WO2024016782A1 - 超声刀能量输出控制系统、方法及计算机可读存储介质 - Google Patents

超声刀能量输出控制系统、方法及计算机可读存储介质 Download PDF

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Publication number
WO2024016782A1
WO2024016782A1 PCT/CN2023/091834 CN2023091834W WO2024016782A1 WO 2024016782 A1 WO2024016782 A1 WO 2024016782A1 CN 2023091834 W CN2023091834 W CN 2023091834W WO 2024016782 A1 WO2024016782 A1 WO 2024016782A1
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WO
WIPO (PCT)
Prior art keywords
state
surgical operation
ultrasonic scalpel
energy
cutter head
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Application number
PCT/CN2023/091834
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English (en)
French (fr)
Inventor
涂有强
左鹏飞
范庚
岑建
Original Assignee
武汉迈瑞医疗技术研究院有限公司
深圳迈瑞生物医疗电子股份有限公司
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Application filed by 武汉迈瑞医疗技术研究院有限公司, 深圳迈瑞生物医疗电子股份有限公司 filed Critical 武汉迈瑞医疗技术研究院有限公司
Publication of WO2024016782A1 publication Critical patent/WO2024016782A1/zh

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Classifications

    • 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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges

Definitions

  • This application relates to the field of data processing, and specifically relates to an ultrasonic scalpel energy output control system, an ultrasonic scalpel energy output control method, and a computer-readable storage medium.
  • Ultrasound scalpel is an energy device used in surgical scenarios. It converts electrical energy into mechanical vibration and transmits it to the blade. The vibrating blade contacts the tissue and uses mechanical impact to switch tissue or coagulate tissue.
  • the ultrasonic scalpel provides energy output at a fixed amplitude level. If the ultrasonic scalpel outputs energy at a fixed amplitude level under all circumstances, the quality of the surgery will be affected. For example, when performing surgical operations such as drilling, if the surgeon does not stop activating the ultrasonic scalpel after drilling the tissue, and still outputs energy at the fixed amplitude level, there will be a problem when retrieving the ultrasonic scalpel tip from the tissue. It may accidentally injure other tissues and reduce the quality of surgery.
  • Embodiments of the present application provide an ultrasonic scalpel energy output control system, an ultrasonic scalpel energy output control method, and a computer-readable storage medium, which can improve the quality of surgery.
  • the embodiment of the present application provides an ultrasonic scalpel energy output control system, including: an ultrasonic scalpel, a transducer, a measurement unit, and an ultrasonic host.
  • the ultrasonic scalpel includes a blade head and a blade handle assembly, wherein:
  • the cutter head is used to process tissue.
  • the cutter head includes a first cutter head assembly and a second cutter head assembly.
  • the first cutter head assembly and the second cutter head assembly move relative to each other around an axis.
  • the cutter head changes between the first cutter head state and the second cutter head state, so The state of the first cutter head is an open state, and the state of the second cutter head is a closed state;
  • the tool handle assembly is used to connect the transducer and the tool head
  • the transducer is used to convert the received electrical energy into kinetic energy, and transmit the kinetic energy to the tool head through the tool handle assembly;
  • the measurement unit is used to obtain the electrical parameters when the ultrasonic scalpel energy output control system is working, and send the electrical parameters to the ultrasonic host.
  • the electrical parameters include current, voltage, power, impedance or frequency. at least one of;
  • the ultrasonic host is used to provide electrical energy to the transducer, and when the ultrasonic scalpel performs a surgical operation, determine that the ultrasonic scalpel is currently operating according to the open state or closed state and the electrical parameters.
  • the surgical operation performed by the ultrasonic scalpel is performed, and the energy delivered to the ultrasonic scalpel is controlled according to the surgical operation currently being performed by the ultrasonic scalpel.
  • Embodiments of the present application also provide an ultrasonic scalpel energy output control method, which is applied in an ultrasonic scalpel energy output control system.
  • the ultrasonic scalpel energy output control system includes an ultrasonic scalpel, a transducer, and an ultrasonic host.
  • the ultrasonic scalpel includes Blade head, including:
  • the cutter head is used to process tissue.
  • the cutter head includes a first cutter head assembly and a second cutter head assembly.
  • the first cutter head assembly and the second cutter head assembly move relative to each other around an axis. causing the cutter head to change between a first cutter head state and a second cutter head state, with the first cutter head state being an open state and the second cutter head state being a closed state;
  • the transducer is used to convert the received electrical energy into kinetic energy and transmit the kinetic energy to the cutter head;
  • the ultrasonic host is connected to the transducer, and the ultrasonic host is used to provide electrical energy to the transducer;
  • the ultrasonic scalpel energy output control method includes:
  • the ultrasonic scalpel energy output control system is working, where the electrical parameters include at least one of current, voltage, power, impedance or frequency;
  • the surgical operation currently being performed by the ultrasonic scalpel is determined based on the open state or closed state and the electrical parameters, and the surgical operation currently being performed by the ultrasonic scalpel is determined. Control the energy delivered to the ultrasonic scalpel.
  • Embodiments of the present application also provide a computer-readable storage medium, the computer can Reading the storage medium stores instructions, and when the instructions are executed by the processor, any one of the above ultrasonic scalpel energy output control methods is implemented.
  • the ultrasound host adopted by the embodiment of the present application determines the operation currently being performed by the ultrasonic scalpel based on the open or closed state of the ultrasonic scalpel blade and the electrical parameters when the ultrasonic scalpel energy output control system is working. operate, and control the energy delivered to the ultrasonic scalpel according to the surgical operation currently being performed by the ultrasonic scalpel.
  • the status of the blade head defined in the embodiment of this application includes two types, the open state and the closed state.
  • the delivery to the ultrasound is controlled based on the surgical operation.
  • the energy of the knife can be adjusted to adjust the energy output of the ultrasonic knife to improve the quality of surgery.
  • a sensor is provided in the ultrasonic scalpel energy output control system, and the sensor is used to sense the status of the ultrasonic scalpel head to obtain a sensing signal.
  • the electrical parameters of the knife energy output control system during operation control the supply of corresponding energy to the transducer of the ultrasonic knife to control the transducer to provide corresponding kinetic energy to control the energy output of the ultrasonic knife. In this way, according to the induction signal of the sensor And/or the electrical parameters when the ultrasonic scalpel energy output control system is working are used to adjust the kinetic energy provided by the transducer.
  • Figure 1 is a schematic structural diagram of a system under the control of an ultrasonic scalpel provided by an embodiment of the present application;
  • Figure 2 is another structural schematic diagram of a system under the control of an ultrasonic scalpel provided by an embodiment of the present application;
  • Figure 3 is a schematic diagram of electrical parameters when clamping and cutting tissue provided by an embodiment of the present application.
  • Figure 4 is a schematic diagram of the power and the state of the cutter head when clamping and cutting tissue provided by the embodiment of the present application;
  • Figure 5 is a diagram of power and cutter head status during multiple dorsal cuts of tissue provided by the embodiment of the present application. schematic diagram;
  • Figure 6 is a schematic diagram of the power and the state of the cutter head when drilling tissue according to the embodiment of the present application.
  • Figure 7 is a schematic flow chart of an ultrasonic scalpel energy output control method provided by an embodiment of the present application.
  • Figure 8 is a schematic flow chart for determining tissue status based on power provided by an embodiment of the present application.
  • Figure 9 is a schematic flow chart of an ultrasonic scalpel energy output control method provided by an embodiment of the present application.
  • Figure 10 is a schematic flow chart of an ultrasonic scalpel energy output control method provided by an embodiment of the present application.
  • Figure 11 is another schematic flow chart of the ultrasonic scalpel energy output control method provided by the embodiment of the present application.
  • Figure 12 is another schematic flowchart of the ultrasonic scalpel energy output control method provided by an embodiment of the present application.
  • connection should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; It can be mechanically connected or electrically connected or can communicate with each other; it can be directly connected or indirectly connected through an intermediate medium. The internal connection between two elements or the interaction between two elements.
  • the ultrasonic scalpel energy output control system, the ultrasonic scalpel energy output control method and the computer-readable storage medium in the embodiments of the present application will be described in detail respectively. It should be noted that the order of description of the following embodiments does not limit the preferred order of the embodiments.
  • FIG. 1 is a schematic structural diagram of an ultrasonic scalpel energy output control system provided by an embodiment of the present application.
  • FIG. 2 is another structural schematic diagram of an ultrasonic scalpel energy output control system provided by an embodiment of the present application.
  • the ultrasonic scalpel energy output control system 100 includes an ultrasonic host 110, a transducer 120, an ultrasonic scalpel 130 and a measurement unit 140.
  • the ultrasonic host 110 is connected to the transducer 120, and the transducer 120 is connected to the transducer 120.
  • the ultrasonic scalpel 130 is connected, and the measurement unit 140 is connected with the ultrasound host 110 .
  • the ultrasound host 110 includes a controller 111 and a driving unit 112 , where the driving unit 112 is connected to the controller 111 .
  • the ultrasonic scalpel 130 includes a blade head 131 .
  • the ultrasonic scalpel 130 also includes a handle assembly 132 , and further, the ultrasonic scalpel 130 further includes a sensor 133 .
  • the sensor 133 is communicatively connected with the measurement unit 140, and the tool head 131 is connected with the tool handle assembly 132.
  • Each object/component/element in the ultrasonic scalpel energy output control system 100 will be further introduced below.
  • the cutter head 131 is the execution component of the ultrasonic scalpel 130. Specifically, the cutter head 131 can be used to perform surgical operations including but not limited to punching, back cutting, cutting, clamping cutting or coagulation. The blade 131 is in contact with the patient's tissue during the surgical operation.
  • the cutter head 131 is used to process tissue.
  • the cutter head 131 includes a first cutter head assembly and a second cutter head assembly.
  • the first cutter head assembly and the second cutter head assembly move relatively around an axis, so that the cutter head 131 moves at the There is a change in the first cutter head state and the second cutter head state, the first cutter head state is an open state, and the second cutter head state is a closed state.
  • the tool handle assembly 132 is used to connect the transducer 120 and the tool head 131 .
  • the sensor 133 is used to obtain a sensing signal according to the status of the cutter head 131 .
  • the number of sensors 133 may be one or multiple.
  • the sensor 133 may be disposed in the tool handle assembly 132 and/or in the tool head 131, and the location of the sensor 133 is not specifically limited.
  • the sensor 133 may be any type of contact sensor, such as a pressure sensor.
  • the sensor 133 may be provided in the tool handle assembly 132 or in the tool head 131.
  • the sensor 133 may also be any type of contact sensor.
  • a proximity sensor such as a ranging proximity sensor, correspondingly, the sensor 133 may be disposed in the cutter head 131 .
  • the sensor 133 can also be any electrical sensor, such as a Hall sensor, or any mechanical sensor, such as a switch sensor.
  • the specific sensor 133 is not specifically limited.
  • the transducer 120 is used to convert the received electrical energy into kinetic energy and transmit the kinetic energy to the cutter head 131 , for example, through the cutter handle assembly 132 to transfer the kinetic energy to the cutter head 131 .
  • the piezoelectric ceramic in the transducer 120 converts electrical energy into mechanical vibration energy, and the mechanical vibration energy is amplified and transmitted to the cutter head 131 through the horn.
  • the measurement unit 140 is used to obtain the electrical parameters when the ultrasonic scalpel energy output control system 100 is working, and send the electrical parameters when the ultrasonic scalpel energy output control system 100 is working to the ultrasound host 110 .
  • the measurement unit 140 is used to obtain the induction signal of the sensor 133 and the electrical parameters when the ultrasonic scalpel energy output control system 100 is working, and send the induction signal and the electrical parameters to the ultrasound host 110 .
  • the induction signal can be used to determine the cutter head state of the cutter head 131.
  • the cutter head status involved in the embodiment of the present application includes the first cutter head state and the second cutter head state, that is, the open state and the closed state.
