical instrument, and judging whether the cutter head finishes cutting the target tissue according to the change trend of the resonant frequency along with time.
For example, in the case of mode 1, if the trend of the change in the impedance with time is: and when the impedance value rises to the first impedance value, then the impedance value falls to the second impedance value, and then the impedance value rises to the third impedance value, the ultrasonic cutter head is determined to finish cutting the target tissue.
For example, the third impedance value is less than the first impedance value.
For example, in the case of mode 2, if the trend of the change in the resonance frequency with time is: and reducing the first amplitude within a first time interval, and then reducing the second amplitude within a second time interval, wherein the first amplitude is equal to the second amplitude but the first time interval is longer than the second time interval, and then determining that the ultrasonic cutter head cuts the target tissue.
For example, a ratio between the first time interval and the second time interval is equal to or greater than 5: 1.
For example, the resonance frequency is equal to or higher than 53.5 khz and equal to or lower than 57.5 khz, and the first amplitude and the second amplitude are each 0.1 khz.
For example, the acquiring the feedback voltage and the feedback current of the ultrasonic surgical instrument includes: sequentially collecting n groups of original feedback data, wherein each group of original feedback data comprises original feedback voltage and original feedback current, and n is more than or equal to 2; and processing the n sets of raw feedback data, wherein processing the n sets of raw feedback data comprises: and calculating an average value of original feedback voltages included in the n groups of original feedback data to serve as the feedback voltage, and calculating an average value of original feedback currents included in the n groups of original feedback data to serve as the feedback current.
For example, the sequentially acquiring n sets of raw feedback data includes: collecting an ith group of original feedback data, wherein the ith group of original feedback data comprises an ith original feedback voltage and an ith original feedback current, and i is more than or equal to 1; judging whether the ith group of original feedback data is normal or not, including: respectively judging whether the ith original feedback voltage and the ith original feedback current are within a preset range; if any one of the ith original feedback voltage and the ith original feedback current is not in a preset range, the ith group of original feedback data is not included in the n groups of original feedback data; and if any one of the ith original feedback voltage and the ith original feedback current is within a preset range, the ith group of original feedback data is included in the n groups of original feedback data.
For example, the preset range of the original feedback voltage is: the original feedback voltage is less than or equal to 150V and is less than or equal to 10V; and the preset range of the original feedback current is as follows: the original feedback current is less than or equal to 100mA and less than or equal to 500 mA.
For example, the determining a cutting voltage and a cutting current from the feedback voltage and the feedback current comprises: if the feedback current is less than the no-load current, increasing the cutting voltage to increase the cutting current; the feedback current is greater than the idle current, the cutting voltage is decreased to decrease the cutting current.
For example, the no-load current, the feedback current, and the cutting current are all active currents; the method comprises the following steps: acquiring the feedback voltage, the feedback current, a phase difference between the feedback voltage and the feedback current, and a capacitive reactance of the ultrasonic surgical instrument during the process that the ultrasonic cutter head cuts the target tissue; and determining the cutting voltage and the cutting current from the feedback voltage, the feedback current, the phase difference, and the capacitive reactance.
For example, the determining the cutting voltage and the cutting current from the feedback voltage, the feedback current, the phase difference, and the capacitive reactance comprises: determining a reactive feedback current corresponding to the feedback current from the feedback voltage: reactive feedback current = feedback voltage/capacitive reactance; determining the cutting current according to the reactive feedback current: cutting current = reactive feedback current/(1-power factor), wherein power factor = cos phase difference; and determining the cutting voltage matched with the cutting current.
For example, the phase difference is 0 or more oAnd is less than or equal to 72o。
For example, during the process of cutting the target tissue by the ultrasonic blade, the steps of acquiring the feedback voltage and the feedback current of the ultrasonic surgical instrument and determining the cutting voltage and the cutting current according to the feedback voltage and the feedback current are performed in a loop until the target tissue is cut.
According to an embodiment of the present disclosure, there is provided a surgical device including a host and an ultrasonic surgical instrument connected to the host, the host including an energy application unit and a data acquisition unit, wherein the energy application unit is configured to: applying a no-load voltage and a no-load current to the ultrasonic surgical instrument before the ultrasonic blade cuts the target tissue, the ultrasonic blade vibrating at a target amplitude under the action of the no-load voltage and the no-load current; the data acquisition unit is configured to: acquiring feedback voltage and feedback current of the ultrasonic surgical instrument in the process that the ultrasonic cutter head cuts the target tissue; and the energy application unit is further configured to: determining a cutting voltage and a cutting current from the feedback voltage and the feedback current and applying the cutting voltage and the cutting current to the ultrasonic surgical instrument such that an amplitude of the ultrasonic blade remains in a range during cutting of the target tissue by the ultrasonic blade as follows: the target amplitude is larger than or equal to 90% and smaller than or equal to 110%.
For example, the surgical device further comprises: a target tissue cutting completion identification part, wherein the target tissue cutting completion identification part is configured to judge whether the ultrasonic cutter head cuts the target tissue completely; the energy application unit is further configured to: applying a holding voltage and a holding current to the ultrasonic surgical instrument if the ultrasonic blade has cut the target tissue, the holding current being less than the cutting current.
According to an embodiment of the present disclosure, there is provided a surgical device including: a processor; and memory including one or more computer program modules; wherein the one or more computer program modules are stored in the memory and configured to be executed by the processor, the one or more computer program modules comprising instructions for implementing the control method as described above.
According to an embodiment of the present disclosure, there is provided a computer-readable storage medium for storing non-transitory computer-readable instructions which, when executed by a computer, can implement the control method as described above.
