CN118383840B - Ultrasonic knife cutting tissue identification and classification method and system - Google Patents
Ultrasonic knife cutting tissue identification and classification method and system Download PDFInfo
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Abstract
The invention discloses a method and a system for identifying and classifying tissue cut by an ultrasonic knife, wherein the method for identifying and classifying tissue cut by the ultrasonic knife comprises the following steps of S1, judging whether the ultrasonic knife enters a current stable state or not; s2, acquiring impedance and current-voltage phase difference data, and obtaining an impedance change characteristic value; s3, obtaining a tissue change characteristic value of the current cut tissue; s4, comparing the characteristic values of tissue change, and identifying and classifying the type of the current cut tissue, wherein the identifying and classifying system comprises a data acquisition unit, a data operation unit, a data storage unit and a judging unit. The tissue identification and classification method and the tissue identification and classification system can identify the tissue when the ultrasonic knife cuts the tissue, so that the output current can be adjusted in time, and inconvenience caused by manual adjustment in the use process is prevented.
Description
Technical Field
The invention relates to an ultrasonic knife technology, in particular to a method and a system for identifying and classifying cut tissues by an ultrasonic knife.
Background
The ultrasonic soft tissue operation equipment mainly comprises a main machine, a handle and a disposable cutter head (cutter head for short). The handle of the ultrasonic soft tissue surgical equipment is matched and connected with the shell of the cutter head, the sleeve is positioned at the far end of the shell of the cutter head, the waveguide rod at the far end is coupled with the transducer in the handle in the sleeve through threads, and the handle is connected with the host through a cable.
In the actual working process, the host machine provides electric energy, ultrasonic frequency current generated by the electric energy is transmitted to the handle, the piezoelectric ceramic piece in the handle activates to work, longitudinal mechanical vibration is generated according to the input electric energy, the ultrasonic mechanical vibration is expanded at a transmission shaft node of the cutter head waveguide rod and transmitted to the cutter point to reach the maximum vibration of 55.5KHz, and on the contact interface between the cutter point vibrating in large amplitude and tissues, the tissues are cut off due to severe alternating mechanical action and cavitation and thermal effect. Meanwhile, the knife tip is in contact with tissue protein, protein hydrogen bond is broken, protein structure is recombined, protein coagulates and closes a small lumen, the protein is vibrated to generate secondary energy, deep coagulation and closes a larger lumen, and the effects of coagulating and closing tissues and stopping bleeding are achieved, so that a doctor is helped to efficiently cut the tissues and coagulate blood vessels, and injuries brought to a patient are reduced to the greatest extent.
In the using process of the ultrasonic knife in the prior art, different tissues can be cut, and the elasticity, the water content, the temperature resistance and the like of the tissues are different for the different tissues. If the same output current is used for cutting different tissues instead of identifying the cut tissue, the following risks may occur: for some easily-cut tissues, the cutting speed is too high, and the tissues cannot be completely coagulated; for some difficult-to-cut tissues, the cutting speed is low, and the heat of the cutter head is accumulated, so that the temperature of the cutter head easily exceeds the bearing upper limit of the tissues, and the tissues are burnt. Therefore, it is necessary to identify the tissue as it is cut by the ultrasonic blade in order to adjust the output current in time.
Disclosure of Invention
In order to solve the defects in the prior art, the invention aims to provide a method and a system for identifying and classifying tissue cut by an ultrasonic knife, which can identify the tissue when the ultrasonic knife cuts the tissue so as to adjust the output current in time and prevent inconvenience caused by manual adjustment in the use process.