  • the measurement unit 140 includes a circuit.
  • the measurement unit 140 is integrated in the ultrasound host 110 as a part/a component of the ultrasound host 110; in another embodiment, the measurement unit 140 can also be integrated in the ultrasonic scalpel 130 as a component of the ultrasonic scalpel 130. part/part. No matter where the measurement unit 140 is integrated, its corresponding function remains unchanged, that is, to obtain the induction signal of the sensor 133 and/or the electrical parameters when the ultrasonic scalpel energy output control system 100 is working, and send the induction signal and/or electrical parameters to A component/component/object whose data can be processed, such as the controller 111.
  • the ultrasonic host 110 is connected to the transducer 120.
  • the ultrasonic host 110 is used to provide electrical energy to the transducer 120, and obtain the sense when and/or after activating the ultrasonic scalpel 130.
  • the energy delivered to the ultrasonic scalpel 130 is controlled based on the sensing signal and/or the electrical parameter.
  • the corresponding electrical energy is used to drive the transducer 120 to provide corresponding kinetic energy, thereby controlling the energy delivered to the ultrasonic scalpel 130.
  • the transducer 120 is controlled to provide the corresponding Voltage, corresponding current, or corresponding power corresponds to kinetic energy, thus controlling the energy delivered to the ultrasonic scalpel 130 . That is, by providing currents with different voltages, different currents and different powers to the transducer 120, the transducer 120 is controlled to provide corresponding kinetic energy to control the energy delivered to the ultrasonic scalpel 130.
  • the ultrasound host 110 provides fixed electrical energy to the transducer 120.
  • the ultrasound host 110 controls the transducer 120 according to the induction signal and/or electrical parameters, so that the transducer 120 processes the fixed electrical energy to adjust the conversion.
  • the kinetic energy provided by the transducer 120 is used to control the energy delivered to the ultrasonic scalpel 130.
  • the transducer 120 has a microchip. This situation will not be described in more detail in the embodiment of this application.
  • the driving unit 112 of the ultrasound host 110 is used to provide electric energy to the transducer 120 and drive the transducer 120 to work.
  • the controller 111 is used to determine the surgical operation currently being performed by the ultrasonic scalpel 130 according to the open state or closed state of the blade head 131 and the electrical parameters when the ultrasonic scalpel 130 is performing a surgical operation, and determine the surgical operation currently being performed by the ultrasonic scalpel 130 according to the current operation.
  • the surgical operation performed controls the energy delivered to the ultrasonic scalpel 130 .
  • the ultrasonic host 110 provides high-frequency electric energy and transmits it to the transducer 120, and the piezoelectric ceramics in the transducer 120 convert the electric energy into mechanical vibration energy (the kinetic energy below includes the mechanical vibration).
  • the mechanical vibration energy is amplified and transmitted to the cutter head 131 through the horn.
  • the cutter head 131 generates a vibration of about 55.5 kHz with a vibration amplitude of about 50-100 ⁇ m.
  • the vibrating cutter head 131 is in contact with the patient's tissue. Due to the mechanical The impact breaks the protein hydrogen bonds of the tissue.
  • the ultrasonic host 110 such as the controller 111 of the ultrasonic host 110, is also used to determine the cutter head status of the cutter head 131 based on the induction signal, and control the energy delivered to the ultrasonic cutter 130 according to the cutter head status, such as controlling the exchange of
  • the energizer 120 provides corresponding kinetic energy to control the energy output of the ultrasonic scalpel 130 .
  • the controller 111 controls the driving unit 112 to provide corresponding electrical energy to the transducer 120 according to the state of the blade, so that the transducer 120 provides corresponding kinetic energy that matches the electrical energy to control the energy delivered to the ultrasonic scalpel 130 .
  • the induction signal is only used to determine the status of the cutter head.
  • the controller 111 controls the transducer 120 to provide corresponding kinetic energy according to the status of the cutter head, thereby adjusting the kinetic energy provided by the transducer 120 to adjust the energy of the ultrasonic scalpel 130 output to improve the quality of surgery.
  • the cutter head state of the cutter head 131 includes an open state and a closed state.
  • the ultrasonic host 110 such as the controller 111 of the ultrasonic host 110, is also used to control the energy delivered to the ultrasonic scalpel 130 to be a fixed energy when the induction signal indicates that the status of the blade head is an open state, such as controlling the exchange of energy.
  • the energizer 120 provides fixed kinetic energy to control the ultrasonic scalpel 130 to provide fixed energy output.
  • the control driving unit 112 provides preset electrical energy to the transducer 120, and the preset electrical energy is at a preset voltage, a preset current, or a preset power. to determine any one or more of them, so that the transducer 120 provides kinetic energy matching the preset voltage, preset current or preset power to control the ultrasonic scalpel 130 to fix the energy output.
  • the preset voltage is a certain fixed voltage
  • the preset current is a certain fixed current
  • the preset power is a certain fixed power.
  • the preset voltage, preset current or preset power is normal for the ultrasonic scalpel energy output control system 100
  • the corresponding voltage, current or power during operation is such that the transducer 120 outputs kinetic energy with a fixed amplitude (such as a preset amplitude), which will not be described again below.
  • the above-mentioned determination of the cutter head status of the cutter head 131 based on the induction signal includes: if there is a change in the induction signal, the determined cutter head status of the cutter head 131 is an open state, and if there is no change in the sensing signal, it is determined that the cutter head state of the cutter head 131 is a closed state.
  • the proximity sensor 133 when the sensor 133 is a proximity sensor, when the cutter head 131 is in a closed state, the proximity sensor will not be triggered. At this time, the proximity sensor has no sensing signal, or there is no change in the sensing signal, and when the cutter head 131 is opened, , the proximity sensor can detect, And generate an induction signal, therefore, there is a change in the induction signal.
  • the sensor 133 is a switch sensor
  • the cutter head 131 of the ultrasonic scalpel 130 is opened according to the pressure signal.
  • the cutter head 131 of the ultrasonic scalpel 130 is in a closed state, there is no need to trigger.
  • the switch sensor when the sensor 133 is a switch sensor, when the pressure signal on the pressure sensor is detected, the cutter head 131 of the ultrasonic scalpel 130 is opened according to the pressure signal.
  • the cutter head 131 of the ultrasonic scalpel 130 is in a closed state, there is no need to trigger.
  • the switch sensor when the sensor 133 is a switch sensor, when the pressure signal on the pressure sensor is detected, the cutter head 131 of the ultrasonic scalpel 130 is opened according to the pressure signal.
  • the ultrasonic host 110 such as the controller 111 of the ultrasonic host 110, is also used to control the energy delivered to the ultrasonic scalpel 120 to be a fixed energy when the induction signal indicates that the status of the blade head is a closed state, for example, to control the exchange of energy.
  • the energizer 120 provides fixed kinetic energy to control the ultrasonic scalpel 130 to provide fixed energy output.
  • the ultrasound host 110 such as the controller 111 of the ultrasound host 110, is also used to determine the status of the blade 131 based on the sensing signal, and determine the surgical operation currently being performed by the ultrasound blade 130 based on the status of the blade, or The surgical operation currently being performed by the ultrasonic scalpel 130 is determined according to the status of the blade and the electrical parameters, and the energy delivered to the ultrasonic scalpel 130 is controlled according to the surgical operation currently being performed by the ultrasonic scalpel 130 .
  • the sensing signal is only used to determine the status of the cutter head.
  • the surgical operation is determined, and finally the energy delivered to the ultrasonic scalpel 130 is controlled according to the surgical operation to control the ultrasonic scalpel 130 under different status of the cutter head.
  • the corresponding energy is output during the surgical operation to improve the quality of surgery.
  • determining the surgical operation currently being performed by the ultrasonic scalpel 130 according to the status of the cutter head includes: if the status of the cutter head is an open state, determining the surgical operation as the first operation, and the first operation includes drilling or dorsal cutting; if the cutter head The state is the closed state, and the surgical operation is determined to be the second operation, and the second operation includes clamping and cutting, trimming or coagulation. In this embodiment, the surgical operation is determined only based on the status of the blade.
  • determining the surgical operation currently being performed by the ultrasonic scalpel 130 according to the status of the cutter head and the electrical parameters includes: if the status of the cutter head is in the open state and the electrical parameters have changed, determining that the surgical operation is the first operation, and the first operation Including punching or back cutting; if the status of the blade head is closed and the electrical parameters change, the surgical operation is determined to be the second operation, and the second operation includes clamping cutting, cutting or coagulation.
  • the surgical operation is determined based on the status of the cutter head and the electrical parameters. As long as the electrical parameters change, it means that the current operation is being performed. When performing a surgical operation, the situation that no surgical operation is currently performed or that other surgical operations are currently performed is eliminated, thereby improving the accuracy of determining the surgical operation.
  • determining the surgical operation currently being performed by the ultrasonic scalpel 130 is based on the status of the cutter head and the electrical parameters, including: if the status of the cutter head is in the open state and the electrical parameters conform to the electrical parameter curve corresponding to the first operation, then determining that the surgical operation is the third operation.
  • the first operation is drilling or dorsal incision; if the state of the knife head is in the closed state, and the electrical parameters conform to the electrical parameter curve corresponding to the second operation, it is determined that the surgical operation is the second operation, and the second operation includes clipping. Keep cutting, cropping or closing.
  • the surgical operation is determined based on the status of the cutter head and the electrical parameters. Not only does the electrical parameter need to change, that is, the ultrasound host energy is being output, but the electrical parameter needs to conform to the electrical parameter curve of the corresponding operating mode. Determining the corresponding surgical operation further improves the accuracy of determining the surgical operation.
  • the electrical parameters include any one or more of power, voltage, current, frequency, and impedance.
  • the corresponding surgical operation can be determined based on the electrical parameters, but also the surgical operation status of the surgical operation can be determined based on the electrical parameters (to be described below), and the tissue status corresponding to the surgical operation can also be determined based on the electrical parameters. (Described below).
  • FIG. 3 is a schematic diagram of electrical parameters when clamping and cutting tissue provided by an embodiment of the present application.
  • the electrical parameters of the ultrasonic scalpel energy output control system 100 vary according to different surgical operations.
  • the electrical parameters will change accordingly according to the tissue cutting status, so the electrical parameters can be changed according to the corresponding electrical parameters.
  • the changes in parameters further identify the tissue cutting status (tissue cutting status, which can also be called tissue status).
  • tissue cutting status tissue cutting status
  • the corresponding tissue cutting status corresponds to the following words: about to be cut (the tissue is about to be separated), and has been cut (the tissue has been separated). (off), etc.
  • the surgical operation status can be further identified based on the changes in the corresponding electrical parameters, such as the operation is about to end status and the status below. Operation end status, etc.
  • the top electrical parameter curve is the impedance curve
  • the middle electrical parameter curve is the voltage curve
  • the bottom electrical parameter curve is the power curve.
  • the time from 0 seconds to the first peak means that during the excitation phase of the ultrasonic scalpel 130, the energy output of the ultrasonic scalpel energy output control system 100 rapidly increases to a maximum value, that is, the power The value corresponding to the first peak of the curve, where the impedance decreases from high to high.
  • it starts to decrease from the maximum value it means that the ultrasonic knife energy output control system 100 starts to perform clamping cutting. In the initial stage of clamping cutting, the energy output of the ultrasonic knife energy output control system 100 gradually increases to the desired energy.
  • the energy output control system 100 also gradually enters the resonance state. At this time, the voltage and power of the ultrasonic scalpel energy output control system 100 gradually increase, and the impedance gradually decreases as the system enters the resonance state; during the clamping and cutting process, as the cutter head 131 The increase in temperature causes tissue moisture to evaporate, and the load on the cutter head 131 gradually increases.