Drawings
To more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings of the embodiments will be briefly introduced below, and it is apparent that the drawings in the following description only relate to some embodiments of the present disclosure and do not limit the present disclosure.
Fig. 1 is a flowchart illustrating a method of controlling an ultrasonic surgical instrument according to an embodiment of the present disclosure, wherein steps S101, S102, and S103 are shown;
fig. 2 is a flowchart illustrating a method of controlling an ultrasonic surgical instrument according to an embodiment of the present disclosure, wherein step S201 is shown;
FIG. 3a is a frame schematic of a surgical device according to an embodiment of the present disclosure;
FIG. 3b is a schematic structural diagram of a surgical device according to an embodiment of the present disclosure;
FIG. 4 is another frame schematic of a surgical device according to an embodiment of the present disclosure;
FIG. 5 is a further frame schematic of a surgical device according to an embodiment of the present disclosure; and
fig. 6 is a schematic diagram of a computer-readable storage medium according to an embodiment of the present disclosure.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present disclosure more apparent, the technical solutions of the embodiments of the present disclosure will be described clearly and completely with reference to the drawings of the embodiments of the present disclosure. It is to be understood that the described embodiments are only a few embodiments of the present disclosure, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the disclosure without any inventive step, are within the scope of protection of the disclosure.
Unless defined otherwise, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this disclosure belongs. The use of "first," "second," and similar terms in the description and claims of the present disclosure are not intended to indicate any order, quantity, or importance, but rather are used to distinguish one element from another. The word "comprise" or "comprises", and the like, means that the element or item listed before "comprises" or "comprising" covers the element or item listed after "comprising" or "comprises" and its equivalents, and does not exclude other elements or items. "upper", "lower", "left", "right", and the like are used merely to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships may also be changed accordingly.
Ultrasonic surgical instruments may be used to cut and seal target tissue. The types of target tissues are various (e.g., fat, muscle, various complex tissues in which fat and muscle are combined in different ratios), and if different types of target tissues are cut using a constant cutting voltage and a constant cutting current, an undesirable cutting and sealing effect is obtained for the different target tissues. Therefore, it is necessary to adjust the energy (the product of the cutting current and the cutting voltage) delivered to the ultrasonic surgical instrument according to the target tissue so that the ultrasonic surgical instrument can obtain substantially the same cutting and sealing effects when cutting different target tissues. In the process of cutting and sealing the same target tissue, the state of the target tissue is constantly changed, and if the target tissue with the constantly changed state is cut all the time by using the constant cutting voltage and the constant cutting current, the cutting and sealing effects for different parts of the same target tissue are also uneven. Therefore, it is necessary to adjust the energy (the product of the cutting current and the cutting voltage) delivered to the ultrasonic surgical instrument according to the state change of the target tissue during the cutting process, so that the ultrasonic surgical instrument can obtain substantially the same cutting and sealing effects all the time during the cutting of the same target tissue.
Embodiments of the present disclosure provide a control method of an ultrasonic surgical instrument, a surgical apparatus, and a computer-readable storage medium that can adjust energy transmitted to the ultrasonic surgical instrument based on different types of target tissues so that substantially the same cutting and sealing effects are obtained for the different types of target tissues, and can also adjust energy transmitted to the ultrasonic surgical instrument for different states of the same target tissue so that substantially the same cutting and sealing effects are obtained throughout the cutting and sealing of the same target tissue. The above technical solution according to the embodiments of the present disclosure may be referred to as a tissue adaptive technique, and the technical solution according to the embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings.
Fig. 1 is a flowchart illustrating a control method of an ultrasonic surgical instrument according to an embodiment of the present disclosure, in which steps S101, S102, and S103 are shown. An ultrasonic surgical instrument includes an ultrasonic blade for cutting target tissue. For example, the ultrasonic blade may cut the target tissue while also sealing the target tissue, i.e., sealing while cutting. Referring to fig. 1, a method of controlling an ultrasonic surgical instrument according to an embodiment of the present disclosure includes: s101: before the ultrasonic cutter head cuts the target tissue, applying no-load voltage and no-load current to the ultrasonic surgical instrument, and vibrating the ultrasonic cutter head at a target amplitude under the action of the no-load voltage and the no-load current; s102: acquiring feedback voltage and feedback current of an ultrasonic surgical instrument in the process of cutting a target tissue by an ultrasonic cutter head; and S103: determining a cutting voltage and a cutting current from the feedback voltage and the feedback current and applying the cutting voltage and the cutting current to the ultrasonic surgical instrument such that an amplitude of the ultrasonic blade remains in a range during cutting of the target tissue by the ultrasonic blade as follows: the target amplitude is larger than or equal to 90% and smaller than or equal to 110%.
According to the embodiment of the disclosure, in the process of cutting a target tissue by an ultrasonic scalpel head, the feedback voltage and the feedback current of an ultrasonic surgical instrument are acquired, and the cutting voltage and the cutting current are determined according to the feedback voltage and the feedback current, so that the energy (the product of the cutting voltage and the cutting current) output to the ultrasonic surgical instrument can be adjusted in real time according to the cutting condition; further, according to the embodiments of the present disclosure, the real-time adjustment of the output energy (the product of the cutting voltage and the cutting current) results in maintaining the amplitude of the ultrasonic blade within a range of 90% or more and 110% or less of the target amplitude, that is, maintaining the amplitude of the ultrasonic blade near the target amplitude, so that the ultrasonic blade can cut different target tissues with substantially the same amplitude, and the ultrasonic blade can cut the same target tissue with substantially the same amplitude throughout the cutting process of the same target tissue, thereby effectively ensuring the consistency of the cutting and sealing effects. Thus, according to embodiments of the present disclosure, substantially the same cutting and sealing effect may be obtained for different types of target tissue, and may also be obtained throughout the cutting and sealing of the same target tissue.
