CN117562653A - Prompting and alarming system for coagulation state of bipolar coagulation forceps and coagulation tissue under endoscopic surgery - Google Patents
Prompting and alarming system for coagulation state of bipolar coagulation forceps and coagulation tissue under endoscopic surgery Download PDFInfo
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- CN117562653A CN117562653A CN202311706674.9A CN202311706674A CN117562653A CN 117562653 A CN117562653 A CN 117562653A CN 202311706674 A CN202311706674 A CN 202311706674A CN 117562653 A CN117562653 A CN 117562653A
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- 230000015271 coagulation Effects 0.000 title claims abstract description 106
- 238000005345 coagulation Methods 0.000 title claims abstract description 106
- 238000002674 endoscopic surgery Methods 0.000 title claims abstract description 21
- 238000001914 filtration Methods 0.000 claims abstract description 33
- 238000000034 method Methods 0.000 claims abstract description 32
- 238000004364 calculation method Methods 0.000 claims abstract description 27
- 238000010606 normalization Methods 0.000 claims abstract description 25
- 238000011897 real-time detection Methods 0.000 claims abstract description 18
- 238000009297 electrocoagulation Methods 0.000 claims description 11
- 238000002357 laparoscopic surgery Methods 0.000 claims 1
- 210000001519 tissue Anatomy 0.000 description 17
- 238000005070 sampling Methods 0.000 description 10
- 230000000630 rising effect Effects 0.000 description 6
- 238000004422 calculation algorithm Methods 0.000 description 3
- 230000006378 damage Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 210000000944 nerve tissue Anatomy 0.000 description 3
- 239000004809 Teflon Substances 0.000 description 2
- 229920006362 Teflon® Polymers 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 2
- 208000014674 injury Diseases 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000001356 surgical procedure Methods 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 208000032843 Hemorrhage Diseases 0.000 description 1
- 208000035965 Postoperative Complications Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 208000034158 bleeding Diseases 0.000 description 1
- 230000000740 bleeding effect Effects 0.000 description 1
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000001700 effect on tissue Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 230000002439 hemostatic effect Effects 0.000 description 1
- 230000035515 penetration Effects 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
Abstract
The invention discloses a bipolar electric coagulation forceps electric coagulation tissue coagulation state prompting and alarming system under endoscopic surgery, which comprises the following components: the current value real-time detection module is used for collecting the current value between the bipolar coagulation forceps in real time in a fixed period; the filtering module is used for processing the acquired current value by adopting a weighted recursive average filtering method; the first calculation module is used for calculating the reciprocal of the square of the current value after the filtering treatment; the second calculation module is used for inputting the inverse of the square of the current value into a sigmoid function for normalization processing; the third calculation module is used for obtaining derivative values of all normalization processing results; the judging module is used for judging whether the derivative value is smaller than or equal to a set threshold value, if yes, the module is transferred to the prompt alarm module, and if not, the clamping operation is continued; and the prompt alarm module is used for prompting and alarming. The invention provides a lightweight and cuttable bipolar coagulation forceps system, which can supply power through the existing common high-frequency electrotome host without a special host.
Description
Technical Field
The invention relates to the technical field of bipolar electric coagulation forceps systems, in particular to a prompting and alarming system for the coagulation state of a bipolar electric coagulation forceps electric coagulation tissue under endoscopic surgery.
Background
The main product of the energy surgery in the current endoscopic surgery is an ultrasonic knife, but inherent weaknesses of the ultrasonic knife cannot be overcome, such as unstable hemostatic effect, the inner surfaces of the teflon material coating and the teflon material saw teeth on the ultrasonic knife head are easily worn out rapidly in the repeated use process, so that the friction coefficient is continuously reduced, the temperature at the working moment is further reduced continuously, the coagulation effect on tissues is further reduced, and the pain of secondary bleeding after the coagulation surface surgery of some patients is finally caused. Moreover, the diameter of the thermal injury and penetration injury to the tissue caused by the high temperature at one moment when the ultrasonic knife works is 3mm, if the important nerve tissue is within 3mm near the cut site, the safety of the nerve tissue cannot be ensured when the ultrasonic knife works at the moment, and the damage to the nerve tissue is likely to be caused, so that postoperative complications of a patient are likely to be caused.