  • the impedance, voltage and power of the ultrasonic knife energy output control system 100 all increase; at the end of the clamping and cutting process, as the cut tissue decreases , the load on the blade head gradually decreases, and at this time, the impedance, voltage and power of the ultrasonic scalpel energy output control system 100 are all reduced; when the ultrasonic scalpel 130 leaves the tissue, the impedance, voltage and power of the ultrasonic scalpel energy output control system 100 are all reduced. drop rapidly.
  • Figure 4 is a schematic diagram of power and cutter head status when clamping and cutting tissue provided by an embodiment of the present application.
  • the above picture is a schematic diagram of the power when clamping and cutting tissue, the abscissa is time, and the ordinate is power;
  • the diagram below is a schematic diagram of the cutter head status, the abscissa is time, and the 1 on the ordinate indicates the cutter head status or the jaw status. Closed state, 0 indicates that the cutter head state or the jaw state is open. It can be seen from the power diagram that the power changes from the beginning to the first peak, which means that during the excitation stage of the ultrasonic scalpel 130, the energy output of the ultrasonic scalpel energy output control system 100 rapidly increases to the maximum value.
  • the ultrasonic knife energy output control system 100 begins to perform clamping and cutting.
  • the ultrasonic knife energy output control system 100 will gradually enter the resonance state.
  • the power of the ultrasonic scalpel energy output control system 100 increases, for example, between about 1 second and 1.5 seconds; during clamping At the end of cutting, as the cut tissue decreases, The load on the cutter head 131 gradually decreases.
  • the power of the ultrasonic knife energy output control system 100 is in a reduced state. For example, between about 1.5 seconds and 2 seconds, the cutting is about to be completed. At about 2.5 seconds, the excitation stops.
  • Figure 5 is a schematic diagram of power and cutter head status during multiple back-cutting of tissue provided by an embodiment of the present application.
  • Figure 6 is a schematic diagram of power and cutter head status when drilling tissue according to an embodiment of the present application.
  • the corresponding surgical operation currently being performed by the ultrasonic scalpel 130 can be identified according to the electrical parameter diagrams shown in Figures 5 and 6.
  • the surgical operation status can be determined based on the electrical parameters, such as the operation progress status, operation end status, etc. in the following.
  • the tissue status can be further identified based on the changes in the corresponding electrical parameters, such as when the operation is punching or dorsal cutting, and when the punching or dorsal cutting is completed, etc.
  • the upper picture is a schematic diagram of the power of multiple dorsal cuts of tissue, and the zero in the lower picture indicates that the state of the blade is open.
  • the change from the power representation to the first small peak means that the ultrasonic scalpel energy output control system 100 drops from the power to the first extremely low point (such as about 3 seconds) once during the excitation phase.
  • the power change of the dorsal cut tissue of which, about 2 seconds means that the ultrasonic knife 130 gradually leaves the tissue, about 3 seconds means leaving the tissue, and the period from this extreme low point to the next extreme low point is the power change of another dorsal cut tissue (such as about 3 seconds to about 5.7 seconds), and so on.
  • the upper picture is a schematic diagram of the power for punching tissue, and the zero in the lower picture indicates that the cutter head is in an open state.
  • the change from the power representation to the first small peak means that the ultrasonic scalpel energy output control system 100 is in the excitation stage, and then starts to punch holes in the tissue.
  • the line means that the drilling process is completed, and then starting from the maximum power value means that the ultrasonic knife 130 gradually leaves the tissue.
  • the above discloses how to determine the current surgical operation being performed by the ultrasonic scalpel 130 based on the status of the blade, and how to determine the content of the current surgical operation being performed by the ultrasonic scalpel 130 based on the status of the blade and electrical parameters.
  • steps to determine the current surgical operation being performed by the ultrasonic scalpel 130 based on the status of the cutter head, and to determine the current surgical operation being performed by the ultrasonic scalpel 130 based on the status of the cutter head and electrical parameters please refer to the description in this section and will not be repeated. .
  • the energy delivered to the ultrasonic scalpel 130 is controlled according to the surgical operation.
  • the controller 111 controls the driving unit 112 to provide corresponding electrical energy to the transducer 120 according to the surgical operation currently being performed by the ultrasonic scalpel 130, so that the transducer 120 provides corresponding kinetic energy that matches the electrical energy to control delivery to the ultrasound Knife 130 energy.
  • the ultrasonic host 110 such as the controller 111 of the ultrasonic host 110, is also used when the induction signal represents that the state of the blade is an open state, and the open state and the electrical parameters represent the operation currently being performed by the ultrasonic scalpel 130.
  • the operation is the first operation
  • the energy delivered to the ultrasonic scalpel 130 is controlled to be fixed energy, wherein the first operation includes drilling or back cutting.
  • the controller 111 controls the driving unit 112 to provide preset electrical energy to the transducer 120 , and the preset electrical energy is determined by any one or more of a preset voltage, a preset current, or a preset power, so that the transducer 120 120 provides kinetic energy matching the preset voltage, preset current or preset power to control the energy delivered to the ultrasonic scalpel 130 to be fixed energy.
  • the ultrasonic host 110 such as the controller 111 of the ultrasonic host 110, is also used when the induction signal indicates that the state of the blade is a closed state, and the closed state and the electrical parameters indicate that the surgical operation currently being performed by the ultrasonic scalpel 130 is During the second operation, the energy delivered to the ultrasonic scalpel 130 is controlled to be fixed energy, wherein the second operation includes clamping and cutting, trimming or coagulation.
  • the ultrasound host 110 such as the controller 111 of the ultrasound host 110, is also used to determine the status of the cutter head 131 based on the induction signal, determine the surgical operation based on the status of the cutter head, or determine the status of the cutter head and electrical parameters.
  • the surgical operation is determined, the surgical operation status of the surgical operation is determined based on the electrical parameters, and the energy delivered to the ultrasonic scalpel 130 is controlled based on the status of the blade, the surgical operation, and the surgical operation status.
  • the induction signal is only used to determine the status of the cutter head.
  • the induction signal is The energy delivered to the ultrasonic scalpel 130 is controlled together with the surgical operation status to control the ultrasonic scalpel 130 to output corresponding energy in different surgical operation states under different blade head states, thereby improving surgical quality.
  • the surgical operation status includes a non-operation status, an operation in progress status, an operation about to end status, and an operation end status.
  • the unoperated state means that although the ultrasonic scalpel 130 has been activated, the ultrasonic scalpel 130 is not performing any surgical operation;
  • the operation in progress state means that the ultrasonic scalpel is performing a certain surgical operation, such as drilling or dorsal incision. That is, the operation in progress state means that drilling or dorsal cutting is being performed;
  • the operation is about to end state means that a certain surgical operation in progress by the ultrasonic scalpel 130 is about to end.
  • the operation is about to end state means The clamping and cutting is about to be completed; the operation end status means that the ultrasonic scalpel has completed a certain surgical operation, such as for drilling or dorsal cutting, the operation end status means that the drilling or dorsal cutting has ended.
  • the above-mentioned determination of the surgical operation status of the surgical operation based on the electrical parameters includes: if the electrical parameters reduce to the corresponding first preset parameter threshold, determining the surgical operation status of the surgical operation as the end of the operation. status; if the electrical parameter changes, but the electrical parameter does not decrease to the corresponding first preset parameter threshold, the surgical operation status of the surgical operation is determined to be the operation in progress status.
  • the first preset parameter threshold corresponds to the first preset power threshold; if the electrical parameter is voltage or current, the first preset parameter threshold corresponds to the first preset voltage threshold or the first The preset current threshold. If the electrical parameter is frequency, the first preset parameter threshold corresponds to the first preset frequency threshold. If the electrical parameter is impedance, the first preset parameter threshold corresponds to the first preset impedance threshold, where , the first preset power threshold, the first preset voltage threshold, the first preset current threshold, the first preset frequency threshold or the first preset impedance threshold are all set in advance through experiments or other methods.
  • the first preset parameter threshold value is smaller than the corresponding minimum parameter value when the surgical operation state of the ultrasonic scalpel energy output control system 100 is the operation-in-progress state.
  • the first preset power threshold value is smaller than the first preset power threshold value when the ultrasonic scalpel energy output control system 100 is drilling a hole.
  • the minimum power value corresponding to dorsal cutting, or the first preset voltage threshold is less than the minimum voltage value corresponding to when the ultrasonic scalpel energy output control system 100 is drilling or dorsal cutting, etc. If the electrical parameters are reduced to the corresponding first
  • the preset parameter threshold means that the surgical operation is completed, that is, the surgical operation status of the surgical operation is the operation end status. Otherwise, if the electrical parameters change but do not decrease to the corresponding first preset parameter threshold, it means that a surgical operation of drilling or dorsal incision is being performed.
  • the above-mentioned determination of the surgical operation status of the surgical operation based on the electrical parameters includes: when the electrical The minimum value of the parameter and the maximum value of the electrical parameter, and when it is recognized that the electrical parameter has dropped beyond the corresponding threshold, the surgical operation state of the second operation is determined to be the operation is about to end state.
  • the surgical operation status of the second operation is determined to be the operation is about to end state; otherwise, the surgical operation status of the second operation is determined to be the operation state.
  • the electrical parameter can be power, etc.
  • clamping cutting when clamping cutting is performed when the cutter head is in the closed state, when the electrical parameters change from the minimum value to the maximum value, and then start to decrease from the maximum value, and the decrease amplitude value exceeds the second preset amplitude threshold, Then it is determined that the surgical operation of clamping and cutting is about to be completed, which means that the tissue is about to be separated. Otherwise, it means that the clamping and cutting is still being performed and the tissue is in an undisconnected state.
  • the second preset amplitude threshold corresponds to the second preset power threshold; if the electrical parameter is voltage or current, the second preset amplitude threshold corresponds to the second preset voltage or current threshold, If the electrical parameter is frequency, the second preset amplitude threshold corresponds to the second preset frequency threshold, and if the electrical parameter is impedance, the second preset amplitude threshold corresponds to the second preset impedance threshold, where the second preset The power threshold, the second preset voltage or current threshold, the second preset frequency threshold or the second preset impedance threshold are all set in advance through experiments or other methods.
  • the ultrasound host 110 such as the controller 111 of the ultrasound host 110, is also used to determine the surgical operation currently being performed by the ultrasonic scalpel 130 based on the sensing signal and the electrical parameters, or to determine the operation of the ultrasonic scalpel 130 based on the sensing signal and the electrical parameters.
  • the surgical operation state of the surgical operation is determined according to the electrical parameters, and the energy delivered to the ultrasonic scalpel 130 is controlled according to the surgical operation and the surgical operation state.
  • the current surgical operation being performed by the ultrasonic scalpel 130 is determined based on the induction signal and the electrical parameters to improve the surgical operation. Determine the accuracy, improve the accuracy of ultrasonic scalpel energy control, and improve surgical efficiency.
  • the ultrasound host 110 such as the controller 111 of the ultrasound host 110, is also used to: when the sensing signal represents the surgical operation currently being performed by the ultrasonic scalpel 130 as the first operation, or when the sensing signal and the electrical parameter represent the ultrasonic scalpel 130
  • the surgical operation currently being performed is the first operation.
  • the surgical operation state of the surgical operation is determined to be the non-operated state according to the electrical parameters, the energy delivered to the ultrasonic scalpel 130 is controlled to be a fixed energy.
  • the first operation includes drilling. or dorsal cut; or,
  • the induction signal indicates that the surgical operation currently being performed by the ultrasonic scalpel 130 is the first operation
  • the induction signal and the electrical parameters indicate that the surgical operation currently being performed by the ultrasonic scalpel 130 is the first operation
  • the surgical operation state of the first operation is determined according to the electrical parameters.
  • the induction signal indicates that the surgical operation currently being performed by the ultrasonic scalpel 130 is the first operation
  • the induction signal and the electrical parameters indicate that the surgical operation currently being performed by the ultrasonic scalpel 130 is the first operation
  • the electrical parameters represent the surgical operation status of the first operation.