For example, according to the embodiments of the present disclosure, on the basis of ensuring the consistency of the cutting and sealing effects of different target tissues and the consistency of the cutting and sealing effects of the same target tissue in the whole cutting and sealing process, the closer the amplitude of the ultrasonic blade head is to the target amplitude in the process of cutting the target tissue by the ultrasonic blade head, the better the cutting and sealing effects are. For example, a cutting voltage and a cutting current are determined from the feedback voltage and the feedback current and applied to the ultrasonic surgical instrument such that the amplitude of the ultrasonic blade remains in the following range during cutting of the target tissue by the ultrasonic blade: the target amplitude is more than or equal to 93 percent and less than or equal to 107 percent; further, the target amplitude is larger than or equal to 95% and smaller than or equal to 105%; further, the target amplitude is more than or equal to 96% and less than or equal to 104%; further, the target amplitude is more than or equal to 97% and less than or equal to 103%; further, the target amplitude is more than or equal to 98% and less than or equal to 102% of the target amplitude; further, the target amplitude is more than or equal to 99% and less than or equal to 101% of the target amplitude; still further, the amplitude of the ultrasonic blade is equal to the target amplitude. Obviously, in the case that the amplitude of the ultrasonic blade is equal to the target amplitude, the optimal cutting and sealing effect can be obtained in addition to the consistency of the cutting and sealing effects of different target tissues and the consistency of the cutting and sealing effects of the same target tissue in the whole cutting and sealing process.
For example, the target amplitude is the amplitude of the ultrasonic surgical instrument at resonance to ensure that good cutting and sealing results are obtained.
For example, a first check may be performed on the ultrasonic surgical instrument before the ultrasonic surgical instrument is shipped, so as to ensure that parameters of the ultrasonic surgical instrument are normal. For example, the ultrasonic surgical instrument may be checked a second time before being unpackaged and ready for use to again ensure that the various parameters of the ultrasonic surgical instrument are normal. For example, the above-described step S101 included in the control method of the ultrasonic surgical instrument according to the embodiment of the present disclosure may be performed in the first verification process, or in the second verification process, or in both the first verification process and the second verification process.
For example, an ultrasonic surgical instrument includes a transducer and a waveguide coupled to the transducer, with the ultrasonic blade being disposed at an end of the waveguide distal from the transducer. For example, by exciting a foot switch or a controlled switch, a host outputs cutting voltage and cutting current to a transducer of an ultrasonic surgical instrument, the transducer generates mechanical vibration based on a piezoelectric effect, meanwhile, the transducer drives a waveguide rod connected with the transducer to perform mechanical vibration, the waveguide rod transmits the mechanical vibration to an ultrasonic tool bit, the ultrasonic tool bit is in contact with target tissue, and water in the target tissue is vaporized, protein hydrogen bonds are broken and denatured, cells are disintegrated due to heat generated by friction between the ultrasonic tool bit and the target tissue in the vibration process of the ultrasonic tool bit, so that the cutting and the sealing of the target tissue are realized.
For example, the feedback voltage and the feedback current acquired in step S102 are different due to a difference in the type of the target tissue or due to a change in the state of the same target tissue, which are parameters associated with the real-time state of the target tissue.
For example, step S102 further includes: judging whether the product of the feedback voltage and the feedback current is less than or equal to the rated power of the ultrasonic surgical instrument; if the product of the feedback voltage and the feedback current is less than or equal to the rated power of the ultrasonic surgical instrument, then step S103 is executed; and if the product of the feedback voltage and the feedback current is larger than the rated power of the ultrasonic surgical instrument, the step S103 is not executed and an alarm is given.
For example, step S103 further includes: judging whether the product of the cutting voltage and the cutting current is less than or equal to the rated power of an ultrasonic surgical instrument or not; if the product of the cutting voltage and the cutting current is less than or equal to the rated power of the ultrasonic surgical instrument, continuing to step S103; and if the product of the cutting voltage and the cutting current is larger than the rated power of the ultrasonic surgical instrument, stopping executing the step S103 and alarming.
It should be noted that, according to the embodiment of the present disclosure, in the process of cutting the target tissue by the ultrasonic surgical instrument, step S102 and step S103 are executed in a loop until the target tissue is cut.
Fig. 2 is a flowchart illustrating a control method of an ultrasonic surgical instrument according to an embodiment of the present disclosure, in which step S201 is shown.
For example, the control method of the ultrasonic surgical instrument according to the embodiment of the present disclosure further includes: judging whether the ultrasonic cutter head cuts the target tissue completely; if the ultrasonic blade has cut the target tissue, a holding voltage and a holding current are applied to the ultrasonic surgical instrument, the holding current being less than the cutting current. According to the embodiment of the disclosure, whether the ultrasonic cutter head cuts the target tissue is monitored in real time, once the ultrasonic cutter head cuts the target tissue, a holding voltage and a holding current are applied to the ultrasonic surgical instrument, and the holding current is smaller than the cutting current; in this way, the energy (the product of the holding voltage and the holding current) applied to the ultrasonic surgical instrument is reduced, and the ultrasonic blade can be prevented from causing lateral thermal damage to the target tissue which is cut and sealed.