In this case, the conventional cleavable bipolar electric coagulation forceps system (such as the Qiansheng end series, ligosur of the meiton force) adopts a frequency tracking principle which is too complex to be integrated on a host machine, so that the conventional cleavable bipolar electric coagulation forceps system is configured with a special host machine and is expensive (60 ten thousand to 80 ten thousand). There is a need for a lightweight, cuttable bipolar electrode holder system that can be integrated into a bipolar electrode holder and that can be powered by a conventional high frequency electric knife host (low cost, simple structure, high frequency current output with stable power).
Disclosure of Invention
Aiming at the problems, the invention provides a prompting and alarming system for the coagulation state of the bipolar coagulation forceps coagulation tissue under the endoscopic surgery.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
the invention provides a bipolar electric coagulation forceps electric coagulation tissue coagulation state prompting and alarming system under endoscopic surgery, which comprises the following components:
the current value real-time detection module is used for collecting the current value between the bipolar coagulation forceps in real time in a fixed period;
the filtering module is used for processing the acquired current value by adopting a weighted recursive average filtering method;
the first calculation module is used for calculating the reciprocal of the square of the current value after the filtering treatment;
the second calculation module is used for inputting the inverse of the square of the current value into a sigmoid function to perform normalization processing;
the third calculation module is used for obtaining derivative values of the normalization processing results based on the normalization processing results;
the judging module is used for judging whether the derivative value is smaller than or equal to a set threshold value, if yes, the module is transferred to the prompting alarm module, if not, the clamping operation is continued, and the current value between the bipolar coagulation forceps is continuously collected through the current value real-time detection module;
the prompting alarm module is used for prompting and alarming so that the high-frequency electric knife host machine stops supplying power to the bipolar electric coagulation forceps (an operator stops stepping on the foot switch) and the current value real-time detection module stops collecting the current value between the bipolar electric coagulation forceps.
Further, the fixed period may be 5ms.
Further, in the third calculation module, the normalization processing result is specifically processed according to the following formula:
wherein I' m Represents the mth current value after the filtering process, S () represents a sigmoid function,representation ofIs a derivative of (a).
Further, the system also comprises a threshold database for storing different electrocoagulation tissues to achieve coagulation statusIs set to a threshold value of (2).
The invention also provides a prompting and alarming method for the coagulation state of the bipolar coagulation forceps in endoscopic surgery, which comprises the following steps:
step 1, collecting current values between bipolar electric coagulation forceps in real time in a fixed period through a current value real-time detection module;
step 2, processing the acquired current value by a filtering module by adopting a weighted recursive average filtering method;
step 3, calculating the inverse of the square of the current value after the filtering treatment through a first calculation module;
step 4, inputting the inverse of the square of the current value into a sigmoid function through a second calculation module to perform normalization processing;
step 5, obtaining derivative values of all normalization processing results based on the normalization processing results through a third calculation module;
step 6, judging whether the derivative value is smaller than or equal to a set threshold value through a judging module, if yes, turning to step 7, if not, continuing clamping operation, and continuing to acquire the current value between the bipolar coagulation forceps through a current value real-time detecting module;
and 7, prompting and alarming through a prompting and alarming module, so that the high-frequency electric knife host machine stops supplying power to the bipolar electric coagulation forceps (an operator stops stepping on the foot switch), and the current value real-time detection module stops collecting the current value between the bipolar electric coagulation forceps.
Further, the fixed period may be 5ms.
Further, in the step 4, the normalization processing result is specifically processed according to the following formula:
wherein I' m Represents the mth current value after the filtering process, S () represents a sigmoid function,representation ofIs a derivative of (a).
Further, the method further comprises:
constructing a threshold database for storing different electrocoagulation tissues reaching coagulation statesIs set to a threshold value of (2).
Compared with the prior art, the invention has the beneficial effects that:
the invention provides a bipolar coagulation forceps coagulation state prompting and alarming system under endoscopic surgery, which is characterized in that all modules of the system can be integrated on a bipolar coagulation forceps without adopting an excessively complex algorithm and the like, so that the effect of light weight is achieved, and the current common high-frequency electrotome host machine can be used for supplying power without being provided with a special host machine, so that the cost is reduced. Specifically, the invention can reduce the influence on the early warning result caused by the fact that the current value actually collected in a certain sampling period deviates from other values greatly due to certain factors (such as calcified components in the electrocoagulation tissue and the like) by arranging the filtering module, and ensures the early warning accuracy to a certain extent. The invention considers that the water content of different electrocoagulation tissues is different, and the current is more different in the earlier stage with the same input power, and the invention innovatively changes 1/I 2 The judgment of the rising trend of the sigmoid function is converted into the judgment of the rising trend of the corresponding sigmoid function, and the rising trend of the sigmoid function is embodied specifically through the slope of the sigmoid function, namely the derivative value, so that on one hand, the great influence of different electric coagulation organizations on the change of the current value can be reduced, on the other hand, the advantage of the derivative of the sigmoid function can be utilized, the derivative process is converted into the multiplication process of the sigmoid function, and because the sigmoid function value is already calculated, the calculated amount can be reduced, and the processing speed is further improved.
