CN116327324B - Ultrasonic scalpel system and scalpel - Google Patents
Ultrasonic scalpel system and scalpel Download PDFInfo
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- CN116327324B CN116327324B CN202310605012.6A CN202310605012A CN116327324B CN 116327324 B CN116327324 B CN 116327324B CN 202310605012 A CN202310605012 A CN 202310605012A CN 116327324 B CN116327324 B CN 116327324B
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- 238000005520 cutting process Methods 0.000 claims abstract description 392
- 210000000988 bone and bone Anatomy 0.000 claims abstract description 121
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- 230000037182 bone density Effects 0.000 claims description 54
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- 230000000399 orthopedic effect Effects 0.000 abstract description 7
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- 238000001356 surgical procedure Methods 0.000 description 3
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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
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
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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
- A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
- A61B17/1613—Component parts
- A61B17/1626—Control means; Display units
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
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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
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/101—Computer-aided simulation of surgical operations
- A61B2034/102—Modelling of surgical devices, implants or prosthesis
- A61B2034/104—Modelling the effect of the tool, e.g. the effect of an implanted prosthesis or for predicting the effect of ablation or burring
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The invention relates to the technical field of surgical knives, in particular to an ultrasonic surgical knife system and a surgical knife, wherein the system comprises: the tool bit assembly, handle and host computer are provided with well accuse module and power supply in the host computer, well accuse module with the power supply with the handle links to each other, and well accuse module can divide into different cutting periods with the cutting process of treating the cutting skeleton according to the three-dimensional model of treating the cutting skeleton to confirm the power of different cutting period power supply, can adjust the power of later cutting period according to the cutting duration of cutting period that accomplishes. According to the invention, various data of the cut bone are determined by three-dimensional scanning of the bone to be cut, and the transmission power of the power source is determined according to the related data, so that the states of all components in the cutting process are adjusted autonomously, the power in the later cutting period can be adjusted according to the cutting duration in the completed cutting period, the human intervention in the cutting process is reduced, and the cutting stability and safety in the orthopedic operation process are enhanced.
Description
Technical Field
The invention relates to the technical field of surgical knives, in particular to an ultrasonic surgical knife system and a surgical knife.
Background
With the rapid development of modern medicine, various types of surgical devices have been introduced to the market as commercial products, such as scalpels for surgery, such as high-frequency electric scalpels, laser scalpels, and microwave scalpels. These high-tech scalpels have been used to replace conventional scalpels in the removal of diseased tissue from the body and for clinical surgical procedures.
The conventional ultrasonic bone surgery system mainly comprises a main machine, an ultrasonic handle, an ultrasonic cutter and a foot switch. The host mainly comprises an ultrasonic signal generator, a power amplifier and an embedded computer. The low-power ultrasonic electric signal generated by the ultrasonic signal generator can drive the transducer in the handle to work after being amplified by the power amplifier.
Chinese patent publication No.: CN205795773U discloses an ultrasonic orthopedic fine surgical knife, comprising an ultrasonic knife for transmitting ultrasonic vibration; the ultrasonic handle is a composite ultrasonic vibration handle with a swinging structure, is connected with the ultrasonic cutter, and converts ultrasonic frequency electric signals into mechanical vibration to drive the ultrasonic cutter to work; the main machine is used for sending out ultrasonic frequency signals to drive the ultrasonic handle to work and also has the function of detecting whether the ultrasonic cutter bar generates cracks or not; the foot switch is internally provided with a pressure sensor for monitoring the pressure born by the foot, and the frequency of ultrasonic output is controlled by the pressure detected by the pressure sensor.
Current ultrasonic surgical knife for orthopaedics generally needs to adjust working state according to user experience in use, and manual intervention of operation has excessive influence.
Disclosure of Invention
Therefore, the invention provides an ultrasonic surgical knife system and a surgical knife, which are used for solving the problem that the current orthopedic ultrasonic surgical knife in the prior art generally needs to adjust the working state according to the experience of a user in the use process and the influence of manual intervention of the surgical knife is overlarge.