As described above, according to the embodiment of the present disclosure, in the process of cutting the target tissue by the ultrasonic blade, step S102 and step S103 are circularly performed until the target tissue is cut. In this case, the holding current being less than the cutting current means: the holding current is less than the cutting current determined and applied to the ultrasonic surgical instrument at the last step S103 before the target tissue is cut; that is, the holding current being less than the cutting current means: the holding current is less than a cutting current that was last applied to the ultrasonic surgical instrument before the target tissue was cut. The cutting current that was last applied to the ultrasonic surgical instrument before the target tissue was cut may also be understood as the cutting current of the ultrasonic surgical instrument at the time the target tissue was cut, and thus keeping the current less than the cutting current may also be understood as: the holding current is less than a cutting current of the ultrasonic surgical instrument when the target tissue is cut.
For example, the holding current is less than or equal to 75% of the cutting current, so that the ultrasonic blade head can be more effectively prevented from causing lateral thermal damage to the target tissue which is cut and sealed.
For example, step S201 is performed before step S103. If the ultrasonic cutter head does not cut the target tissue completely in the step S201, continuing to execute the step S103; if it is determined in step S201 that the ultrasonic blade has cut the target tissue, the step S103 is not performed and the holding voltage and the holding current are directly applied to the ultrasonic surgical instrument.
For example, step S201 is performed after step S102. Step S102 is actually a real-time data collection step, and the implementation of step S201 depends on the data collected in step S102.
For example, determining whether the ultrasonic blade has cut the target tissue includes at least one of the following: mode 1: acquiring impedance of an ultrasonic surgical instrument in the process of cutting a target tissue by the ultrasonic cutter head, and judging whether the target tissue is cut by the ultrasonic cutter head according to the change trend of the impedance along with time; and mode 2: in the process of cutting the target tissue by the ultrasonic cutter head, the resonant frequency of the ultrasonic surgical instrument is obtained, and whether the cutter head cuts the target tissue is judged according to the change trend of the resonant frequency along with time.
For example, the method 1 may be used only to determine whether the ultrasonic blade has cut the target tissue, the method 2 may be used only to determine whether the ultrasonic blade has cut the target tissue, or both the method 1 and the method 2 may be used to determine whether the ultrasonic blade has cut the target tissue.
For example, in the case of mode 1, the impedance is calculated from the feedback voltage and the feedback current that have been acquired. For example, in the case of mode 1, if the trend of the change in impedance with time is: and when the impedance value rises to the first impedance value, then the impedance value falls to the second impedance value, and then the impedance value rises to the third impedance value, the ultrasonic cutter head is determined to finish cutting the target tissue. According to the embodiment of the disclosure, whether the ultrasonic cutter head cuts the target tissue can be judged by obtaining the impedance and recording the change trend of the impedance along with time, and the method is simple, easy and reliable. For example, the third impedance value is less than the first impedance value; according to the condition, the ultrasonic cutter head can be more reliably determined to finish cutting the target tissue. For example, to ensure that mode 1 is performed reliably, step S102 is performed to obtain the feedback voltage and the feedback current once the cutting of the target tissue is started, so that the impedance of the ultrasonic surgical instrument can be obtained once the cutting of the target tissue is started, ensuring that the impedance profile over time can be completely recorded.
For example, in the case of mode 2, the resonant frequency of the ultrasonic surgical instrument is also acquired at the same time as the feedback voltage and the feedback current of the ultrasonic surgical instrument are acquired in step S102. For example, in the case of mode 2, if the trend of the change in the resonance frequency with time is: and reducing the first amplitude in a first time interval, and reducing the second amplitude in a second time interval, wherein the first amplitude is equal to the second amplitude but the first time interval is longer than the second time interval, and determining that the ultrasonic cutter head cuts the target tissue completely. According to the embodiment of the disclosure, whether the ultrasonic scalpel head cuts the target tissue can be judged by acquiring the resonant frequency of the ultrasonic surgical instrument and recording the change trend of the resonant frequency along with time, and the method is simple, easy and reliable. For example, the ratio between the first time interval and the second time interval is greater than or equal to 5: 1; according to the condition, the ultrasonic cutter head can be more reliably determined to finish cutting the target tissue. For example, to ensure that mode 2 is performed reliably, step S102 is performed to acquire the resonant frequency of the ultrasonic surgical instrument once cutting of the target tissue begins, ensuring that a complete recording of the time-dependent variation profile of the resonant frequency is possible.
For example, according to an embodiment of the present disclosure, the resonance frequency is equal to or greater than 53.5 khz and equal to or less than 57.5 khz, and the first amplitude and the second amplitude are 0.1 khz, respectively. If the resonance frequency is less than 53.5 khz or more than 57.5 khz, the acquired resonance frequency is judged to be an abnormal value, and the abnormal resonance frequency will not be recorded in the trend graph of the resonance frequency with time. In this way, it can be determined more reliably in the mode 2 that the ultrasonic blade has cut the target tissue.
With continued reference to fig. 1, in step S102, for example, obtaining a feedback voltage and a feedback current of the ultrasonic surgical instrument includes: sequentially collecting n groups of original feedback data, wherein each group of original feedback data comprises original feedback voltage and original feedback current, and n is more than or equal to 2; and processing n sets of raw feedback data, wherein processing n sets of raw feedback data comprises: an average value of the raw feedback voltages included in the n sets of raw feedback data is calculated as the feedback voltage as described above, and an average value of the raw feedback currents included in the n sets of raw feedback data is calculated as the feedback current as described above. By the averaging method, the accuracy of the obtained feedback voltage and feedback current can be improved, so that when the cutting current and the cutting voltage are determined based on the feedback voltage and the feedback current, the proper cutting voltage and cutting current can be determined, and the excellent cutting effect and the consistency of the cutting effect are ensured.