The technical scheme adopted for solving the technical problems is as follows: an ultrasonic knife cutting tissue identification and classification method comprises the following steps,
S1, after cutting starts, a host computer judges whether an ultrasonic knife enters a current stable state;
S2, after the current is in a stable state, the host acquires impedance and current-voltage phase difference data, and an impedance change characteristic value is obtained according to the impedance and current-voltage phase difference data;
S3, integrating the characteristic value of the impedance change into a curve of the impedance change according to time change, and performing circular fitting on the curve of the impedance change according to a least square method to obtain a characteristic value of the tissue change of the current cut tissue;
S4, comparing the tissue change characteristic value of the current cut tissue with the known tissue change characteristic value stored in the host computer, and identifying the type of the current cut tissue.
Optionally, in step S1, the method for determining whether the ultrasonic blade enters the current stable state by the host computer includes:
s11, collecting output current of a host in real time;
S12, comparing the absolute value of the difference value between the acquired output current and the rated current of the current gear with a set threshold value, and judging that the ultrasonic knife enters a current stable state when the absolute value is smaller than the threshold value.
Optionally, in step S2, the impedance and current-voltage phase difference data collected by the host computer is data during a period from a current steady state to a state that the output frequency of the host computer reaches the resonance frequency of the ultrasonic blade.
Optionally, in step S2, the impedance change characteristic value includes a useful work component R Has the following components and an idle work component R Without any means for ,
；
；
Wherein R is the acquired impedance, and θ is the current-voltage phase difference.
Optionally, in step S3, the characteristic value of the tissue change includes a center position (A, B) and a radius r obtained by performing a circle fitting on a curve of the tissue change, where,
；
；
；
And a, b, c satisfy the relation:。
the invention provides an ultrasonic knife cutting tissue identification and classification system according to the ultrasonic knife cutting tissue identification and classification method, which comprises a host machine, wherein the host machine is internally provided with:
The data acquisition unit is used for acquiring the real-time state of the ultrasonic knife and frequency, impedance, current and voltage phase difference data output by the host;
The data operation unit is used for calculating and obtaining a tissue change characteristic value of the current cut tissue according to the obtained frequency, impedance and current-voltage phase difference data;
A data storage unit for storing the tissue change characteristic value of the known tissue;
The judging unit is used for comparing the tissue change characteristic value of the current cut tissue with the tissue change characteristic value of the known tissue stored in the host computer, and identifying and classifying the type of the current cut tissue;
Before obtaining the tissue change characteristic value of the current cut tissue, obtaining the impedance change characteristic value through impedance and current-voltage phase difference data, integrating the impedance change characteristic value into an impedance change curve according to time change, and performing circular fitting on the impedance change curve according to a least square method.
By adopting the technical scheme, the invention has the following beneficial effects:
1. The invention collects impedance and phase difference parameters at different frequencies for tissue identification by utilizing the detuning stage at the beginning of cutting, does not need to add an additional data collection flow in the cutting process, and does not interfere the cutting process.
2. The invention can judge the tissue type at the beginning of cutting, at this time, the actions of the cutter head and the tissue are not severe, and the state of the tissue is relatively stable, thereby accurately identifying the tissue type.
3. The invention makes corresponding energy adjustment while identifying tissue types, thereby avoiding energy adjustment in the middle of cutting, which leads to lag in energy adjustment effect and influences user experience.
Drawings
FIG. 1 is a graph of current, frequency, and phase difference over time during ultrasonic blade cutting;
FIG. 2 is a two-dimensional plot of the useful power component of the impedance during the cutting phase, the useful power component of the impedance, and an impedance circle fitted from this plot;
FIG. 3 is a two-dimensional curve plotted with the useful work component of admittance, the useful work component of admittance during the cutting phase, and an admittance circle fitted from this curve;
Fig. 4 is a schematic diagram of the control method of the present invention.
Detailed Description
The application is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the application and are not limiting of the application. It should be noted that, for convenience of description, only the portions related to the application are shown in the drawings.
It should be noted that, without conflict, the embodiments of the present application and features of the embodiments may be combined with each other. The application will be described in detail below with reference to the drawings in connection with embodiments.