To achieve the above object, the present invention provides an ultrasonic surgical blade system comprising,
the tool bit assembly is used for cutting bones;
the handle can be connected with the tool bit assembly, and an ultrasonic transducer capable of converting electric power into ultrasonic kinetic energy is arranged in the handle;
the device comprises a main machine, wherein a central control module and a power source are arranged in the main machine, the central control module is connected with the power source and the handle, the central control module can divide the cutting process of a bone to be cut into different cutting periods according to a three-dimensional model of the bone to be cut, determine the power of the power source in different cutting periods, simulate the cutting of the three-dimensional model of the bone to be cut in the main machine according to the determined power, judge whether to primarily adjust the power of the power source in different cutting periods, adjust the power of the later cutting period according to the cutting duration of the completed cutting period in actual cutting, and acquire the bone density of the bone to be cut in the dividing process of the cutting period, and adjust the dividing standard according to the bone density.
Further, a three-dimensional model of a bone to be cut is arranged in the host, the central control module determines working modes of the power source in different cutting periods according to the three-dimensional model of the bone, and for the cutting periods, under a first cutting condition, the central control module comprises:
the initial stage of cutting, which is the first time period when the ultrasonic surgical knife is just contacted with the bone;
a later cutting period which is a second time period of a cutting period in which the ultrasonic surgical blade is about to cut through bone;
the central control module divides the cutting period according to the thickness of the cutting area of the bone to be cut, divides the front A1% of the thickness into the initial cutting period according to the thickness of the cutting area, and divides the rest part into the later cutting period.
Further, the central control module is under a second cutting condition, and the cutting period further comprises:
a mid-cut period, which is a third time period between a termination time point of the first time period and an initial time point of the second time period, wherein,
the central control module is provided with a cutting period dividing evaluation value;
if the thickness of the cutting area is smaller than or equal to the cutting period dividing evaluation value, dividing the front A2% of the thickness into the initial cutting stage according to the thickness of the cutting area, dividing the rear A3% of the thickness into the later cutting stage, and dividing the middle part into the middle cutting stage;
if the thickness of the cutting area is larger than the cutting period dividing evaluation value, the cutting thickness at the initial stage of cutting is set to be B1, the cutting thickness at the later stage of cutting is set to be B2, and the middle part is set to be the middle stage of cutting.
Furthermore, the central control module is internally provided with a cutting period number dividing evaluation value,
if the thickness of the bone to be cut is greater than the number of cutting periods, dividing the cutting periods by selecting a second cutting condition by the central control module;
and if the thickness of the bone to be cut is smaller than or equal to the number of the cutting periods, the central control module selects a first cutting condition and divides the cutting periods.
Further, the number of the evaluation values of the cutting period and the number of the evaluation values of the cutting period are respectively related to the bone density, and the larger the bone density is, the smaller the corresponding evaluation value is.
Further, the central control module judges whether to adjust each initial power according to the bone density of the bone to be cut, and adjusts each initial power if the bone density of the bone to be cut is not between the bone density intervals, wherein,
if the bone density of the bone to be cut is smaller than the bone density interval, reducing each initial power;
if the bone density of the bone to be cut is greater than the bone density interval, increasing each initial power;
the central control module takes all initial powers which do not need to be regulated or all powers regulated according to bone density as ideal cutting powers of the surgical knife in all cutting periods;
the central control module is internally provided with initial power of a power source in an initial cutting stage, initial power of a power source in a middle cutting stage and initial power of a power source in a later cutting stage.
Further, the central control module determines the ideal cutting time length required by each cutting period according to the determined cutting period and the determined ideal cutting power of the surgical knife in each cutting period and the bone density,
the central control module performs simulated cutting on the three-dimensional model of the bone to be cut, and records simulated cutting time for cutting each cutting period in the simulated cutting process;
the central control module compares each simulated cutting time length with each ideal cutting time length and judges whether the ideal cutting power of the surgical knife in each cutting time period is adjusted.