For example, as described above, the resonant frequency of the ultrasonic surgical instrument is also acquired at the same time as the feedback voltage and the feedback current of the ultrasonic surgical instrument are acquired in step S102. In this case, in step S102, acquiring a feedback voltage, a feedback current and a resonant frequency of the ultrasonic surgical instrument includes: sequentially collecting n groups of original feedback data, wherein each group of original feedback data comprises original feedback voltage, original feedback current and original resonance frequency, and n is more than or equal to 2; and processing n sets of raw feedback data, wherein processing n sets of raw feedback data comprises: the average value of the raw feedback voltages included in the n sets of raw feedback data is calculated as the feedback voltage as described above, the average value of the raw feedback currents included in the n sets of raw feedback data is calculated as the feedback current as described above, and the average value of the raw resonance frequencies included in the n sets of raw feedback data is calculated as the resonance frequency as described above.
Further, for example, sequentially acquiring n sets of raw feedback data includes: collecting an ith group of original feedback data, wherein the ith group of original feedback data comprises an ith original feedback voltage and an ith original feedback current, and i is more than or equal to 1; judging whether the ith group of original feedback data is normal or not, including: respectively judging whether the ith original feedback voltage and the ith original feedback current are within a preset range; if any one of the ith original feedback voltage and the ith original feedback current is not in the preset range, the ith group of original feedback data is not included in the n groups of original feedback data; if any one of the ith original feedback voltage and the ith original feedback current is within a preset range, the ith group of original feedback data is included in the n groups of original feedback data.
For example, as described above, the resonant frequency of the ultrasonic surgical instrument is also acquired at the same time as the feedback voltage and the feedback current of the ultrasonic surgical instrument are acquired in step S102. In this case, sequentially acquiring n sets of raw feedback data includes: collecting an ith group of original feedback data, wherein the ith group of original feedback data comprises an ith original feedback voltage, an ith original feedback current and an ith original resonance frequency, and i is more than or equal to 1; judging whether the ith group of original feedback data is normal or not, including: respectively judging whether the ith original feedback voltage, the ith original feedback current and the ith original resonant frequency are within a preset range; if any one of the ith original feedback voltage, the ith original feedback current and the ith original resonant frequency is not in the preset range, the ith group of original feedback data is not included in the n groups of original feedback data; if any one of the ith original feedback voltage, the ith original feedback current and the ith original resonant frequency is within a preset range, the ith group of original feedback data is included in the n groups of original feedback data. For example, the preset range of the original feedback voltage is: the original feedback voltage is less than or equal to 150V and is less than or equal to 10V; the preset range of the original feedback current is as follows: the original feedback current is less than or equal to 500mA and is less than or equal to 100 mA; the preset range of the original resonant frequency is as follows: the original resonance frequency is less than or equal to 53.5 KHz and less than or equal to 57.5 KHz.
Based on the steps of acquiring and processing the original feedback data, the obtained feedback data can really and effectively reflect the real-time condition of the ultrasonic surgical instrument, so that the proper cutting voltage and cutting current can be determined, and the excellent cutting effect and the consistency of the cutting effect can be ensured.
For example, according to an embodiment of the present disclosure, determining a cutting voltage and a cutting current from a feedback voltage and a feedback current includes: if the feedback current is smaller than the no-load current, the cutting voltage is increased to increase the cutting current; the feedback current is greater than the idle current, and the cutting voltage is reduced to reduce the cutting current. That is, in the embodiment according to the present disclosure, by adjusting the cutting voltage to adjust the cutting current such that the cutting current tends to the idle current, the amplitude of the ultrasonic blade approaches the target amplitude the closer the cutting current approaches the idle current, so that the amplitude of the ultrasonic blade is maintained in the following range during the ultrasonic blade cuts the target tissue: the target amplitude is larger than or equal to 90% and smaller than or equal to 110%. By comparing the magnitude of the feedback current with the magnitude of the idle current, it can be determined whether to increase or decrease the cutting current, so that the control method of the ultrasonic surgical instrument according to the embodiment of the present disclosure is simple and easy to implement. For example, the magnitude of the feedback current and the no-load current are compared, and the cutting voltage is proportionally adjusted according to the difference between the feedback current and the no-load current to adjust the cutting current; specifically, the larger the difference between the feedback current and the no-load current is, the larger the adjustment amplitude of the cutting voltage is, and thus the larger the variation amplitude of the cutting current is; the smaller the difference between the feedback current and the idle current, the smaller the adjustment amplitude of the cutting voltage and thus the smaller the variation amplitude of the cutting current.
For example, the no-load current, the feedback current, and the cutting current are all active currents; the control method of the ultrasonic surgical instrument according to the embodiment of the present disclosure further includes: in the process of cutting a target tissue by the ultrasonic scalpel head, acquiring feedback voltage, feedback current, phase difference between the feedback voltage and the feedback current and capacitive reactance of an ultrasonic surgical instrument; and determining the cutting voltage and the cutting current according to the feedback voltage, the feedback current, the phase difference and the capacitive reactance. For example, determining the cutting voltage and cutting current based on the feedback voltage, feedback current, phase difference, and capacitive reactance includes: determining a reactive feedback current corresponding to the feedback current from the feedback voltage: reactive feedback current = feedback voltage/capacitive reactance; determining the cutting current according to the reactive feedback current: cutting current = reactive feedback current/(1-power factor), wherein power factor = cos phase difference; and determining a cutting voltage matching the cutting current. For example, the cutting voltage matching the cutting current may be determined by looking up a pre-stored correspondence table. Therefore, the cutting voltage and the cutting current can be determined more accurately and quantitatively, and the consistency of the cutting and sealing effects is better ensured.