In the ultrasonic soft tissue operation device, the energy output mode of the ultrasonic knife is constant current output (current I), and in the energy output process, the driving voltage U can be changed along with the tissue cutting process, so that the output power P of the host is also in a dynamic change state. When the actual impedance of the knife tip of the ultrasonic knife is changed after the knife tip contacts the tissue and the temperature of the piezoelectric ceramic in the handle is changed, the host changes the frequency of the output current in real time, so that the ultrasonic transducer always works near a positive resonance point with higher working efficiency. In the whole cutting process of the ultrasonic knife, the voltage-current sensor acquires the driving voltage U, the output current I, the voltage-current phase difference theta (hereinafter referred to as phase difference) and the output frequency F in real time, and sends the parameters to the host.
As shown in fig. 1, during the actual cutting of tissue, the host computer has three output phases from the time the excitation signal is received to the time the resonant frequency is output.
Output stage one: after receiving the excitation signal, the host starts to regulate the output current, and the output current is gradually loaded to the rated current. In the process, the current of the main machine is always in a regulating state, so that the output frequency of the main machine is not equal to the resonance frequency of the cutter point, the cutter point is in a detuning state and the current is in an unstable state.
Output stage II: the output current of the host reaches and remains near the rated current. In this process, the output current of the host machine is stabilized, and the output frequency of the host machine is gradually changed from one frequency to another frequency, which is equivalent to sweeping the tool tip. However, the cutter point is still in a detuned state in the process, the cutting efficiency is low, and the action with the tissue is not severe, so that the state of the tissue is relatively stable, and sweep frequency data in the stage can be used as the identification basis of the tissue type.
And an output stage III: the output frequency of the host reaches the resonance frequency of the cutter tip, and the host changes the output current in real time according to the change of the state of the cutter tip, so that the cutter tip has normal cutting efficiency and generates severe interaction with tissues.
In the above three output phases, only the output current of the second output phase is kept stable, and the knife tip is in a detuned state, so that in the process of loading the output frequency by the host in the second output phase, the tissue can still keep the original stable state under the interaction between the knife tip and the tissue, and the type of the tissue can be determined by using the detection data of the second output phase. However, if the data of the output stage two is to be utilized, the starting time point and the ending time point of the output current of the host computer to be stable need to be determined, that is, the starting time point and the ending time point of the ultrasonic knife entering the stable working state need to be determined.
The method for judging whether the ultrasonic knife enters the starting time point of the stable working state comprises the following steps:
calculating the absolute value of the difference between the output current I of the host and the rated current of the current gear in real time;
And when the absolute value is smaller than the set threshold value, judging that the ultrasonic knife enters a stable working state. The threshold value may be set to any value of 1 to 5 ma.
In addition, it is also necessary to determine the end time point of the second output stage, that is, whether or not the tip is shifted from the detuned state to the resonant state. The judging method comprises the following steps:
In the ultrasonic knife cutting process, the knife tip is converted into a resonance state from a detuned state, the output frequency of the main machine is always in a state of gradually rising to the resonance frequency of the knife tip, then the knife tip enters the resonance state, and the frequency of the knife tip gradually decreases due to severe interaction between the knife tip and tissues, so that the moment when the output frequency of the main machine is maximized can be used as the ending time point of the second output stage.
In the present invention, when determining the end time point of the output stage two, the end time point of the output stage two may be checked by using the phase difference θ. When the cutter point is converted into a resonance state from a detuned state, the phase difference theta is gradually reduced from a larger value until the cutter point enters the resonance state, and the phase difference theta is stabilized. Therefore, whether the second output stage is ended is confirmed by detecting whether the phase difference θ gradually decreases and finally remains in a stable section.
After confirming the second output stage, the host computer judges the type of the current cut tissue by using the detection data of the second output stage in the third output stage.
In the first embodiment of the present invention, the host collects the impedance R and the phase difference θ data, and obtains the impedance variation characteristic value according to the impedance R and the phase difference θ data.