Further, under the first cutting condition, the central control module determines the actual cutting power and the preset cutting time length of each cutting period according to the cutting result of the simulated cutting of the three-dimensional model of the bone to be cut, and in the process of cutting the actual bone,
and the central control module compares the actual time length of finishing the initial cutting period with the preset cutting time length to determine whether to adjust the power of the power source in the later cutting period.
Further, under the second cutting condition, the central control module determines the actual cutting power and the preset cutting time length of each cutting period according to the cutting result of the simulated cutting of the three-dimensional model of the bone to be cut, and in the process of cutting the actual bone,
the central control module compares the actual time length of the cutting initial stage with the theoretical cutting time length to determine whether to adjust the power of the power source in the cutting middle stage; the central control module compares the actual time length of finishing the cutting in the middle period with the theoretical cutting time length to determine whether to adjust the power of the power source in the later period of cutting.
The invention also provides an ultrasonic surgical knife which is applied to the ultrasonic surgical knife system and comprises an inner tube, an outer tube and a knife bar, wherein a knife head for cutting is arranged on the knife bar.
Compared with the prior art, the method has the advantages that various data of the cut bone are determined by three-dimensional scanning of the bone to be cut, the transmission power of the power source is determined according to the related data, so that the states of all components in the cutting process are adjusted autonomously, simulated cutting is performed according to the three-dimensional model, the cutting power is adjusted, the stability and safety of cutting in the orthopedic operation process are enhanced, meanwhile, the power in the later cutting period can be adjusted according to the cutting duration of the completed cutting period, the manual intervention in the cutting process is reduced, and the stability and safety of cutting in the orthopedic operation process are enhanced.
Further, by dividing the cutting period, the bone to be cut needs to be opened and broken in the early stage of cutting, the bone needs to be cut rapidly according to a set angle in the middle stage of cutting, and substances wrapped in the bone need to be prevented from being damaged in the later stage of cutting, so that cutting with different frequencies is performed in different periods, and the cutting speed is ensured while the cutting quality is ensured.
Further, by dividing the cutting period, the bone to be cut needs to be opened and broken in the early stage of cutting, the bone needs to be cut rapidly according to a set angle in the middle stage of cutting, and substances wrapped in the bone need to be prevented from being damaged in the later stage of cutting, so that cutting with different frequencies is performed in different periods, and the cutting speed is ensured while the cutting quality is ensured.
Furthermore, for bones with different thicknesses to be cut, the existing stage division of the bones to be cut is determined according to the actual situation, so that the bones are cut more specifically.
Further, for a bone to be cut with only two cutting periods and a relatively thinner bone to be cut with three cutting periods, cutting areas are divided according to a certain proportion, and specific cutting area division values are set for a relatively thicker bone to be cut with three cutting periods, so that the bone cutting is more targeted.
Further, for the bone to be cut, the greater the bone density is, the better the bone quality is, the harder the bone is, and the bone with small bone density is cut easily in the bone cutting process, so that the number of the bone with small bone density is provided with the number of the dividing evaluation values in the cutting period and the number of the dividing evaluation values in the cutting period, the reasonable region division can be performed when the bone with small bone density is cut, the cutting is prevented from being too fast, and the damage to substances wrapped in the bone is avoided.
Further, whether to adjust each initial frequency is judged according to the size of the bone mineral density, the cutting frequency is properly reduced for smaller bone mineral density, damage is prevented from being caused by too fast cutting, the cutting frequency is properly accelerated for larger bone mineral density, the cutting speed is ensured, and the bone cutting is more targeted.
Further, in the actual cutting process, by comparing the cutting time length of each cutting time period with the theoretical cutting time length, feedback checking is performed to determine whether the current cutting frequency is reasonable, and for the proper reduction of the later cutting frequency smaller than the cutting time length, the cutting is prevented from being too fast, and for the proper increase of the later cutting frequency larger than the cutting time length, the cutting speed is ensured, so that the bone cutting is more targeted.
Drawings
FIG. 1 is a schematic view of the ultrasonic surgical blade system of the present invention;
fig. 2 is a schematic structural view of the ultrasonic surgical blade according to the present invention.