  • the ultrasonic host 110 such as the controller 111 of the ultrasonic host 110, is also used to when the induction signal represents the surgical operation currently being performed by the ultrasonic scalpel 130 as the second operation, the induction signal and the electrical parameter represent the current operation of the ultrasonic scalpel 130.
  • the surgical operation being performed is the second operation.
  • the energy delivered to the ultrasonic scalpel 130 is controlled to be reduced, or the energy delivered to the ultrasonic scalpel 130 is controlled to stop.
  • the second operation includes clamping cutting, cropping or condensation.
  • the ultrasonic host 110 such as the controller 111 of the ultrasonic host 110, is also configured to determine whether the cutter head state of the cutter head 131 is an open state or a closed state based on the induction signal, and determine the current state of the ultrasonic cutter 130 based on the cutter head status.
  • the surgical operation being performed, or the surgical operation currently being performed by the ultrasonic scalpel 130 is determined based on the status of the cutter head and the electrical parameters, the surgical operation status of the surgical operation is determined based on the electrical parameters, and the delivery is controlled based on the status of the cutter head, the surgical operation, and the surgical operation status. to the energy of ultrasonic scalpel 130.
  • the sensing signal is only used for Determine the status of the cutter head, and after determining the surgical operation and surgical operation status, control the energy delivered to the ultrasonic scalpel 130 according to the status of the cutter head, the surgical operation, and the surgical operation status to control the differences of the ultrasonic scalpel 130 in different statuses of the cutter head.
  • Surgical operations different surgical operations correspond to different surgical operation states with corresponding energy output to improve the quality of surgery.
  • the ultrasonic host 110 such as the controller 111 of the ultrasonic host 110, is also used to indicate that the status of the cutter head is an open state when the sensing signal indicates that the current surgical operation of the ultrasonic scalpel 130 is the first
  • the electrical parameters represent the surgical operation state of the first operation as the non-operated state, delivery is controlled.
  • the energy to the ultrasonic scalpel 130 is a fixed energy, wherein the first operation includes drilling or back cutting.
  • the ultrasonic host 110 such as the controller 111 of the ultrasonic host 110, is also used to indicate that the status of the cutter head is an open state when the sensing signal indicates that the current surgical operation of the ultrasonic scalpel 130 is the first
  • the electrical parameters represent the surgical operation state of the first operation as the operation end state
  • Control to reduce the energy delivered to the ultrasonic scalpel 130 such as controlling the transducer 120 to reduce kinetic energy, to control the ultrasonic scalpel 130 to reduce energy output, or control to stop delivering energy to the ultrasonic scalpel 130, such as controlling the transducer 120 to stop outputting kinetic energy, to control ultrasound.
  • Knife 130 stops energy output, wherein the first operation includes punching or undercutting.
  • the surgical operation is punching or dorsal incision
  • the electrical parameters such as electrical parameter changes
  • the pressure delivered to the ultrasonic scalpel 130 is controlled to be reduced. Energy, or control to stop delivering energy to the ultrasonic scalpel 130, to avoid the possibility of accidentally injuring other tissues when retrieving the blade head 131 of the ultrasonic scalpel 130 from the tissue, and improve the quality of surgery.
  • the transducer 120 is controlled to reduce kinetic energy, and the reduced electrical energy such as first electrical energy is provided to the transducer 120 through the controller 111, and the reduced first electrical energy drives the transducer 120 to provide kinetic energy matching the first electrical energy, In this way, the transducer 120 reduces the kinetic energy to reduce the ultrasonic Knife 130 energy output.
  • the first electric energy is lower than the preset electric energy, and the first electric energy is determined by any one or more of the first voltage, the first current or the first power.
  • the first voltage is lower than the preset voltage, the first current is lower than the preset current, and the first power is lower than the preset power.
  • the transducer 120 is controlled to stop providing kinetic energy, the controller 111 is notified to stop the driving unit 112 from outputting electric energy to the transducer 120, or the electric energy provided to the transducer 120 is set to zero.
  • the ultrasonic host 110 such as the controller 111 of the ultrasonic host 110, is also used to indicate that the status of the cutter head is an open state when the sensing signal indicates that the current surgical operation of the ultrasonic scalpel 130 is the first
  • the control decreases. Deliver energy to the ultrasonic scalpel 130, or control to stop delivering energy to the ultrasonic scalpel 130, wherein the first operation includes drilling or dorsal cutting.
  • the electrical parameter (such as the change amount of the electrical parameter) is defined to indicate that when the surgical operation state of the first operation changes from the operation in progress state to the operation end state, it means that The surgical operation corresponding to the first operation is performed from the beginning to the end. In this way, it is more accurately determined that the surgical operation corresponding to the first operation, such as drilling or dorsal resection, has ended. At this time, the energy output of the ultrasonic scalpel 130 is reduced or stopped to Improve the quality of surgery.
  • the ultrasound host 110 such as the controller 111 of the ultrasound host 110, is also used to indicate that when the sensing signal indicates that the status of the cutter head is a closed state, the status of the cutter head indicates that the surgical operation currently being performed by the ultrasonic scalpel 130 is the second operation.
  • the energy delivered to the ultrasonic scalpel 130 is controlled to be reduced, or the energy delivered to the ultrasonic scalpel 130 is controlled to be stopped, wherein the second operation includes clamping cutting, cropping or coagulation.
  • the energy delivered to the ultrasonic scalpel 130 is controlled to be reduced, or the energy delivered to the ultrasonic scalpel 130 is controlled to stop.
  • the method of controlling the transducer 120 to reduce kinetic energy or the method of controlling the transducer 120 to stop providing kinetic energy please refer to the corresponding descriptions above.
  • the energy delivered to the ultrasonic scalpel 130 is reduced or the energy delivered to the ultrasonic scalpel 130 is stopped to avoid accidental injury. That He organizes and improves the quality of surgery.
  • the ultrasound host 110 such as the controller 111 of the ultrasound host 110, is also used to indicate that when the sensing signal indicates that the status of the cutter head is a closed state, the status of the cutter head indicates that the surgical operation currently being performed by the ultrasonic scalpel 130 is the second operation.
  • the delivery is controlled to be reduced. energy to the ultrasonic scalpel 130, or control to stop delivering energy to the ultrasonic scalpel 130, where the second operation includes clamping cutting, trimming or coagulation to improve surgical quality.
  • the ultrasonic host 110 such as the controller 111 of the ultrasonic host 110, is also configured to determine whether the cutter head state of the cutter head 131 is an open state or a closed state based on the induction signal, and determine the current state of the ultrasonic cutter 130 based on the cutter head status.
  • the surgical operation being performed, or the surgical operation currently being performed by the ultrasonic scalpel 130 is determined based on the status of the cutter head and the electrical parameters, the tissue status corresponding to the surgical operation is determined based on the electrical parameters, and the delivery is controlled based on the status of the cutter head, the surgical operation, and the tissue status.
  • the energy of ultrasonic scalpel is 130.
  • the energy output of the ultrasonic scalpel 130 is controlled according to the state of the blade, the surgical operation, and the state of the tissue. Among them, the tissue state corresponding to the surgical operation is determined based on the electrical parameters.
  • the tissue status includes punching or backcutting, punching or backcutting is completed, punching or backcutting is not performed, etc.
  • the tissue status includes cutting is about to be completed (the tissue is about to be severed), cutting has been completed (the tissue has been severed), cutting is not in progress, the tissue is not severed, etc.
  • the method according to the electrical parameters Determining the tissue state corresponding to the first operation includes: if the electrical parameter decreases to the corresponding first preset parameter threshold, determining the tissue state corresponding to the first operation to be the punching or dorsal cutting end state; otherwise, if the electrical parameter occurs change (the ultrasound host has energy output), it is determined that the tissue status corresponding to the first operation is drilling or dorsal cutting.
  • the tissue corresponding to the second operation is determined according to the electrical parameters. status, including: when the electrical parameters change from minimum values becomes a maximum value, and then starts to decrease from the maximum value, and the decrease amplitude exceeds the corresponding second preset amplitude threshold, then it is determined that the tissue status corresponding to the second operation is the operation is about to be cut or the cutting is completed; otherwise, it is determined
  • the tissue status corresponding to the second operation is the cutting status.
  • the ultrasonic host 110 such as the controller 111 of the ultrasonic host 110, is also used to indicate that the status of the cutter head is the open state when the sensing signal indicates that the current surgical operation of the ultrasonic scalpel 130 is the first.
  • the control is delivered to The energy of the ultrasonic scalpel 130 is fixed energy; or,
  • the induction signal indicates that the status of the cutter head is an open state
  • the status of the cutter head indicates that the surgical operation currently being performed by the ultrasonic scalpel 130 is the first operation, or the status of the cutter head and the electrical parameters indicate that the surgical operation currently being performed by the ultrasonic scalpel 130 is
  • the first operation is performed, and the electrical parameters indicate that the tissue status corresponding to the first operation is drilling or dorsal resection, the energy delivered to the ultrasonic scalpel 130 is controlled to be a fixed energy; or
  • the induction signal indicates that the status of the cutter head is an open state
  • the status of the cutter head indicates that the surgical operation currently being performed by the ultrasonic scalpel 130 is the first operation, or the status of the cutter head and the electrical parameters indicate that the surgical operation currently being performed by the ultrasonic scalpel 130 is
  • the first operation is performed, and the electrical parameters indicate that the tissue state corresponding to the first operation is the completion of drilling or dorsal incision
  • the energy delivered to the ultrasonic scalpel 130 is controlled to be reduced, or the energy delivered to the ultrasonic scalpel 130 is stopped.
  • the ultrasonic host 110 such as the controller 111 of the ultrasonic host 110, when the sensing signal indicates that the status of the cutter head is a closed state, the status of the cutter head indicates that the surgical operation currently being performed by the ultrasonic scalpel 130 is a second operation or a second operation.
  • the control is delivered to the ultrasonic scalpel 130
  • the energy is fixed energy; or
  • the sensing signal indicates that the status of the cutter head is a closed state
  • the status of the cutter head indicates that the surgical operation currently being performed by the ultrasonic scalpel 130 is the second operation
  • the status of the cutter head and the electrical parameters indicate that the surgical operation currently being performed by the ultrasonic scalpel 130 is the second operation.
  • the electrical parameters represent the tissue status corresponding to the surgical operation.
  • the sensing signal indicates that the status of the cutter head is a closed state
  • the status of the cutter head indicates that the surgical operation currently being performed by the ultrasonic scalpel 130 is the second operation
  • the status of the cutter head and the electrical parameters indicate that the surgical operation currently being performed by the ultrasonic scalpel 130 is the second operation.
  • the electrical parameter (such as the electrical parameter change) indicates that the tissue status corresponding to the surgical operation has been cut
  • the energy output delivered to the ultrasonic scalpel 130 is controlled to be reduced, or the energy delivery to the ultrasonic scalpel 130 is stopped.
  • the ultrasound host 110 such as the controller 111 of the ultrasound host 110, is also used to obtain a preset energy control identifier.
  • the preset energy control indicator may be determined by a preset gear, or by a preset energy operating state.
  • gears are provided, and the gears can be represented by gear buttons, gear buttons, or gear switches.
  • the different gears include gear one, gear two and gear three.
  • Gear one supports/allows energy reduction
  • gear two does not support/forbids energy reduction
  • gear three supports/allows energy output to be stopped.
  • Gear four does not support/disable stopping energy output.
  • the value of gear one to gear four is represented by the energy control mark. If gear one is pre-selected, set or turned on, the energy control mark is set to 1, indicating that energy reduction is supported.
  • the gear is pre-selected, set or turned on Two, then set the energy control flag to 2, indicating that energy reduction is prohibited/not supported. If gear three is pre-selected or set or turned on, then the energy control flag is set to 3, indicating that energy output is supported/allowed to be stopped. If it is pre-selected or set or turned on, If gear four is selected or set or turned on, the energy control flag is set to 4, indicating that stopping energy output is prohibited/unsupported. Or if not pre-selected or not pre-set, the default energy control flag is set to 2. In this way, the energy output status during the surgical operation is divided into three situations: fixing the energy output, reducing the energy output, and stopping the energy output.