Drawings
FIG. 1 is a schematic diagram of an embodiment of a system for prompting and alarming the coagulation status of a bipolar coagulation forceps under endoscopic surgery;
fig. 2 is a flowchart of a method for prompting and alarming the coagulation status of a bipolar coagulation forceps in endoscopic surgery according to an embodiment of the invention.
Detailed Description
The invention is further illustrated by the following description of specific embodiments in conjunction with the accompanying drawings:
as shown in fig. 1, a bipolar electric coagulation forceps electric coagulation tissue coagulation state prompting and alarming system under endoscopic surgery comprises:
the current value real-time detection module is used for collecting the current value (I) between the bipolar coagulation forceps in real time at a fixed period 1 ,I 2 ,I 3 ,……,I m ,……,I n ) Wherein I 1 For the current value acquired in the first sampling period, I 2 The current value acquired for the second sampling period is analogized in sequence; further, the fixed period may be 5ms, or may be set to other values according to practical situations.
And the filtering module is used for processing the acquired current value by adopting a weighted recursive average filtering method so as to reduce the influence on the early warning result caused by that the current value actually acquired in a certain sampling period deviates from other values greatly due to certain factors (such as calcified components in the electrocoagulation tissue and the like). Specifically, in the filtering module, the collected current value is specifically processed in the following manner:
current values for the first five sampling periods acquired:
I 1 *a1+I 2 *a2+I 3 *a3+I 4 *a4+I 5 *a5＝I′ 1
wherein I' 1 The 1 st current value after the filtering treatment is shown, and a1, a2, a3, a4 and a5 are respectively I 1 、I 2 、I 3 、I 4 、I 5 And a1 < a2 < a3 < a4 < a5, a1+a2+a3+a4+a5=1.
And will I' 1 And transmitting the data to the first computing module.
When the current value of the sixth sampling period is obtained:
I 2 *a1+I 3 *a2+I 4 *a3+I 5 *a4+I 6 *a5＝I′ 2.1
when the current value of the seventh sampling period is obtained:
I 3 *a1+I 4 *a2+I 5 *a3+I 6 *a4+I 7 *a5＝I′ 2.2
when the current value of the eighth sampling period is obtained:
I 4 *a1+I 5 *a2+I 6 *a3+I 7 *a4+I 8 *a5＝I′ 2.3
when the current value of the ninth sampling period is obtained:
I 5 *a1+I 6 *a2+I 7 *a3+I 8 *a4+I 9 *a5＝I′ 2.4
when the current value of the tenth sampling period is obtained:
I 6 *a1+I 7 *a2+I 8 *a3+I 9 *a4+I 10 *a5＝I′ 2.5
and calculate I' 2.1 、I′ 2.2 、I′ 2.3 、I′ 2.4 、I′ 2.5 Average value of (2):
wherein I' 2 The 2 nd current value after the filtering process is shown.
And will I' 2 And transmitting the data to the first computing module.
And so on, get I' 3 、I′ 4 、I′ 5 … …, and passed to the first computing module.
The first calculation module is used for calculating the reciprocal of the square of the current value after the filtering treatment; specifically, since p=i 2 R, where P represents power, I represents current, R represents resistance, soWhen P is a fixed value, 1/I 2 The change of the R value can be reflected, namely the coagulation degree of the electrocoagulation tissue can be reflected.
The second calculation module is used for inputting the inverse of the square of the current value into a sigmoid function to perform normalization processing;
the specific formula of the sigmoid function is as follows:
wherein I' m Representing the mth current value after the filtering process.
The third calculation module is used for obtaining derivative values of the normalization processing results based on the normalization processing results;
further, in the third calculation module, the normalization processing result is specifically processed according to the following formula:
wherein I' m Represents the mth current value after the filtering process, S () represents a sigmoid function,representation ofIs a derivative of (a).