Detailed Description
In order that the objects and advantages of the invention will become more apparent, the invention will be further described with reference to the following examples; it should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are merely for explaining the technical principles of the present invention, and are not intended to limit the scope of the present invention.
It should be noted that, in the description of the present invention, terms such as "upper," "lower," "left," "right," "inner," "outer," and the like indicate directions or positional relationships based on the directions or positional relationships shown in the drawings, which are merely for convenience of description, and do not indicate or imply that the apparatus or elements must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.
Furthermore, it should be noted that, in the description of the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those skilled in the art according to the specific circumstances.
Referring to fig. 1-2, fig. 1 is a schematic structural diagram of an ultrasonic surgical blade system according to the present invention; fig. 2 is a schematic structural view of the ultrasonic surgical blade according to the present invention.
The invention provides an ultrasonic surgical blade system, comprising,
a tool bit assembly 1 for cutting bone;
a handle 2 connectable to the cutter head assembly, the handle having an ultrasonic transducer disposed therein capable of converting electrical power into ultrasonic energy;
the main machine 3 is provided with a central control module and a power source therein, the central control module is connected with the power source and the handle, the central control module can divide the cutting process of the bone to be cut into different cutting periods according to the three-dimensional model of the bone to be cut, determine the power of the power source in different cutting periods, simulate the cutting of the three-dimensional model of the bone to be cut in the main machine according to the determined power, judge whether to primarily adjust the power of the power source in different cutting periods, adjust the power of the later cutting period according to the cutting time length of the completed cutting period in actual cutting, and acquire the bone density of the bone to be cut in the dividing process of the cutting period, and adjust the dividing standard according to the bone density.
According to the invention, various data of the cut bone are determined by three-dimensional scanning of the bone to be cut, and the transmission power of the power source is determined according to the related data, so that the states of all components in the cutting process are regulated independently, simulated cutting is performed according to the three-dimensional model, the cutting power is regulated, the stability and safety of the cut in the orthopedic operation process are enhanced, meanwhile, the power in the later cutting period can be regulated according to the cutting time of the completed cutting period, the manual intervention in the cutting process is reduced, and the stability and safety of the cut in the orthopedic operation process are enhanced.
Specifically, a three-dimensional model of a bone to be cut is arranged in the host, the central control module determines working modes of the power source in different cutting periods according to the three-dimensional model of the bone, and for the cutting periods, under a first cutting condition, the central control module comprises:
the initial stage of cutting, which is the first time period when the ultrasonic surgical knife is just contacted with the bone;
a later cutting period which is a second time period of a cutting period in which the ultrasonic surgical blade is about to cut through bone;
or, under a second cutting condition, the cutting period further comprises:
mid-cut, which is a third time period between the ending time point of the first time period and the initial time point of the second time period.
By dividing the cutting period, the bone to be cut needs to be opened and broken at the initial stage of cutting, the bone needs to be rapidly cut according to a set angle at the middle stage of cutting, and substances wrapped in the bone need to be prevented from being damaged at the later stage of cutting, so that the cutting with different frequencies is performed at different periods, and the cutting speed is ensured while the cutting quality is ensured.
The central control module is internally provided with a cutting period number dividing evaluation value,
if the thickness of the bone to be cut is greater than the number of cutting periods, dividing the cutting periods by selecting a second cutting condition by the central control module;
and if the thickness of the bone to be cut is smaller than or equal to the number of the cutting periods, the central control module selects a first cutting condition and divides the cutting periods.
The central control module is internally provided with a cutting period number dividing evaluation value D,
the central control module determines the thickness H of the bone to be cut according to the three-dimensional model of the bone to be cut;
if H is less than or equal to D, the central control module judges that the number of cutting periods is two, namely an initial cutting period and a later cutting period;
if H is more than D, the central control module judges that the number of cutting periods is three, namely the initial cutting period, the middle cutting period and the later cutting period.
For bones with different thicknesses to be cut, determining the stage division existing when the bones to be cut are cut according to the actual situation, so that the bones are cut more specifically.
Specifically, the central control module divides the cutting period according to the thickness of the cutting area of the bone to be cut;
for the bone to be cut, where there are only two cutting periods, the first A1% of the thickness is divided into the initial cutting period and the later cutting period with the part according to the thickness of the cutting area.