The impedance R is obtained by driving the voltage U and the output current I according to the following formula:
（1）；
the impedance R can be decomposed into two orthogonal components, i.e
（2）；
（3）。
Where R Has the following components is the useful work component of the impedance R, and R Without any means for is the useful work component of the impedance R.
From the useful work component and the idle work component of the impedance R, the impedance change characteristic value is constituted by the useful work component and the idle work component of the impedance R. And establishing a coordinate system by taking the useful work component of the impedance R as an x-axis and the useful work component of the impedance R as a y-axis, and acquiring a curve of the impedance R in the coordinate system close to a circular contour in the output stage to obtain an impedance circle. The impedance circle is a two-dimensional space curve formed by drawing the characteristic value of impedance change of the blade edge at a large range of different frequencies with the useful work component of the impedance R as the x-axis and the idle work component of the impedance R as the y-axis, and the contour of the curve is close to a circle, which is called an impedance circle. The characteristic parameters of the impedance circle are the center position (a, B) and the radius r, and therefore, the characteristic parameters of the tissue variation characteristic values, namely, the center position (a, B) and the radius r of the impedance circle.
In the second output stage, the range of variation of the output frequency of the host is limited, so that the curve of the impedance R in the coordinate system is generally a part of the outline of the impedance circle, and therefore, the radius and the center position of the impedance circle cannot be directly obtained. For this, the curve of the impedance R may be circular fitted so that it satisfies the complete circular feature. In the process of circular fitting, a least square method can be adopted to perform fitting to obtain the radius and the center position of an impedance circle, so as to obtain the tissue change characteristic value, as shown in fig. 2.
The specific method for fitting the impedance circle by the least square method comprises the following steps:
the radius of the impedance circle is calculated as R, the center of the circle is calculated as (A, B), and the useful work component of the impedance R acquired in the output stage II is recorded as The idle component of the impedance R is noted as，N is the number of collected points.
The round equation can be written as:
（4），
This equation can be rewritten as:
（5），
Wherein, ，，。
The deviation sum is calculated according to the least squares method, and then:
（6），
to minimize the sum of the deviations, their first derivatives with respect to a, b, c should be zero, i.e.:
（7）；
the above-mentioned method is rewritten into a matrix form, and includes:
（8）；
the solution of the above method can be obtained:
（9）；
Wherein,
；
；
；
；
。
Solving a, b and c according to the formula (9), substituting the values of a, b and c into the solution formula A, B, r to obtain the value of A, B, r, thereby obtaining the characteristic parameter of the impedance circle, wherein the characteristic parameter is the characteristic value of the tissue change of the current cut tissue.
After the tissue change characteristic value of the current cut tissue is obtained, the tissue change characteristic value is compared with the tissue change characteristic value of the tissue stored in the host computer, one or more of absolute errors, weighted errors and Euclidean distances are adopted in the comparison mode, and when the comparison result of the tissue change characteristic value of the current cut tissue and the tissue change characteristic value of the tissue stored in the host computer is smaller than a set threshold value, the type of the current cut tissue can be judged.
In the invention, after judging the type of the current cutting tissue, the host adjusts the output current to adapt the output current to the current cutting tissue.
In the second embodiment of the present invention, the radius and the center of the admittance circle may also be used as the tissue variation characteristic value. The admittance circle is a two-dimensional space curve formed by drawing the characteristic value of impedance change of the tool nose under different frequencies in a large range by taking the useful work component of the admittance as an x axis and the idle work component of the admittance as a y axis, and the outline of the two-dimensional space curve is close to a circle, and is called an admittance circle, and the main characteristic of the admittance circle is also the radius and the circle center position of the admittance circle. The radius and center position of the admittance circle are obtained by adopting the fitting mode same as that in the first embodiment, so that the tissue variation characteristic value is obtained, as shown in fig. 3.