  • gear one and gear two can be set, indicating that energy reduction is either supported/allowed, or energy reduction is not supported/allowed.
  • the energy output state during the surgical operation is divided into two.
  • only gear three and gear four can be set, indicating that either the energy output is supported/allowed to be stopped or the energy output is supported/allowed to be stopped.
  • the energy output state during the surgical operation is divided into two types. Situation: output with fixed energy, stop energy output.
  • buttons or keys For energy output buttons or keys, if a button or key that supports energy reduction is triggered in advance, the energy operation state is set to 1, indicating that energy reduction is supported/allowed. Otherwise, the energy operation state is set to 2, indicating that energy reduction is prohibited/not supported. To reduce energy, if the button or key to stop energy output is triggered in advance, set the energy operation status to 3, which indicates that stopping of energy output is supported/allowed. Otherwise, set the energy operation status to 4, which indicates that stopping is prohibited/does not support energy output.
  • the energy output state during the surgical operation is divided into two situations: fixing the energy output and reducing the energy output; in an embodiment In this example, it is also possible to only trigger the button or key to stop the energy output.
  • the energy output state during the surgical operation is divided into two situations: fixing the energy output and stopping the energy output.
  • the ultrasonic host 110 such as the controller 111 of the ultrasonic host 110, is also used to determine whether the cutter head state of the cutter head 131 is an open state or a closed state according to the sensing signal, and to determine what the ultrasonic cutter 130 is currently performing based on the cutter head status.
  • Surgical operation, or the surgical operation currently being performed by the ultrasonic scalpel 130 is determined based on the status of the blade head and the electrical parameters, the surgical operation status of the surgical operation is determined based on the electrical parameters, and the control is performed based on the status of the blade head, the surgical operation, the surgical operation status and the energy control identifier.
  • Energy delivered to the ultrasonic scalpel 130 In this embodiment, the transducer 120 is further controlled to provide corresponding kinetic energy according to the energy control flag, so as to freely reduce or stop the energy output of the ultrasonic scalpel 130 .
  • the ultrasonic host 110 such as the controller 111 of the ultrasonic host 110, is also used to indicate that the status of the cutter head is the open state when the sensing signal indicates that the current surgical operation of the ultrasonic scalpel 130 is the first.
  • the operation, or the status of the cutter head, and the electrical parameters represent the surgical operation currently being performed by the ultrasonic scalpel 130 as the first operation, and the electrical parameters represent the surgical operation state of the first operation as the operation end state, or the electrical parameters represent the surgery of the first operation.
  • the operation state changes from the operation in progress state to the operation end state, and the energy control flag indicates that the energy reduction is supported, the energy delivered to the ultrasonic scalpel 130 is controlled to be reduced;
  • the induction signal indicates that the status of the cutter head is an open state
  • the status of the cutter head indicates that the ultrasonic scalpel 130
  • the surgical operation currently being performed is the first operation, or the state of the blade and the electrical parameters indicate that the surgical operation currently being performed by the ultrasonic scalpel 130 is the first operation, and the electrical parameters indicate that the surgical operation status of the first operation is the operation end state, or
  • the electrical parameter represents that the surgical operation state of the first operation changes from the operation progress state to the operation end state, and the energy control flag represents support for reducing energy
  • the control control stops delivering energy to the ultrasonic scalpel 130;
  • the induction signal indicates that the status of the cutter head is the open state
  • the status of the cutter head indicates that the surgical operation currently being performed by the ultrasonic scalpel 130 is the first operation
  • the status of the cutter head and the electrical parameters indicate the surgical operation currently being performed by the ultrasonic scalpel 130
  • the electrical parameters represent that the surgical operation state of the first operation is the operation end state
  • the electrical parameters represent that the surgical operation state of the first operation changes from the operation in progress state to the operation end state
  • the energy control flag represents support for stopping energy output.
  • the induction signal indicates that the status of the cutter head is the open state
  • the status of the cutter head indicates that the surgical operation currently being performed by the ultrasonic scalpel 130 is the first operation
  • the status of the cutter head and the electrical parameters indicate the surgical operation currently being performed by the ultrasonic scalpel 130
  • the electrical parameters represent that the surgical operation state of the first operation is the operation end state
  • the electrical parameters represent that the surgical operation state of the first operation changes from the operation in progress state to the operation end state
  • the energy control flag represents that it is not supported/disabled
  • the energy delivered to the ultrasonic scalpel 130 is controlled to be a fixed energy.
  • the controller 111 provides the reduced electrical energy, such as the second electrical energy, to the transducer 120.
  • the reduced second electrical energy drives the transducer 120 to provide kinetic energy that matches the second electrical energy, that is, to control and reduce the energy delivered to the ultrasonic scalpel 130 .
  • the second electric energy is lower than the preset electric energy, and the second electric energy is determined by any one or more of the second voltage, the second current or the second power.
  • the second voltage is lower than the preset voltage
  • the second current is lower than the preset current
  • the second power is lower than the preset power.
  • the second electric energy and the first electric energy may be the same or different.
  • the controller 111 When the blade state is in the open state, the surgical operation of drilling or back cutting has ended, and the reduction of energy is not supported/prohibited, the controller 111 provides preset electric energy to the transducer 120 to drive the transducer. 120 provides kinetic energy that matches the preset electrical energy, that is, the energy delivered to the ultrasonic scalpel 130 is controlled to be a fixed energy.
  • the ultrasound host 110 such as the controller 111 of the ultrasound host 110
  • the induction signal indicates that the status of the cutter head is a closed state
  • the status of the cutter head indicates that the surgical operation currently being performed by the ultrasonic scalpel 130 is the second operation
  • the status of the cutter head and the electrical parameters indicate that the surgical operation currently being performed by the ultrasonic scalpel 130 is In the second operation
  • the electrical parameter indicates that the surgical operation state of the second operation is the operation-end state or the operation-end state
  • the energy control flag indicates support for reducing energy
  • the induction signal indicates that the status of the cutter head is a closed state
  • the status of the cutter head indicates that the surgical operation currently being performed by the ultrasonic scalpel 130 is the second operation
  • the status of the cutter head and the electrical parameters indicate that the surgical operation currently being performed by the ultrasonic scalpel 130 is the second operation.
  • the electrical parameter indicates that the surgical operation state of the second operation is the operation is about to end state or the operation ends state
  • the energy control flag indicates that the energy is supported to be reduced, and the control stops delivering energy to the control ultrasonic scalpel 130;
  • the induction signal indicates that the status of the cutter head is a closed state
  • the status of the cutter head indicates that the surgical operation currently being performed by the ultrasonic scalpel 130 is the second operation, or the status of the cutter head and the electrical parameters indicate that the surgical operation currently being performed by the ultrasonic scalpel 130 is In the second operation, when the electrical parameters indicate that the surgical operation state of the second operation is the operation is about to end or the operation has ended, and the energy control flag indicates that stopping energy is supported, the delivery of energy to the ultrasonic scalpel 130 is controlled to stop;
  • the induction signal indicates that the status of the cutter head is a closed state
  • the status of the cutter head indicates that the surgical operation currently being performed by the ultrasonic scalpel 130 is the second operation
  • the status of the cutter head and the electrical parameters indicate that the surgical operation currently being performed by the ultrasonic scalpel 130 is the second operation.
  • the electrical parameter indicates that the surgical operation state of the second operation is the operation is about to end state or the operation ends state
  • the energy control flag indicates that energy reduction is not supported/prohibited, the energy delivered to the ultrasonic scalpel 130 is controlled to be a fixed energy.
  • the controller 111 provides reduced electrical energy, such as third electrical energy, to the transducer 120.
  • the reduced third electrical energy drives the transducer 120 to provide kinetic energy that matches the third electrical energy, that is, the energy delivered to the ultrasonic scalpel 130 is controlled to be reduced; or the electrical energy provided by the controller 111 to the transducer is zero, or no energy is supplied to the transducer.
  • the transducer 120 provides electrical energy to control the transducer 120 to stop providing electrical energy, that is, to control to stop delivering energy to the ultrasonic scalpel 130 .
  • the third electric energy is lower than the preset electric energy, and the third electric energy is determined by any one or more of the third voltage, the third current or the third power.
  • the third voltage is lower than the preset voltage
  • the third current is lower than the preset current
  • the third power is lower than the preset power.
  • the third electric energy and The second electric energy and the first electric energy may be the same or different.
  • the controller 111 When the cutter head is in the closed state, the surgical operation of clamping and cutting has ended or is about to end, and the reduction of energy is not supported, the controller 111 provides preset electric energy to the transducer 120 to drive the transducer 120 to provide The kinetic energy matched with the preset electric energy, that is, the energy delivered to the ultrasonic scalpel 130 is controlled to be a fixed energy.
  • the ultrasonic host 110 such as the controller 111 of the ultrasonic host 110, is also used to obtain a preset energy control identifier; the ultrasonic host 110 is also used to determine that the ultrasonic scalpel 130 is currently executing based on the sensing signal and electrical parameters.
  • the surgical operation state of the surgical operation is determined according to the electrical parameters, and the energy delivered to the ultrasonic scalpel 130 is controlled according to the surgical operation, the surgical operation state and the energy control identifier.
  • the ultrasound host 110 is also used to determine, based on the sensing signal and electrical parameters, that the surgical operation currently being performed by the ultrasonic scalpel 130 is the first operation, and determine based on the electrical parameters that the surgical operation state of the first operation is the operation end state.
  • the energy control mark indicates that when reducing energy is supported, the energy delivered to the ultrasonic scalpel 130 is controlled to be reduced, or the energy delivered to the ultrasonic scalpel 130 is controlled to stop.
  • the first operation includes drilling or dorsal cutting; when the ultrasound is determined according to the sensing signal and the electrical parameter
  • the surgical operation currently being performed by the knife 130 is the first operation.
  • the surgical operation state of the first operation is determined to be the operation end state according to the electrical parameters, and the energy control flag indicates that energy reduction/stop energy is not supported. Control is delivered to the ultrasonic scalpel.
  • the energy of 130 is fixed energy.
  • the ultrasound host 110 is also used to determine, based on the sensing signal and electrical parameters, that the surgical operation currently being performed by the ultrasonic scalpel 130 is the second operation, and determine based on the electrical parameters that the surgical operation status of the second operation is about to be performed.
  • the energy delivered to the ultrasonic scalpel 130 is controlled to be reduced, or the energy delivered to the ultrasonic scalpel 130 is controlled to stop, and the second operation includes clamping and cutting, cropping or coagulation;
  • the energy control flag indicates that energy reduction is not supported/not supported.
  • the ultrasonic scalpel energy output control system also includes an output prompter 150.
  • the output prompter 150 is communicatively connected with the ultrasound host 110 and is used to provide prompt information to the outside world.
  • the prompt function includes but does not Limited to sight, and/or hearing, and/or touch sleep prompt information, etc.
  • the ultrasound host 110 such as the controller 111 of the ultrasound host 110, is also used to obtain a preset set prompt identification.
  • the preset prompt mark can be determined by a preset button/switch, or by a preset energy operation state. In this embodiment, when the energy output of the ultrasonic scalpel 130 is reduced, the prompts can be freely changed to improve surgical safety.
  • the button or switch For example, in the ultrasound host 110 or in the ultrasonic scalpel 130, there is a button or switch. If the button is pressed or the switch is turned on, it indicates that a prompt is required. Correspondingly, the prompt flag is set to 1. If the button is not pressed, Or the switch remains closed, which means no prompt is needed.
  • a button or button indicating whether the prompt is supported is displayed/set. If support is triggered in advance If the prompt button or key is used, set the prompt flag to 1, indicating that prompts are supported/allowed. Otherwise, set the operation status to 0, indicating that prompts are prohibited/prompts are not supported.
  • the prompt flag is set to 1 by default, indicating that prompting by raising the prompter 150 is supported/allowed.