In particular, for bones to be cut, for which there are three cutting periods,
if the thickness of the cutting area is smaller than or equal to the cutting period dividing evaluation value, dividing the front A2% of the thickness into the initial cutting stage according to the thickness of the cutting area, dividing the rear A3% of the thickness into the later cutting stage, and dividing the middle part into the middle cutting stage;
if the thickness of the cutting area is larger than the cutting period dividing evaluation value, the cutting thickness at the initial stage of cutting is set to be B1, the cutting thickness at the later stage of cutting is set to be B2, and the middle part is set to be the middle stage of cutting.
For the bones to be cut with only two cutting periods and the bones to be cut with three cutting periods which are relatively thinner, the cutting areas are divided according to a certain proportion, and specific cutting area division values are set for the bones to be cut with three cutting periods which are relatively thicker, so that the bones are cut more pertinently.
The values of the cutting thickness B1 at the initial stage of cutting and the cutting thickness B2 at the later stage of cutting are correlated with the bone density, and the larger the bone density is, the smaller the corresponding evaluation value is.
The number of the cutting period dividing evaluation values and the number of the cutting period dividing evaluation values are respectively related to the bone density, and the larger the bone density is, the smaller the corresponding evaluation value is.
The central control module is internally provided with a first preset cutting period number dividing evaluation value D1 and a second preset cutting period number dividing evaluation value D2, wherein the first preset cutting period dividing evaluation value C1 and the second preset cutting period dividing evaluation value C2 are respectively D1 & gtD 2 and C1 & gtC 2;
the central control module obtains a T value k of bone mineral density,
if k is more than or equal to-1, the central control module selects a first preset cutting period number dividing evaluation value D1 as a preset cutting period number dividing evaluation value D, and selects a first preset cutting period dividing evaluation value C1 as a preset cutting period dividing evaluation value;
if k is less than or equal to-2.5 and less than or equal to-1, the central control module selects a second preset cutting period number dividing evaluation value D2 as a preset cutting period number dividing evaluation value D, and selects a second preset cutting period dividing evaluation value C2 as a preset cutting period dividing evaluation value;
if k is less than-2.5, the central control module calculates the preset cutting period number division evaluation value D and the preset cutting period division evaluation value C, and sets D=D2+ (-2.5-k) x D1, C=C2+ (-2.5-k) x C1, wherein D1 is the preset cutting period number division evaluation value calculation compensation parameter, C1 is the preset cutting period division evaluation value calculation compensation parameter, two calculation compensation parameters act, namely, a balance formula left parameter and a balance formula right parameter, and a calculation result value is adjusted.
The bone to be cut has the advantages that the bone density is larger, the bone quality is better, the bone is harder, and the bone with small bone density is cut easily in the bone cutting process, so that the bone with small bone density is provided with a larger number of cutting period dividing evaluation values and a larger number of cutting period dividing evaluation values, reasonable region division can be performed when the bone with small bone density is cut, and damage to substances wrapped in the bone is prevented.
Specifically, initial power of a power source in an initial cutting stage, initial power of a power source in a middle cutting stage and initial power of a power source in a later cutting stage are arranged in the central control module, and the central control module judges whether to adjust each initial power according to bone density of bones to be cut;
the central control module is internally provided with a bone density interval,
if the bone density of the bone to be cut is between the bone density intervals, not adjusting each initial power;
if the bone density of the bone to be cut is not between the bone density intervals, the initial powers are adjusted.
In particular, the method comprises the steps of,
if the k is less than or equal to-2.5 and less than or equal to-1, not adjusting each initial power;
and if k is < -2.5 or k is more than or equal to-1, regulating each initial power.
Specifically, if the bone density of the bone to be cut is smaller than the bone density interval, reducing each initial power;
if the bone density of the bone to be cut is greater than the bone density interval, increasing each initial power.