For example, the phase difference is 0 or more oAnd is less than or equal to 72o. If the phase difference is not within the above range, the acquired phase difference is judged to be an abnormal value, and the abnormal phase difference will not be used to determine the cutting current and the cutting voltage. In this way, the cutting current and cutting voltage applied to the ultrasonic surgical instrument may be more reliably determined.
For example, the capacitive reactance Xc may be calculated according to the following equation (1):
wherein w is the angular frequency, C is the electrostatic capacitance of the ultrasonic surgical instrument, and j is the sign of the imaginary number in the complex number. For example, w =2 π f, f is the resonant frequency as described above.
There is also provided, in accordance with an embodiment of the present disclosure, a surgical device. FIG. 3a is a frame schematic of a surgical device according to an embodiment of the present disclosure; fig. 3b is a schematic structural diagram of a surgical device according to an embodiment of the present disclosure. Referring to fig. 3a and 3b, a surgical device according to an embodiment of the present disclosure includes a host and an ultrasonic surgical instrument connected to the host, the host including an energy application unit and a data acquisition unit, wherein the energy application unit is configured to: before the ultrasonic cutter head cuts the target tissue, applying no-load voltage and no-load current to the ultrasonic surgical instrument, and vibrating the ultrasonic cutter head at a target amplitude under the action of the no-load voltage and the no-load current; the data acquisition unit is configured to: acquiring feedback voltage and feedback current of an ultrasonic surgical instrument in the process of cutting a target tissue by an ultrasonic cutter head; and the energy application unit is further configured to: determining a cutting voltage and a cutting current from the feedback voltage and the feedback current and applying the cutting voltage and the cutting current to the ultrasonic surgical instrument such that an amplitude of the ultrasonic blade remains in a range during cutting of the target tissue by the ultrasonic blade as follows: the target amplitude is larger than or equal to 90% and smaller than or equal to 110%. The working principle and technical effect of the surgical device according to the embodiment of the present disclosure may refer to the control method of the ultrasonic surgical instrument according to the embodiment of the present disclosure as described above, and are not described herein again.
With continued reference to fig. 3a and 3b, a surgical device according to an embodiment of the present disclosure further includes: a target tissue cutting completion identification part configured to judge whether the ultrasonic cutter head completes cutting of the target tissue; the energy application unit is further configured to: if the ultrasonic blade has cut the target tissue, a holding voltage and a holding current are applied to the ultrasonic surgical instrument, the holding current being less than the cutting current. In this way, the ultrasonic cutter head can be prevented from causing lateral thermal damage to the cut and sealed target tissue.
There is also provided, in accordance with an embodiment of the present disclosure, a surgical device. Fig. 4 is another frame schematic of a surgical device according to an embodiment of the present disclosure. Referring to fig. 4, a surgical device 100 according to an embodiment of the present disclosure includes: a processor 110; and memory 120 including one or more computer program modules; wherein one or more computer program modules are stored in the memory 120 and configured to be executed by the processor 110, the one or more computer program modules comprising instructions for implementing the control method of the ultrasonic surgical instrument as described above. The working principle and technical effect of the surgical device according to the embodiment of the present disclosure may refer to the control method of the ultrasonic surgical instrument according to the embodiment of the present disclosure as described above, and are not described herein again.
For example, memory 120 is used to store non-transitory computer-readable instructions (e.g., one or more computer program modules). The processor 110 is configured to execute non-transitory computer readable instructions, which when executed by the processor 110 may perform one or more of the steps of the method of controlling an ultrasonic surgical instrument described above. The memory 120 and the processor 110 may be interconnected by a bus system and/or other form of connection mechanism (not shown).
For example, the processor 110 may be a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), or other form of processing unit having data processing capabilities and/or program execution capabilities. For example, the Central Processing Unit (CPU) may be an X86 or ARM architecture or the like. Processor 110 may be a general purpose processor or a special purpose processor that may control other components in surgical device 100 to perform desired functions.
For example, memory 120 may include any combination of one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and/or non-volatile memory. Volatile memory can include, for example, Random Access Memory (RAM), cache memory (or the like). The non-volatile memory may include, for example, Read Only Memory (ROM), a hard disk, an Erasable Programmable Read Only Memory (EPROM), a portable compact disc read only memory (CD-ROM), USB memory, flash memory, and the like. One or more computer program modules may be stored on the computer-readable storage medium and executed by the processor 110 to implement the various functions of the surgical device 100. Various applications and various data, as well as various data used and/or generated by the applications, and the like, may also be stored in the computer-readable storage medium.
Fig. 5 is a schematic diagram of yet another frame of a surgical device according to an embodiment of the present disclosure. The surgical device 400 is, for example, suitable for use in implementing the control methods for ultrasonic surgical instruments provided by embodiments of the present disclosure. The surgical device 400 may be a terminal device or the like. It should be noted that the surgical device 400 illustrated in fig. 5 is merely an example, and does not impose any limitations on the functionality or scope of use of embodiments of the present disclosure.
As shown in fig. 5, surgical device 400 may include a processing device (e.g., central processing unit, graphics processor, etc.) 410, which may perform various appropriate actions and processes in accordance with a program stored in a Read Only Memory (ROM) 420 or a program loaded from a storage device 480 into a Random Access Memory (RAM) 430. In the RAM 430, various programs and data necessary for the operation of the surgical device 400 are also stored. The processing device 410, the ROM 420, and the RAM 430 are connected to each other by a bus 440. An input/output (I/O) interface 450 is also connected to bus 440.