  • the output prompter 150 in the ultrasonic scalpel energy output control system 100 may include one or more devices/components/objects/elements for providing sensory feedback to the user.
  • the output prompter 150 includes any type of visual indicating device, including, but not limited to, an incandescent light or LED, a graphical user interface, a display, an analog indicator, a digital indicator, a bar graph display, an alphanumeric display, an LCD display screen, LED display screens, display devices, etc. are used to provide visual prompts, such as visual change prompts.
  • the visual change prompts are used to indicate energy output conditions, such as reduced energy output.
  • the output prompter 150 may also include any type of speaker, buzzer, audible computer-generated tones, computer-processed speech, voice user interface (VUI) that interacts with the computer through a speech/language platform for providing Auditory prompts, such as sound change prompts, are used to indicate energy output conditions, such as reduced energy output.
  • the output prompter 150 may also include any type of vibration feedback, tactile actuator, etc., for providing tactile prompts, such as tactile change prompts, and the sound change prompts are used to indicate energy output conditions, such as reduced energy output.
  • the ultrasonic host 110 such as the controller 111 of the ultrasonic host 110, is also used to determine whether the cutter head state of the cutter head 131 is an open state or a closed state according to the sensing signal, and to determine what the ultrasonic cutter 130 is currently performing based on the cutter head status.
  • Surgical operation, or the surgical operation currently being performed by the ultrasonic scalpel 130 is determined based on the status of the cutter head and the electrical parameters, the surgical operation status of the surgical operation is determined based on the electrical parameters, and the delivery to the ultrasonic scalpel is controlled based on the status of the cutter head, the surgical operation, and the surgical operation status.
  • the output prompter 150 is controlled to prompt the energy delivered to the ultrasonic scalpel 130.
  • the ultrasonic host 110 such as the controller 111 of the ultrasonic host 110, is also used to indicate that the status of the cutter head is an open state when the sensing signal indicates that the current surgical operation of the ultrasonic scalpel 130 is the first
  • the operation, or the status of the cutter head, and the electrical parameters represent that the surgical operation currently being performed by the ultrasonic scalpel 130 is the second operation, and the electrical parameters represent the surgical operation state of the first operation, which is the operation end state, or the electrical parameters represent the surgical operation of the first operation.
  • the output prompter 150 is controlled to control the energy delivered to the ultrasonic scalpel 130 according to the prompt mark.
  • the output prompter 150 is controlled to provide a change prompt to reduce the delivery energy or to stop the delivery energy. If the prompt mark represents a dissupport/forbidden prompt, the output prompter 150 is controlled not to do so. Prompts are made where the first operation involves punching or backcutting.
  • the ultrasound host 110 such as the controller 111 of the ultrasound host 110, is also used to indicate that when the sensing signal indicates that the status of the cutter head is a closed state, the status of the cutter head indicates that the surgical operation currently being performed by the ultrasonic scalpel 130 is the second operation.
  • the control is reduced and delivered to the ultrasound
  • the output prompter 150 is controlled to give a corresponding prompt for the energy delivered to the ultrasonic knife 130, where the second operation includes clamping cutting, cropping or coagulation.
  • the ultrasound host 110 such as the controller 111 of the ultrasound host 110, is also used to indicate that when the sensing signal indicates that the status of the cutter head is a closed state, the status of the cutter head indicates that the surgical operation currently being performed by the ultrasonic scalpel 130 is the second operation. , or tool head status and electrical parameter table
  • the control stops delivering energy to the ultrasonic scalpel 130, and at the same time, according to the prompt identification , the output indicator 150 is controlled to provide corresponding prompts on the energy delivered to the ultrasonic scalpel 130 .
  • the output prompter 150 may or may not prompt.
  • the energy delivered to the ultrasonic scalpel 130 for prompting is a fixed energy.
  • the ultrasonic host 110 such as the controller 111 of the ultrasonic host 110, is also used to obtain a preset prompt identification; the ultrasonic host 110 is also used to determine what the ultrasonic scalpel 130 is currently executing based on the sensing signal and electrical parameters.
  • the surgical operation status of the surgical operation is determined according to the electrical parameters, and the energy delivered to the ultrasonic scalpel 130 is controlled according to the surgical operation and the surgical operation status; at the same time, the output prompter 150 is controlled according to the prompt mark to control the energy delivered to the ultrasonic scalpel 130 . hint.
  • the ultrasound host 110 is also used to determine, based on the sensing signal and electrical parameters, that the surgical operation currently being performed by the ultrasonic scalpel 130 is the first operation, and determine based on the electrical parameters that the surgical operation state of the first operation is the operation end state.
  • Prompt When Prompt.
  • the ultrasound host 110 is also used to determine, based on the sensing signal and electrical parameters, that the surgical operation currently being performed by the ultrasonic scalpel 130 is the second operation, and determine based on the electrical parameters that the surgical operation status of the second operation is about to be performed.
  • the energy delivered to the ultrasonic scalpel 130 is controlled to be reduced, or the energy delivered to the ultrasonic scalpel 130 is controlled to stop.
  • the second operation includes clamping and cutting, cropping or coagulation; at the same time, the output prompter 150 is controlled according to the prompt identification. The energy delivered to the ultrasonic scalpel 130 is prompted.
  • the ultrasonic host 110 such as the controller 111 of the ultrasonic host 110, is also configured to determine whether the cutter head state of the cutter head 131 is an open state or a closed state based on the induction signal, and determine the current state of the ultrasonic cutter 130 based on the cutter head status.
  • the surgical operation being performed, or the surgical operation currently being performed by the ultrasonic scalpel 130 is determined based on the status of the cutter head and the electrical parameters, the tissue status corresponding to the surgical operation is determined based on the electrical parameters, and the status of the tissue corresponding to the surgical operation is determined based on the status of the cutter head, surgical operation, and tissue status.
  • the state and energy control flags control the energy delivered to the ultrasonic scalpel 130 , such as controlling the transducer 120 to provide corresponding kinetic energy to control the energy output of the ultrasonic scalpel 130 .
  • the ultrasonic host 110 such as the controller 111 of the ultrasonic host 110, is also used to indicate that the status of the cutter head is the open state when the sensing signal indicates that the current surgical operation of the ultrasonic scalpel 130 is the first.
  • the operation, or the status of the cutter head, and the electrical parameters indicate that the surgical operation currently being performed by the ultrasonic scalpel 130 is the first operation, the electrical parameters indicate that the tissue status corresponding to the first operation is the punching or dorsal incision completion state, and the energy control identifier indicates When reducing energy is supported, control to reduce the energy delivered to the ultrasonic scalpel 130 , wherein the first operation includes drilling or dorsal cutting; or
  • the induction signal indicates that the status of the cutter head is an open state
  • the status of the cutter head indicates that the surgical operation currently being performed by the ultrasonic scalpel 130 is the first operation
  • the status of the cutter head and the electrical parameters indicate that the surgical operation currently being performed by the ultrasonic scalpel 130 is In the first operation
  • the electrical parameters indicate that the tissue status corresponding to the first operation is the punching or dorsal incision end state
  • the energy control flag indicates that the energy is supported to be reduced
  • the control stops delivering energy to the ultrasonic scalpel 130; or,
  • the induction signal indicates that the status of the cutter head is an open state
  • the status of the cutter head indicates that the surgical operation currently being performed by the ultrasonic scalpel 130 is the first operation
  • the electrical parameters indicate that the surgical operation currently being performed by the ultrasonic scalpel 130 is In the first operation
  • the electrical parameters indicate that the tissue status corresponding to the first operation is the punching or dorsal incision completion state
  • the energy control flag indicates that stopping energy output is supported, controlling the delivery of energy to the ultrasonic scalpel 130 to stop; or,
  • the induction signal indicates that the status of the cutter head is an open state
  • the status of the cutter head indicates that the surgical operation currently being performed by the ultrasonic scalpel 130 is the first operation
  • the electrical parameters indicate that the surgical operation currently being performed by the ultrasonic scalpel 130 is In the first operation
  • the electrical parameters indicate that the tissue status corresponding to the first operation is the punching or dorsal incision completion state
  • the energy control flag indicates that energy reduction is not supported/prohibited, and the energy delivered to the ultrasonic scalpel 130 is controlled to be a fixed energy.
  • the ultrasonic host 110 such as the controller 111 of the ultrasonic host 110, is also used to indicate that when the sensing signal indicates that the status of the cutter head is a closed state, the status of the cutter head indicates that the surgical operation currently being performed by the ultrasonic scalpel 130 is the second operation. , or the status of the cutter head and the electrical parameters indicate that the surgical operation currently being performed by the ultrasonic scalpel 130 is the second operation, the electrical parameters indicate that the tissue status corresponding to the second operation is about to be cut, and the energy control indicator indicates that the energy reduction is supported. , control to reduce the energy output delivered to the ultrasonic scalpel 130; or
  • the induction signal indicates that the status of the cutter head is a closed state
  • the status of the cutter head indicates that the surgical operation currently being performed by the ultrasonic scalpel 130 is the second operation
  • the status of the cutter head and the electrical parameters indicate that the surgical operation currently being performed by the ultrasonic scalpel 130 is the third operation.
  • the electrical parameters indicate that the tissue status corresponding to the second operation is about to be cut
  • the energy control flag indicates that when the energy is reduced, the control stops delivering energy to the ultrasonic scalpel 130; or,
  • the induction signal indicates that the status of the cutter head is a closed state
  • the status of the cutter head indicates that the surgical operation currently being performed by the ultrasonic scalpel 130 is the second operation
  • the status of the cutter head and the electrical parameters indicate that the surgical operation currently being performed by the ultrasonic scalpel 130 is the third operation.
  • the electrical parameters indicate that the tissue status corresponding to the second operation has been cut
  • the energy control flag indicates that the energy is supported to be reduced
  • the energy delivered to the ultrasonic scalpel 130 is controlled to be reduced, or
  • the induction signal indicates that the status of the cutter head is a closed state
  • the status of the cutter head indicates that the surgical operation currently being performed by the ultrasonic scalpel 130 is the second operation, or the status of the cutter head and the electrical parameters indicate that the surgical operation currently being performed by the ultrasonic scalpel 130 is described above.
  • the surgical operation is the second operation
  • the electrical parameters indicate that the tissue status corresponding to the second operation has been cut, and the energy control flag indicates that energy reduction is supported, the control stops delivering energy to the ultrasonic scalpel 130; or
  • the induction signal indicates that the status of the cutter head is a closed state
  • the status of the cutter head indicates that the surgical operation currently being performed by the ultrasonic scalpel 130 is the second operation
  • the status of the cutter head and the electrical parameters indicate that the surgical operation currently being performed by the ultrasonic scalpel 130 is the third operation.
  • the electrical parameters indicate that the tissue status corresponding to the second operation is about to be cut or has been cut
  • the energy control flag indicates that energy reduction is not supported/prohibited, and the energy delivered to the ultrasonic scalpel 130 is controlled to be a fixed energy.
  • the ultrasonic host 110 such as the controller 111 of the ultrasonic host 110, is also configured to determine whether the cutter head state of the cutter head 131 is an open state or a closed state based on the induction signal, and determine the current state of the ultrasonic cutter 130 based on the cutter head status.
  • the surgical operation being performed, or the surgical operation currently being performed by the ultrasonic scalpel 130 is determined based on the status of the cutter head and the electrical parameters, the tissue status corresponding to the surgical operation is determined based on the electrical parameters, and the delivery is controlled based on the cutter head status, surgical operation, and tissue status.
  • the energy of the ultrasonic scalpel 130 is controlled by the output indicator 150 to prompt the energy delivered to the ultrasonic scalpel 130 according to the prompt mark.
  • the ultrasonic host 110 such as the controller 111 of the ultrasonic host 110, is also configured to determine whether the cutter head state of the cutter head 131 is an open state or a closed state based on the induction signal, and determine the current state of the ultrasonic cutter 130 based on the cutter head status.