And the judging module is used for judging whether the derivative value is smaller than or equal to a set threshold value, if yes, the module is transferred to the prompting alarm module, if not, the clamping operation is continued, and the current value between the bipolar coagulation forceps is continuously collected through the current value real-time detection module.
The prompting alarm module is used for prompting and alarming so that the high-frequency electric knife host machine stops supplying power to the bipolar electric coagulation forceps (an operator stops stepping on the foot switch) and the current value real-time detection module stops collecting the current value between the bipolar electric coagulation forceps. Specifically, in the prompt alarm module, a buzzer can be triggered to sound a whistle for reminding and the like.
Further, the corresponding circuit of the bipolar electric coagulation forceps can adopt an indication circuit for the bipolar electric coagulation forceps (see CN 216673342U for specific structure). Specifically, the current value between two electrodes of the bipolar coagulation forceps can be acquired in real time in a fixed period through the current acquisition circuit of the indicating circuit for the bipolar coagulation forceps. Because the excessively complex algorithm and the like are not adopted, the system module can be integrated on the bipolar coagulation forceps, the effect of light weight is achieved, for example, the filtering module, the first calculation module, the second calculation module, the third calculation module and the judging module can be burnt into the MCU in the form of computer programs, and the MCU is controlled to interact with the current value real-time detection module and the prompt alarm module through instructions.
The invention considers that the water content of different electrocoagulation tissues is different, and the current is more different in the earlier stage with the same input power, and the invention innovatively changes 1/I 2 The judgment of the rising trend of the sigmoid function is converted into the rising trend of the corresponding sigmoid function (the rising trend of the sigmoid function is embodied by the slope of the sigmoid function, namely, the derivative value), so that on one hand, the larger influence of different electric coagulation organizations on the change of the current value can be reduced, on the other hand, the advantage of the sigmoid function derivative can be utilized, the derivative process is converted into the multiplication process of the sigmoid function (the sigmoid function value is calculated and can be directly used), the calculated amount can be reduced, and the processing speed is further improved.
Further, the system also comprises a threshold database for storing different electrocoagulation tissues to achieve coagulation statusIs set to a threshold value of (2). The values indicate that for different electrocoagulation tissues it reaches the coagulated state +.>The threshold value of (2) is different and is obtained through a plurality of experiments.
Specifically, a common high-frequency electrotome host machine can be used for providing stable input power for the bipolar coagulation forceps.
On the basis of the above embodiment, as shown in fig. 2, the invention further provides a method for prompting and alarming the coagulation state of the bipolar coagulation forceps under the endoscopic surgery, which comprises the following steps:
step S101, current values between bipolar coagulation forceps are collected in real time in a fixed period through a current value real-time detection module;
step S102, processing the acquired current value by a filtering module by adopting a weighted recursive average filtering method;
step S103, calculating the inverse of the square of the current value after the filtering processing through a first calculation module;
step S104, inputting the inverse of the square of the current value into a sigmoid function through a second calculation module for normalization processing;
step S105, obtaining derivative values of all normalization processing results based on the normalization processing results through a third calculation module;
step S106, judging whether the derivative value is smaller than or equal to a set threshold value through a judging module, if yes, turning to step S107, if not, continuing clamping operation, and continuing to acquire the current value between the bipolar electric coagulation forceps through a current value real-time detecting module;
and step S107, prompting and alarming are carried out through a prompting and alarming module, so that the high-frequency electric knife host machine stops supplying power to the bipolar electric coagulation forceps (an operator stops stepping on the foot switch), and the current value real-time detection module stops collecting the current value between the bipolar electric coagulation forceps.
Further, the fixed period may be 5ms, or may be set to other values according to practical situations.
Further, in the step S104, the normalization processing result is specifically processed according to the following formula:
wherein I' m Represents the mth current value after the filtering process, S () represents a sigmoid function,representation ofIs a derivative of (a).
Further, the method further comprises:
constructing a threshold database for storing different electrocoagulation tissues reaching coagulation statesIs set to a threshold value of (2).
Specifically, before the current value between the bipolar electric coagulation forceps is collected in real time in a fixed period through the current value real-time detection module, the bipolar electric coagulation forceps are clamped on tissues needing to be subjected to electric coagulation operation, a common high-frequency electric knife host is used for providing stable input power for the bipolar electric coagulation forceps, and when a prompt alarm module is used for prompting and alarming, a cutter head in the bipolar electric coagulation forceps is pushed out, the bipolar electric coagulation forceps are loosened, and power supply to the bipolar electric coagulation forceps is stopped.