Whether to adjust each initial frequency is judged according to the size of bone density, and the cutting frequency is properly reduced for smaller bone density, so that damage is prevented from being caused by too fast cutting, and the cutting frequency is properly accelerated for larger bone density, so that the cutting speed is ensured, and the bone cutting is more targeted.
Specifically, the central control module determines the ideal cutting time length required by each cutting period according to the determined cutting period and the determined ideal cutting power of the surgical knife in each cutting period and the bone density,
the central control module performs simulated cutting on a three-dimensional model of a bone to be cut in the system, and records simulated cutting time for cutting each cutting period in the simulated cutting process;
the central control module compares each simulated cutting time length with each ideal cutting time length and judges whether the ideal cutting power of the surgical knife in each cutting time period is adjusted.
Further, the central control module determines preset cutting power and preset cutting duration of each cutting period according to the cutting result of the simulated cutting of the three-dimensional model of the bone to be cut, and in the process of cutting the actual bone,
for bones to be cut, which only have two cutting periods, the central control module compares the actual time length of completing the initial cutting period with the preset cutting time length, and determines whether to adjust the power of the power source in the later cutting period;
for bones to be cut in three cutting periods, the central control module compares the actual time length of finishing the initial cutting period with the preset cutting time length to determine whether to adjust the power of the power source in the middle cutting period; the central control module compares the actual time length of finishing the cutting in the middle period with the preset cutting time length to determine whether to adjust the power of the power source in the later period of cutting.
In the actual cutting process, the cutting time length of each cutting period is compared with the theoretical cutting time length, whether the current cutting frequency is reasonable or not is checked through feedback, the later cutting frequency is properly reduced when the cutting time length is smaller than the cutting time length, the cutting is prevented from being too fast, the later cutting frequency is properly increased when the cutting time length is larger than the cutting time length, the cutting speed is ensured, and the bone cutting is more targeted.
The invention also provides an ultrasonic surgical knife which is applied to the ultrasonic surgical knife system and comprises an inner tube 12, an outer tube 11 and a knife bar 13, wherein a knife head for cutting is arranged on the knife bar 13.
Thus far, the technical solution of the present invention has been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of protection of the present invention is not limited to these specific embodiments. Equivalent modifications and substitutions for related technical features may be made by those skilled in the art without departing from the principles of the present invention, and such modifications and substitutions will be within the scope of the present invention.
The foregoing description is only of the preferred embodiments of the invention and is not intended to limit the invention; various modifications and variations of the present invention will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. An ultrasonic surgical blade system, comprising,
the tool bit assembly is used for cutting bones;
the handle can be connected with the tool bit assembly, and an ultrasonic transducer capable of converting electric power into ultrasonic kinetic energy is arranged in the handle;
the device comprises a main machine, wherein a central control module and a power source are arranged in the main machine, the central control module is connected with the power source and the handle, the central control module can divide the cutting process of a bone to be cut into different cutting periods according to a three-dimensional model of the bone to be cut, determine the power of the power source in different cutting periods, judge whether to perform preliminary adjustment on the power of the power source in different cutting periods according to the determined power, adjust the power of the later cutting period according to the cutting duration of the completed cutting period in actual cutting, and acquire the bone density of the bone to be cut in the dividing process of the cutting period, and adjust the dividing standard according to the bone density;
the main machine is internally provided with a three-dimensional model of a bone to be cut, the central control module determines working modes of a power source in different cutting periods according to the three-dimensional model of the bone, and for the cutting periods, under a first cutting condition, the central control module comprises:
the initial stage of cutting, which is the first time period when the ultrasonic surgical knife is just contacted with the bone;
a later cutting period which is a second time period of a cutting period in which the ultrasonic surgical blade is about to cut through bone;
the central control module divides the cutting period according to the thickness of a cutting area of the bone to be cut, divides the front A1% of the thickness into an initial cutting period according to the thickness of the cutting area, and divides the rest part into a later cutting period;
the central control module is under a second cutting condition, and the cutting period further comprises:
a mid-cut period, which is a third time period between a termination time point of the first time period and an initial time point of the second time period, wherein,
the central control module is provided with a cutting period dividing evaluation value;
if the thickness of the cutting area is smaller than or equal to the cutting period dividing evaluation value, dividing the front A2% of the thickness into the initial cutting stage according to the thickness of the cutting area, dividing the rear A3% of the thickness into the later cutting stage, and dividing the middle part into the middle cutting stage;
if the thickness of the cutting area is larger than the cutting period dividing evaluation value, setting the cutting thickness at the initial stage of cutting as B1, setting the cutting thickness at the later stage of cutting as B2, and setting the middle part as the middle stage of cutting;
the central control module is internally provided with a cutting period number dividing evaluation value,
if the thickness of the bone to be cut is greater than the number of cutting periods, dividing the cutting periods by selecting a second cutting condition by the central control module;
and if the thickness of the bone to be cut is smaller than or equal to the number of the cutting periods, the central control module selects a first cutting condition and divides the cutting periods.