  • the surgical operation being performed, or the surgical operation currently being performed by the ultrasonic scalpel 130 is determined based on the status of the cutter head and the electrical parameters, the surgical operation status of the surgical operation is determined based on the electrical parameters, and the status of the cutter head, surgical operation, surgical operation status and energy control are determined.
  • the mark controls the energy delivered to the ultrasonic scalpel 130 , and at the same time, according to the prompt mark, the output prompter 150 is controlled to prompt the energy delivered to the ultrasonic scalpel 130 .
  • the energy delivered to the ultrasonic scalpel 130 is further controlled according to the energy control flag, and the output prompter 150 is further controlled according to the prompt flag to prompt the energy delivered to the ultrasonic scalpel 130 , thereby achieving a change prompt that reduces the delivered energy.
  • the ultrasound host 110 such as the controller 111 of the ultrasound host 110, is also used to determine the surgical operation currently being performed by the ultrasonic scalpel 130 based on the induction signal and the electrical parameters, and determine the surgical operation status of the surgical operation based on the electrical parameters. And the energy delivered to the ultrasonic scalpel 130 is controlled according to the surgical operation, the surgical operation status and the energy control flag; at the same time, according to the prompt flag, the output prompter 150 is controlled to prompt the energy delivered to the ultrasonic scalpel 130 .
  • the ultrasonic host 110 such as the controller 111 of the ultrasonic host 110, is also configured to determine whether the cutter head state of the cutter head 131 is an open state or a closed state based on the induction signal, and determine the current state of the ultrasonic cutter 130 based on the cutter head status.
  • the surgical operation being performed, or the surgical operation currently being performed by the ultrasonic scalpel 130 is determined based on the status of the cutter head and the electrical parameters, the tissue status corresponding to the surgical operation is determined based on the electrical parameters, and the status of the cutter head, surgical operation, tissue status and energy control identifier are determined.
  • control the energy delivered to the ultrasonic scalpel 130 and at the same time, control the output indicator 150 to prompt the energy delivered to the ultrasonic scalpel 130 according to the prompt mark.
  • control the energy delivered to the ultrasonic scalpel 130 based on the status of the blade, surgical operation, tissue state and energy control flag, and how to control the output indicator 150 to prompt the energy delivered to the ultrasonic scalpel 130 based on the prompt flag.
  • FIG. 7 is a schematic flowchart of an ultrasonic scalpel energy output control method provided by an embodiment of the present application.
  • This ultrasonic scalpel energy output control method is applied to the ultrasonic scalpel energy output control system 100 described in any of the above embodiments.
  • the ultrasonic scalpel energy output control system 100 includes an ultrasonic scalpel 130 , a transducer 120 , a measurement unit 140 , and an ultrasonic host 110 .
  • the ultrasonic scalpel 130 includes a blade head 131 .
  • the cutter head 131 is used to process tissue.
  • the cutter head 131 includes a first cutter head assembly and a second cutter head assembly.
  • the first cutter head assembly and the second cutter head assembly move relatively around an axis, so that the cutter head 131 moves at the There is a change in the first cutter head state and the second cutter head state, the first cutter head state is an open state, and the second cutter head state is a closed state.
  • the ultrasonic scalpel 130 also includes a handle assembly 132.
  • the handle assembly 132 is connected to the transducer 120 and the cutter head 131 respectively.
  • the transducer 120 is used to convert the received electrical energy into kinetic energy, and convert the kinetic energy through the handle assembly 132. It is transmitted to the cutter head 131 and the ultrasonic host 110 is connected to the transducer 120 .
  • the ultrasonic host 110 is used to provide electrical energy to the transducer 120 .
  • the ultrasonic scalpel energy output control method is implemented by the ultrasonic host 110 .
  • the ultrasonic scalpel energy output control method includes: when activating the ultrasonic scalpel 130 and/or after activating the ultrasonic scalpel 130, obtaining induction signals and/or electrical parameters, and controlling the energy delivered to the ultrasonic scalpel 130 according to the induction signals and/or electrical parameters. energy.
  • the energy delivered to the ultrasonic scalpel 130 is controlled to be a fixed energy.
  • the control driving unit 112 provides preset electrical energy to the transducer 120, and the preset electrical energy is at a preset voltage, a preset current, or a preset power. to determine any one or more of them, so that the transducer 120 provides kinetic energy matching the preset voltage, preset current or preset power to control the ultrasonic scalpel 130 to fix the energy output.
  • the energy delivered to the ultrasonic cutter 130 is controlled to be a fixed energy.
  • the ultrasonic scalpel energy output control method includes the following steps.
  • the electrical parameters includes at least one of current, voltage, power, impedance, or frequency.
  • This step can be implemented by the measurement unit 140 , which can be integrated in the ultrasound host 110 , or can exist independently of the ultrasound host 110 .
  • the ultrasonic scalpel When the ultrasonic scalpel performs a surgical operation, determine the surgical operation currently being performed by the ultrasonic scalpel based on the open or closed state of the blade head of the ultrasonic scalpel and the electrical parameters, and control delivery based on the surgical operation currently being performed by the ultrasonic scalpel. to the energy of the ultrasonic scalpel.
  • the energy output control system 100 of the ultrasonic scalpel also includes a sensor 133, wherein: the sensor 133 is used to sense the state of the blade 131 to obtain a sensing signal, and the sensor 133 is disposed on the blade handle assembly 132 and/or In the blade.
  • the ultrasonic host 110 is also used to obtain a sensing signal, and the sensing signal is used to determine the status of the blade 131.
  • the status of the blade includes an open state and a closed state. .
  • the ultrasound host 110 is also used to determine the surgical operation currently being performed by the ultrasonic scalpel 130 based on the status of the blade and the electrical parameters, and to control the energy delivered to the ultrasonic scalpel 130 based on the surgical operation currently being performed by the ultrasonic scalpel 130 .
  • step 202 includes: when the ultrasonic scalpel 130 performs a surgical operation, determine the surgical operation currently being performed by the ultrasonic scalpel 130 based on the induction signal and the electrical parameters, determine the surgical operation status of the surgical operation based on the electrical parameters, and determine the surgical operation status according to the electrical parameters.
  • the surgical operation and surgical operation status control the energy delivered to the ultrasonic scalpel 130 .
  • the above-mentioned step of determining the cutter head status of the cutter head 131 based on the induction signal includes: if there is a change in the induction signal, determining that the cutter head status of the cutter head 131 is Zhang. open state; if there is no change in the sensing signal, it is determined that the cutter head state of the cutter head 131 is a closed state.
  • step 202 includes: determining whether the cutter head state of the cutter head 131 is an open state or a closed state according to the sensing signal; determining the surgical operation currently being performed by the ultrasonic scalpel 130 according to the cutter head status, or determining the current surgical operation of the ultrasonic scalpel 130 according to the cutter head status. and electrical parameters to determine the surgical operation currently being performed by the ultrasonic scalpel 130; determine the surgical operation status of the surgical operation based on the electrical parameters; and control the energy delivered to the ultrasonic scalpel 130 based on the status of the blade, the surgical operation, and the surgical operation status.
  • the above-mentioned step of determining the cutter head status of the cutter head 131 based on the induction signal includes: if the induction signal If there is a change in the sensor signal, it is determined that the cutter head state of the cutter head 131 is in the open state; if there is no change in the sensing signal, it is determined that the cutter head status of the cutter head 131 is in the closed state.
  • the above-mentioned step of determining the surgical operation currently being performed by the ultrasonic scalpel 130 according to the status of the blade head includes: if the status of the blade head is in the open state, determining the surgical operation as the first operation, and the operation method includes drilling or dorsal incision; If the state of the cutter head is a closed state, the surgical operation is determined to be a second operation, and the second operation includes clamping and cutting, trimming or coagulation.
  • the above-mentioned steps of determining the surgical operation currently being performed by the ultrasonic scalpel 130 based on the status of the cutter head and the electrical parameters include: if the status of the cutter head is in the open state and the electrical parameters have changed, determining that the surgical operation is the first operation, the The first operation includes punching or dorsal cutting; if the status of the cutter head is in the closed state and the electrical parameters change, the surgical operation is determined to be the second operation, and the second operation includes clamping and cutting, cropping or coagulation.
  • the above-mentioned steps of determining the surgical operation currently being performed by the ultrasonic scalpel 130 based on the status of the cutter head and the electrical parameters include: if the status of the cutter head is in the open state and the electrical parameters conform to the electrical parameter curve corresponding to the first operation, then determining the operation The operation is a first operation, and the first operation includes drilling or dorsal incision; if the state of the blade is in a closed state, and the electrical parameters conform to the electrical parameter curve corresponding to the second operation, it is determined that the surgical operation is a second operation, and the second operation is Operations include clamping, cutting, trimming or closing.
  • the electrical parameters include any one or more of power, voltage, current, frequency, and impedance.
  • the induction signal indicates that the status of the cutter head is the open state
  • the status of the cutter head indicates that the surgical operation currently being performed by the ultrasonic scalpel 130 is the first operation
  • the status of the cutter head and the electrical parameters indicate that the current operation of the ultrasonic scalpel 130 is being performed.
  • the surgical operation performed is a first operation
  • the energy delivered to the ultrasonic scalpel 130 is controlled to be fixed energy, wherein the first operation includes drilling or dorsal incision.
  • the induction signal indicates that the status of the cutter head is a closed state
  • the status of the cutter head indicates that the surgical operation currently being performed by the ultrasonic scalpel 130 is the second operation, or the status of the cutter head and the electrical parameters indicate that the current surgical operation performed by the ultrasonic scalpel 130 is a second operation.
  • the surgical operation performed is a second operation
  • the energy delivered to the ultrasonic scalpel 130 is controlled to be fixed energy, wherein the second operation includes clamping and cutting.
  • step 202 includes: determining the cutting edge of the cutting head 131 according to the sensing signal.
  • the current surgical operation of the ultrasonic scalpel 130 is determined according to the status of the blade head, or the surgical operation currently performed by the ultrasonic scalpel 130 is determined based on the status of the blade head and the electrical parameters, and the surgical operation status of the surgical operation is determined based on the electrical parameters.
  • the head status, surgical operation, and surgical operation status control the energy delivered to the ultrasonic scalpel 130 .
  • the above-mentioned step of determining the surgical operation state of the surgical operation based on the electrical parameters includes: if the electrical parameters reduce to the corresponding first preset parameter threshold, determining that the surgical operation state is The operation end state; otherwise, if the electrical parameters change, the surgical operation state of the surgical operation is determined to be the operation in progress state.
  • the first preset parameter threshold corresponds to the first preset power threshold; if the electrical parameter is voltage or current, the first preset parameter threshold corresponds to the first preset voltage threshold or the first The preset current threshold. If the electrical parameter is frequency, the first preset parameter threshold corresponds to the first preset frequency threshold. If the electrical parameter is impedance, the first preset parameter threshold corresponds to the first preset impedance threshold, where , the first preset power threshold, the first preset voltage or current threshold, the first preset frequency threshold or the first preset impedance threshold are all set in advance through experiments or other methods.
  • the above-mentioned determination of the surgical operation state of the surgical operation based on the electrical parameters includes: when the minimum value of the electrical parameter and the maximum value of the electrical parameter are identified, and it is recognized that the electrical parameter drops by more than the corresponding
  • the surgical operation state of the second operation is determined to be the operation is about to end state.
  • the surgical operation status of the second operation is determined to be the operation is about to end state; otherwise, the surgical operation status of the second operation is determined to be the operation in progress state.
  • the energy delivered to the ultrasonic scalpel 130 is controlled according to the status of the cutter head, the surgical operation and the surgical operation status, including: when the induction signal indicates that the status of the cutter head is an open state, and the status of the cutter head indicates the surgical operation currently being performed by the ultrasonic scalpel 130
  • the surgical operation state is the first operation and the electrical parameter (such as the change amount of the electrical parameter) represents the first operation
  • the energy delivered to the ultrasonic scalpel 130 is controlled to be a fixed energy.