In summary, the invention provides a system and a method for prompting and alarming the coagulation state of a bipolar coagulation forceps in endoscopic surgery, and because the bipolar coagulation forceps do not adopt excessively complex algorithms and the like, each module of the system can be integrated on the bipolar coagulation forceps, the effect of light weight is achieved, and the current common high-frequency electrotome host machine can be used for supplying power without being provided with a special host machine, so that the cost is reduced.
The foregoing is merely illustrative of the preferred embodiments of this invention, and it will be appreciated by those skilled in the art that changes and modifications may be made without departing from the principles of this invention, and it is intended to cover such modifications and changes as fall within the true scope of the invention.
Claims (8)
1. An alarm system for prompting the coagulation status of a bipolar coagulation forceps in endoscopic surgery, which is characterized by comprising:
the current value real-time detection module is used for collecting the current value between the bipolar coagulation forceps in real time in a fixed period;
the filtering module is used for processing the acquired current value by adopting a weighted recursive average filtering method;
the first calculation module is used for calculating the reciprocal of the square of the current value after the filtering treatment;
the second calculation module is used for inputting the inverse of the square of the current value into a sigmoid function to perform normalization processing;
the third calculation module is used for obtaining derivative values of the normalization processing results based on the normalization processing results;
the judging module is used for judging whether the derivative value is smaller than or equal to a set threshold value, if yes, the module is transferred to the prompting alarm module, if not, the clamping operation is continued, and the current value between the bipolar coagulation forceps is continuously collected through the current value real-time detection module;
the prompt alarm module is used for prompting and alarming to stop supplying power to the bipolar electric coagulation forceps and stop the current value real-time detection module from collecting the current value between the bipolar electric coagulation forceps.
2. A bipolar forceps coagulation status alert system for endoscopic surgery according to claim 1, wherein the fixed period may be 5ms.
3. The system for prompting and alarming the coagulation status of the bipolar coagulation forceps under the endoscopic surgery according to claim 1, wherein the third calculation module specifically processes the normalized processing result according to the following formula:
wherein I is ′ m Represents the mth current value after the filtering process, S () represents a sigmoid function,representation->Is a derivative of (a).
4. A system for prompting and alarming the coagulation status of the bipolar coagulation forceps under the endoscopic surgery according to claim 3, wherein the system further comprises a threshold value database for storing different coagulation tissues to reach the coagulation statusIs set to a threshold value of (2).
5. A method for prompting and alarming the coagulation status of the coagulation tissue of a bipolar coagulation forceps under a laparoscopic surgery based on the system of any one of claims 1-4, which is characterized by comprising the following steps:
step 1, collecting current values between bipolar electric coagulation forceps in real time in a fixed period through a current value real-time detection module;
step 2, processing the acquired current value by a filtering module by adopting a weighted recursive average filtering method;
step 3, calculating the inverse of the square of the current value after the filtering treatment through a first calculation module;
step 4, inputting the inverse of the square of the current value into a sigmoid function through a second calculation module to perform normalization processing;
step 5, obtaining derivative values of all normalization processing results based on the normalization processing results through a third calculation module;
step 6, judging whether the derivative value is smaller than or equal to a set threshold value through a judging module, if yes, turning to step 7, if not, continuing clamping operation, and continuing to acquire the current value between the bipolar coagulation forceps through a current value real-time detecting module;
and 7, prompting and alarming through a prompting and alarming module to stop power supply to the bipolar electric coagulation forceps and stop the current value real-time detection module from collecting the current value between the bipolar electric coagulation forceps.
6. The method for prompting and alarming the coagulation status of the bipolar coagulation forceps under the endoscopic surgery according to claim 5, wherein the fixed period can be 5ms.
7. The method for prompting and alarming the coagulation status of the bipolar coagulation forceps under the endoscopic surgery according to claim 5, wherein in the step 4, the normalization processing result is processed according to the following formula:
wherein I is ′ m Represents the mth current value after the filtering process, S () represents a sigmoid function,representation->Is a derivative of (a).
8. The method for prompting and alarming the coagulation status of the bipolar coagulation forceps under the endoscopic surgery according to claim 7, wherein the method further comprises the steps of:
constructing a threshold database for storing different electrocoagulation tissues reaching coagulation statesIs set to a threshold value of (2).
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