Admittance Y is calculated from the following formula:
（10）；
Admittance consists of a useful work component and an idle work component, the useful work component of admittance being calculated by the following formula:
（11）；
The idle work component of admittance is calculated from the following formula:
（12）。
In the third embodiment of the present invention, the distribution relationship of the impedance circle and the admittance circle in space may also be used as the tissue variation characteristic value. For example: the impedance circle and the admittance circle are drawn under the same two-dimensional coordinate system, and according to the different spatial distribution, the two circles are in tangential, intersecting and separating states, and the states can be used as the characteristic values of tissue change.
According to the invention, through a cutting test on known tissues, the tissue change characteristic values corresponding to different tissues are obtained, the corresponding tissue change characteristic values are stored in the host, when the ultrasonic knife cuts the current tissues, the host reads in real time during calculation, and then the tissue change characteristic values obtained in the current cutting process are compared with the tissue change characteristic values of different tissues, so that the current cut tissues are identified and classified. And then the host machine can control the output current according to the identified and classified tissue types, so that the cutting effect of the cutter tip of the ultrasonic cutter on the current tissue is correspondingly adjusted.
Based on the ultrasonic knife cutting tissue identification and classification method, the invention provides an ultrasonic knife cutting tissue identification and classification system, which comprises a host machine, wherein the host machine is internally provided with:
The data acquisition unit is used for acquiring the real-time state of the ultrasonic knife and frequency, impedance, current and voltage phase difference data output by the host;
The data operation unit is used for calculating and obtaining a tissue change characteristic value of the current cut tissue according to the obtained frequency, impedance and phase difference data;
A data storage unit for storing the tissue change characteristic value of the known tissue;
the judging unit is used for comparing the tissue change characteristic value of the current cut tissue with the tissue change characteristic value of the known tissue stored in the host computer to identify the type of the current cut tissue;
and the control unit is used for adjusting the output current of the ultrasonic knife in a mode suitable for the determined tissue type.
The above description is only illustrative of the preferred embodiments of the present application and of the principles of the technology employed. It will be appreciated by persons skilled in the art that the scope of the application referred to in the present application is not limited to the specific combinations of the technical features described above, but also covers other technical features formed by any combination of the technical features described above or their equivalents without departing from the inventive concept. Such as the above-mentioned features and the technical features disclosed in the present application (but not limited to) having similar functions are replaced with each other.
Other technical features besides those described in the specification are known to those skilled in the art, and are not described herein in detail to highlight the innovative features of the present invention.
Claims (1)
1. The ultrasonic knife cutting tissue identification and classification system is characterized by comprising a host machine, wherein the host machine is internally provided with:
the data acquisition unit is used for acquiring the real-time state of the ultrasonic knife and the frequency, impedance, current and voltage phase difference data output by the host;
The data operation unit is used for calculating and obtaining a tissue change characteristic value of the current cut tissue according to the obtained frequency, impedance and current-voltage phase difference data;
A data storage unit for storing the tissue change characteristic value of the known tissue;
the judging unit is used for comparing the tissue change characteristic value of the current cut tissue with the tissue change characteristic value of the known tissue stored in the host computer to identify the type of the current cut tissue;
The impedance and current-voltage phase difference data used for calculating the tissue change characteristic value of the current cut tissue are data during a current stable state, and the judging method of the current stable state comprises the following steps:
s11, collecting output current of a host in real time;
S12, comparing the absolute value of the difference value between the acquired output current and the rated current of the current gear with a set threshold value, and judging that the ultrasonic knife enters a current stable state when the absolute value is smaller than the threshold value;
s13, acquiring frequency data in real time, and taking the moment when the frequency data has a maximum value as the ending moment of the current steady state;
Before obtaining the tissue change characteristic value of the current cut tissue, obtaining the impedance change characteristic value through the impedance and current-voltage phase difference data, integrating the impedance change characteristic value into an impedance change curve according to time change, and performing circular fitting on the impedance change curve according to a least square method.
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