Generally, the following devices may be connected to the I/O interface 450: input devices 460 including, for example, a touch screen, touch pad, keyboard, mouse, camera, microphone, accelerometer, gyroscope, etc.; output devices 470 including, for example, a Liquid Crystal Display (LCD), speakers, vibrators, or the like; storage 480 including, for example, magnetic tape, hard disk, etc.; and a communication device 490. The communication device 490 may allow the surgical device 400 to communicate wirelessly or wiredly with other devices to exchange data. While fig. 5 illustrates the surgical device 400 having various means, it is to be understood that not all of the illustrated means are required to be implemented or provided, and that the surgical device 400 may alternatively be implemented or provided with more or fewer means.
For example, the control method of the ultrasonic surgical instrument described above may be implemented as a computer software program according to an embodiment of the present disclosure. For example, embodiments of the present disclosure include a computer program product comprising a computer program carried on a non-transitory computer readable medium, the computer program comprising program code for performing the above-described method of controlling an ultrasonic surgical instrument. In such embodiments, the computer program may be downloaded and installed from a network through communication device 490, or installed from storage device 480, or installed from ROM 420. When executed by the processing device 410, the computer program may implement the functions defined in the control method of the ultrasonic surgical instrument provided by the embodiments of the present disclosure.
There is also provided, in accordance with an embodiment of the present disclosure, a computer-readable storage medium. Fig. 6 is a schematic diagram of a computer-readable storage medium according to an embodiment of the present disclosure. Referring to fig. 6, an embodiment of the present disclosure provides a computer-readable storage medium 200 for storing non-transitory computer-readable instructions 210, where the non-transitory computer-readable instructions 210 are executed by a computer to implement the above-mentioned control method of an ultrasonic surgical instrument. The working principle and technical effects of the computer-readable storage medium 200 can refer to the control method of the ultrasonic surgical instrument as described above, and are not described herein again.
For example, the storage medium 200 may be applied to the surgical device 100 described above. For example, the storage medium 200 may be the memory 120 in the surgical device 100 shown in fig. 4.
For example, the storage medium 200 may include a memory card of a smart phone, a storage component of a tablet computer, a hard disk of a personal computer, a Random Access Memory (RAM), a Read Only Memory (ROM), an Erasable Programmable Read Only Memory (EPROM), a portable compact disc read only memory (CD-ROM), a flash memory, or any combination of the above, as well as other suitable storage media.
The above description is intended to be exemplary of the present disclosure, and not to limit the scope of the present disclosure, which is defined by the claims.
Claims (21)
1. A method of controlling an ultrasonic surgical instrument, the ultrasonic surgical instrument including an ultrasonic blade configured to cut a target tissue, wherein the method comprises:
applying a no-load voltage and a no-load current to the ultrasonic surgical instrument before the ultrasonic blade cuts the target tissue, the ultrasonic blade vibrating at a target amplitude under the action of the no-load voltage and the no-load current;
acquiring feedback voltage and feedback current of the ultrasonic surgical instrument in the process that the ultrasonic cutter head cuts the target tissue; and
determining a cutting voltage and a cutting current from the feedback voltage and the feedback current and applying the cutting voltage and the cutting current to the ultrasonic surgical instrument such that an amplitude of the ultrasonic blade remains in a range during cutting of the target tissue by the ultrasonic blade as follows: the target amplitude is larger than or equal to 90% and smaller than or equal to 110%.
2. The control method according to claim 1, characterized in that the method further comprises:
judging whether the ultrasonic cutter head cuts the target tissue completely;
applying a holding voltage and a holding current to the ultrasonic surgical instrument if the ultrasonic blade has cut the target tissue, the holding current being less than the cutting current.
3. The control method according to claim 2,
the holding current is 75% or less of the cutting current.
4. The control method of claim 2, wherein the determining whether the ultrasonic blade has cut the target tissue comprises at least one of:
mode 1: acquiring impedance of the ultrasonic surgical instrument in the process that the ultrasonic cutter head cuts the target tissue, and judging whether the ultrasonic cutter head cuts the target tissue completely according to the change trend of the impedance along with time; and
mode 2: and in the process of cutting the target tissue by the ultrasonic cutter head, acquiring the resonant frequency of the ultrasonic surgical instrument, and judging whether the cutter head finishes cutting the target tissue according to the change trend of the resonant frequency along with time.
5. The control method according to claim 4,
in the case of mode 1, if the trend of the change in the impedance with time is: and if the impedance value is increased to the first impedance value, then the impedance value is decreased to the second impedance value, and then the impedance value is increased to the third impedance value, the ultrasonic cutter head is determined to finish cutting the target tissue.
6. The control method according to claim 5, characterized in that the third impedance value is smaller than the first impedance value.
7. The control method according to claim 4,
in the case of mode 2, if the trend of the change in the resonance frequency with time is: and reducing the first amplitude within a first time interval, and then reducing the second amplitude within a second time interval, wherein the first amplitude is equal to the second amplitude but the first time interval is longer than the second time interval, and then determining that the ultrasonic cutter head cuts the target tissue.
8. The control method according to claim 7, characterized in that a ratio between the first time interval and the second time interval is equal to or greater than 5: 1.
9. The control method according to claim 7, wherein the resonance frequency is equal to or greater than 53.5 kilohertz and equal to or less than 57.5 kilohertz, and the first amplitude and the second amplitude are each 0.1 kilohertz.