2. The ultrasonic surgical blade system of claim 1, wherein the values of the number of cut period division evaluation values and the cut period division evaluation values are respectively related to bone density, and the greater the bone density, the smaller the corresponding evaluation value.
3. The ultrasonic surgical blade system of claim 2, wherein the central control module determines whether to adjust each initial power based on the bone density of the bone to be cut, and adjusts each initial power if the bone density of the bone to be cut is not between the bone density intervals, wherein,
if the bone density of the bone to be cut is smaller than the bone density interval, reducing each initial power;
if the bone density of the bone to be cut is greater than the bone density interval, increasing each initial power;
the central control module takes all initial powers which do not need to be regulated or all powers regulated according to bone density as ideal cutting powers of the surgical knife in all cutting periods;
the central control module is internally provided with initial power of a power source in an initial cutting stage, initial power of a power source in a middle cutting stage and initial power of a power source in a later cutting stage.
4. The ultrasonic surgical blade system of claim 3, wherein the central control module determines the desired length of time for each cutting session based on the determined cutting session and the determined desired cutting power of the surgical blade for each cutting session, and in combination with bone density,
the central control module performs simulated cutting on the three-dimensional model of the bone to be cut, and records simulated cutting time for cutting each cutting period in the simulated cutting process;
the central control module compares each simulated cutting time length with each ideal cutting time length and judges whether the ideal cutting power of the surgical knife in each cutting time period is adjusted.
5. The ultrasonic surgical blade system of claim 4, wherein the central control module determines the preset cutting power and the preset cutting duration of each cutting period according to the cutting result of the simulated cutting of the three-dimensional model of the bone to be cut under the first cutting condition, and during the actual bone cutting process,
and the central control module compares the actual time length of finishing the initial cutting period with the preset cutting time length to determine whether to adjust the power of the power source in the later cutting period.
6. The ultrasonic surgical blade system of claim 4, wherein in the second cutting condition, the central control module determines a preset cutting power and a preset cutting duration for each cutting period according to a cutting result of performing simulated cutting on the three-dimensional model of the bone to be cut, and during the actual bone cutting process,
the central control module compares the actual time length of the cutting initial stage with the preset cutting time length to determine whether to adjust the power of the power source in the cutting middle stage; the central control module compares the actual time length of finishing the cutting in the middle period with the preset cutting time length to determine whether to adjust the power of the power source in the later period of cutting.
7. An ultrasonic surgical blade for use in an ultrasonic surgical blade system as claimed in any one of claims 1 to 6, comprising an inner tube, an outer tube and a blade bar on which a blade for cutting is provided.
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| CN109620415A (en) * | 2019-02-14 | 2019-04-16 | 北京水木天蓬医疗技术有限公司 | Robot assisted ultrasound bone dynamical system |
| WO2019215745A1 (en) * | 2018-05-09 | 2019-11-14 | Mazor Robotics Ltd. | Robotically controlled ultrasonic scalpel |
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| CA3137721A1 (en) * | 2019-04-22 | 2020-10-29 | Navisect, Inc. | System and method to conduct bone surgery |
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| CN109620415A (en) * | 2019-02-14 | 2019-04-16 | 北京水木天蓬医疗技术有限公司 | Robot assisted ultrasound bone dynamical system |
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