10. The control method according to claim 1,
the acquiring of the feedback voltage and the feedback current of the ultrasonic surgical instrument comprises:
sequentially collecting n groups of original feedback data, wherein each group of original feedback data comprises original feedback voltage and original feedback current, and n is more than or equal to 2; and is
Processing the n sets of raw feedback data, wherein processing the n sets of raw feedback data comprises: and calculating an average value of original feedback voltages included in the n groups of original feedback data to serve as the feedback voltage, and calculating an average value of original feedback currents included in the n groups of original feedback data to serve as the feedback current.
11. The control method of claim 9, wherein the sequentially collecting n sets of raw feedback data comprises:
collecting an ith group of original feedback data, wherein the ith group of original feedback data comprises an ith original feedback voltage and an ith original feedback current, and i is more than or equal to 1;
judging whether the ith group of original feedback data is normal or not, including: respectively judging whether the ith original feedback voltage and the ith original feedback current are within a preset range;
if any one of the ith original feedback voltage and the ith original feedback current is not in a preset range, the ith group of original feedback data is not included in the n groups of original feedback data;
and if any one of the ith original feedback voltage and the ith original feedback current is within a preset range, the ith group of original feedback data is included in the n groups of original feedback data.
12. The control method according to claim 11,
the preset range of the original feedback voltage is as follows: the original feedback voltage is less than or equal to 150V and is less than or equal to 10V; and is
The preset range of the original feedback current is as follows: the original feedback current is less than or equal to 100mA and less than or equal to 500 mA.
13. The control method according to any one of claims 1 to 12, wherein the determining a cutting voltage and a cutting current from the feedback voltage and the feedback current comprises:
increasing the cutting voltage to increase the cutting current if the feedback current is less than the idle current;
the feedback current is greater than the idle current, the cutting voltage is decreased to decrease the cutting current.
14. The control method according to any one of claims 1 to 12,
the no-load current, the feedback current and the cutting current are active currents;
the method comprises the following steps:
acquiring the feedback voltage, the feedback current, a phase difference between the feedback voltage and the feedback current, and a capacitive reactance of the ultrasonic surgical instrument during the process that the ultrasonic cutter head cuts the target tissue; and is
Determining the cutting voltage and the cutting current according to the feedback voltage, the feedback current, the phase difference and the capacitive reactance.
15. The control method according to claim 14,
said determining said cutting voltage and said cutting current from said feedback voltage, said feedback current, said phase difference, and said capacitive reactance, comprising:
determining a reactive feedback current corresponding to the feedback current from the feedback voltage: reactive feedback current = feedback voltage/capacitive reactance;
determining the cutting current according to the reactive feedback current: cutting current = reactive feedback current/(1-power factor), wherein power factor = cos phase difference; and
determining the cutting voltage matching the cutting current.
16. The control method according to claim 14, wherein the phase difference is 0 or more oAnd is less than or equal to 72o。
17. The control method according to any one of claims 2 to 12,
and in the process that the ultrasonic cutter head cuts the target tissue, the step of acquiring the feedback voltage and the feedback current of the ultrasonic surgical instrument and the step of determining the cutting voltage and the cutting current according to the feedback voltage and the feedback current are carried out circularly until the target tissue is cut.
18. Surgical equipment, which is characterized by comprising a host and an ultrasonic surgical instrument connected with the host, wherein the host comprises an energy applying unit and a data acquiring unit,
the energy application unit is configured to: applying a no-load voltage and a no-load current to the ultrasonic surgical instrument before the ultrasonic blade cuts the target tissue, the ultrasonic blade vibrating at a target amplitude under the action of the no-load voltage and the no-load current;
the data acquisition unit is configured to: acquiring feedback voltage and feedback current of the ultrasonic surgical instrument in the process that the ultrasonic cutter head cuts the target tissue; and is
The energy application unit is further configured to: determining a cutting voltage and a cutting current from the feedback voltage and the feedback current and applying the cutting voltage and the cutting current to the ultrasonic surgical instrument such that an amplitude of the ultrasonic blade remains in a range during cutting of the target tissue by the ultrasonic blade as follows: the target amplitude is larger than or equal to 90% and smaller than or equal to 110%.
19. The surgical apparatus of claim 18, further comprising: a target tissue cutting-completed identification portion, wherein,
the target tissue cutting completion identification part is configured to judge whether the ultrasonic cutter head cuts the target tissue completely;
the energy application unit is further configured to: applying a holding voltage and a holding current to the ultrasonic surgical instrument if the ultrasonic blade has cut the target tissue, the holding current being less than the cutting current.
20. A surgical apparatus, characterized in that the surgical apparatus comprises:
a processor; and
a memory including one or more computer program modules;
wherein the one or more computer program modules are stored in the memory and configured to be executed by the processor, the one or more computer program modules comprising instructions for implementing the control method of any one of claims 1-17.
21. A computer-readable storage medium for storing non-transitory computer-readable instructions which, when executed by a computer, implement the control method of any one of claims 1-17.
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| CN202211563454.0A CN115844498A (en) | 2022-04-19 | 2022-04-19 | Control method of ultrasonic surgical instrument, surgical device and readable storage medium |
| CN202210406874.1A CN114469270B (en) | 2022-04-19 | 2022-04-19 | Control method of ultrasonic surgical instrument, surgical device and readable storage medium |
| PCT/CN2023/088423 WO2023202488A1 (en) | 2022-04-19 | 2023-04-14 | Control method for ultrasonic surgical instrument, surgical device, and readable storage medium |
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| WO2023202488A1 (en) | 2023-10-26 |
| CN114469270B (en) | 2022-12-30 |
| CN115844498A (en) | 2023-03-28 |
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