  • the energy delivered to the ultrasonic scalpel 130 is controlled according to the status of the cutter head, the surgical operation and the surgical operation status, including: when the induction signal indicates that the status of the cutter head is an open state, the status of the cutter head indicates the operation currently being performed by the ultrasonic scalpel 130 The operation is the first operation, or all
  • the cutter head status and electrical parameters represent that the surgical operation currently being performed by the ultrasonic scalpel 130 is the first operation, and the electrical parameters (such as the electrical parameter change amount) represent the surgical operation state of the first operation as the operation end state, the control is reduced and delivered to The energy output of the ultrasonic scalpel 130 is controlled, or the energy delivery to the ultrasonic scalpel 130 is stopped.
  • the energy delivered to the ultrasonic scalpel 130 is controlled according to the status of the cutter head, the surgical operation and the surgical operation status, including: when the induction signal indicates that the status of the cutter head is an open state, the status of the cutter head indicates the surgical operation currently being performed by the ultrasonic scalpel 130 is the first operation, or the cutter head status and the electrical parameters represent that the surgical operation currently being performed by the ultrasonic scalpel 130 is the first operation, and the electrical parameters represent the first operation when the surgical operation state changes from the operation in progress state to the operation end state. , control to reduce the energy delivered to the ultrasonic scalpel 130 , or control to stop delivering energy to the ultrasonic scalpel 130 .
  • the energy delivered to the ultrasonic scalpel 130 is controlled according to the status of the blade head, the surgical operation and the surgical operation status, including: when the induction signal indicates that the status of the blade head is a closed state, the status of the blade head indicates that the surgical operation currently being performed by the ultrasonic scalpel 130 is The second operation, or the state of the cutter head and the electrical parameters indicate that the surgical operation currently being performed by the ultrasonic scalpel 130 is the first operation, and the electrical parameters (such as the amount of electrical parameter change) indicate that the surgical operation status of the second operation is about to end.
  • the energy delivered to the ultrasonic scalpel 130 is controlled to be reduced, or the energy delivered to the ultrasonic scalpel 130 is controlled to stop.
  • the energy delivered to the ultrasonic scalpel 130 is controlled according to the status of the blade head, the surgical operation and the surgical operation status, including: when the induction signal indicates that the status of the blade head is a closed state, the status of the blade head indicates that the surgical operation currently being performed by the ultrasonic scalpel 130 is When the second operation, or the status of the cutter head and the electrical parameters indicate that the surgical operation currently being performed by the ultrasonic scalpel 130 is the second operation, and the electrical parameters (such as the amount of change in the electrical parameter) indicate that the surgical operation status of the second operation is the end of operation status,
  • the energy delivered to the ultrasonic scalpel 130 is controlled to be reduced, or the energy delivered to the ultrasonic scalpel 130 is stopped.
  • step 202 includes: determining whether the cutter head state of the cutter head 131 is an open state or a closed state based on the sensing signal, determining the surgical operation based on the cutter head status, or determining the surgical operation based on the cutter head status and electrical parameters, The tissue state corresponding to the surgical operation is determined according to the electrical parameters, and the transducer 120 is controlled to provide corresponding kinetic energy to control the energy output of the ultrasonic scalpel 130 according to the state of the blade, the surgical operation and the tissue state.
  • the determination of the tissue state corresponding to the surgical operation according to the electrical parameters includes: : If the electrical parameter drops to the corresponding first preset parameter threshold, determine the tissue state corresponding to the first operation to be the punching or dorsal incision end state; otherwise, if the electrical parameter changes, determine the tissue state corresponding to the first operation The tissue status is punching or dorsal cutting.
  • determining the tissue status corresponding to the second operation according to the electrical parameters includes: when the electrical parameters From the minimum value to the maximum value, and then starts to decrease from the maximum value, and the decreasing parameter value exceeds the corresponding second preset parameter threshold, then it is determined that the tissue status corresponding to the surgical operation is the operation is about to be cut or the cutting is completed. ; Otherwise, continue with the step of determining the cutter head status based on the sensing signal.
  • FIG. 8 it is a schematic flowchart of determining tissue status based on power, which specifically includes the following steps.
  • the power value is obtained. And determine whether a power minimum value is detected in the obtained power value. If yes, execute step 302; otherwise, execute step 305.
  • the cutting is about to be completed, which means that the tissue is about to be separated, and the cutting has been completed, which means that the tissue has been separated.
  • the above-mentioned steps of controlling the energy delivered to the ultrasonic scalpel 130 according to the status of the cutter head, the surgical operation and the tissue status include: when the induction signal indicates that the status of the cutter head is an open state, the status of the cutter head indicates that the ultrasonic scalpel 130 is currently performing The surgical operation is the first operation, or the status of the cutter head and the electrical parameters indicate that the surgical operation currently being performed by the ultrasonic scalpel 130 is the first operation, and the electrical parameters indicate that the status of the tissue corresponding to the first operation is that no punching or dorsal incision has been performed.
  • the energy delivered to the ultrasonic scalpel exchanger 130 is controlled to be a fixed energy.
  • the above-mentioned steps of controlling the energy delivered to the ultrasonic scalpel 130 according to the status of the cutter head, the surgical operation and the tissue status include: when the induction signal indicates that the status of the cutter head is an open state, the status of the cutter head indicates that the ultrasonic scalpel 130 is currently performing The surgical operation is the first operation, or the status of the cutter head and the electrical parameters indicate that the surgical operation currently being performed by the ultrasonic scalpel 130 is the first operation, and the electrical parameters indicate that the tissue status corresponding to the first operation is punching or dorsal incision.
  • the energy delivered to the ultrasonic scalpel 130 is controlled to be a fixed energy.
  • the above-mentioned steps of controlling the energy delivered to the ultrasonic scalpel 130 according to the status of the cutter head, the surgical operation and the tissue status include: when the induction signal indicates that the status of the cutter head is an open state, the status of the cutter head indicates that the ultrasonic scalpel 130 is currently performing The surgical operation is the first operation, or the state of the cutter head and the electrical parameters indicate that the surgical operation currently being performed by the ultrasonic scalpel 130 is the first operation, and the electrical parameters indicate that the tissue state corresponding to the first operation is the end of drilling or dorsal incision. , control to reduce the energy delivered to the ultrasonic scalpel 130 , or control to stop delivering energy to the ultrasonic scalpel 130 .
  • the above-mentioned steps of controlling the energy delivered to the ultrasonic scalpel 130 based on the status of the blade, the surgical operation and the status of the tissue include: when the induction signal indicates that the status of the blade is a closed state, the status of the blade indicates the operation currently being performed by the ultrasonic scalpel 130 When the operation is the second operation, or the status of the cutter head and the electrical parameters indicate that the surgical operation currently being performed by the ultrasonic scalpel 130 is the second operation, and the electrical parameters (such as the amount of change in the electrical parameters) indicate the status of the tissue corresponding to the surgical operation and that the cutting is not being performed,
  • the energy delivered to the ultrasonic scalpel 130 is controlled to be fixed energy.
  • the above-mentioned steps of controlling the energy delivered to the ultrasonic scalpel 130 according to the status of the blade head, the surgical operation and the status of the tissue include: when the induction signal indicates that the status of the blade head is a closed state, the status of the blade head indicates the operation currently being performed by the ultrasonic scalpel 130 When the operation is the second operation, or the status of the cutter head and the electrical parameters indicate that the surgical operation currently being performed by the ultrasonic scalpel 130 is the second operation, and the electrical parameters (such as the amount of change in the electrical parameters) indicate the status of the tissue corresponding to the surgical operation is about to be cut, Control to reduce the energy delivered to the ultrasonic scalpel 130 , or control to stop delivering energy to the ultrasonic scalpel 130 .
  • the above-mentioned steps of controlling the energy delivered to the ultrasonic scalpel 130 according to the status of the blade head, the surgical operation and the status of the tissue include: when the induction signal indicates that the status of the blade head is a closed state, the status of the blade head indicates the operation currently being performed by the ultrasonic scalpel 130 The operation is the second operation, or the state of the blade and the electrical parameters indicate that the surgical operation currently being performed by the ultrasonic scalpel 130 is the second operation.
  • the electrical parameter such as the electrical parameter variation
  • the energy delivered to the transducer 120 is controlled to be reduced or the energy delivered to the ultrasonic scalpel 130 is controlled to stop.
  • the ultrasonic scalpel energy output control method further includes obtaining a preset energy control identifier.
  • step 202 includes: determining whether the cutter head state of the cutter head 131 is an open state or a closed state based on the sensing signal, determining the surgical operation currently being performed by the ultrasonic scalpel 130 based on the cutter head status, or determining the cutter head status and electrical parameters.
  • the surgical operation currently being performed by the ultrasonic scalpel 130 is determined, the surgical operation status of the surgical operation is determined based on the electrical parameters, and the energy delivered to the ultrasonic scalpel 130 is controlled based on the status of the blade head, the surgical operation, the surgical operation status and the energy control flag.
  • the transducer 120 is further controlled to provide corresponding kinetic energy according to the energy control flag, so as to freely reduce or stop the energy output of the ultrasonic scalpel 130 .
  • the ultrasonic scalpel energy output control system also includes an output prompter 150.
  • the output prompter 150 is communicatively connected with the ultrasound host 110 and is used to provide prompt information to the outside world.
  • the prompt function includes but is not limited to visual, and/or Auditory and/or tactile prompt information, etc.
  • the ultrasonic scalpel energy output control method also includes: obtaining a preset setting prompt mark.
  • step 202 includes: determining whether the cutter head state of the cutter head 131 is an open state or a closed state based on the sensing signal, determining the surgical operation currently being performed by the ultrasonic scalpel 130 based on the cutter head status, or determining the cutter head status and electrical parameters.
  • the output prompter 150 is controlled to prompt the energy delivered to the ultrasonic scalpel 130, including: when the energy output needs to be reduced or the energy output is stopped, if the prompt identification indicates that prompting is supported/allowed, the output prompter 150 is controlled to perform Reduce the energy change prompt or stop the energy change prompt. If the prompt mark indicates that the prompt is not supported/prohibited, is displayed, the output prompter 150 is controlled not to prompt.
  • step 202 includes: determining whether the cutter head state of the cutter head 131 is an open state or a closed state according to the sensing signal, determining the surgical operation currently being performed by the ultrasonic scalpel 130 according to the cutter head status, or determining the current surgical operation of the ultrasonic scalpel 130 according to the cutter head status. and electrical parameters to determine the surgical operation currently being performed by the ultrasonic scalpel 130, determine the tissue state corresponding to the surgical operation based on the electrical parameters, and control the energy delivered to the ultrasonic scalpel 130 based on the blade status, surgical operation, tissue state and energy control identifier.
  • the step of controlling the energy delivered to the ultrasonic scalpel 130 according to the status of the blade, the surgical operation, the tissue status and the energy control flag please refer to the description of the corresponding part above and will not be repeated here.
  • step 202 includes: determining whether the cutter head state of the cutter head 131 is an open state or a closed state according to the sensing signal, determining the surgical operation currently being performed by the ultrasonic scalpel 130 according to the cutter head status, or determining the current surgical operation of the ultrasonic scalpel 130 according to the cutter head status. and electrical parameters to determine the surgical operation currently being performed by the ultrasonic scalpel 130, determine the tissue state corresponding to the surgical operation based on the electrical parameters, and control the transducer 120 to provide corresponding kinetic energy based on the status of the blade head, surgical operation, and tissue state to control the ultrasonic scalpel.
  • the energy output of 130; at the same time, according to the prompt mark, the output prompter 150 is controlled to prompt the energy delivered to the ultrasonic scalpel 130.
  • step 202 includes: determining whether the cutter head state of the cutter head 131 is an open state or a closed state according to the sensing signal, determining the surgical operation currently being performed by the ultrasonic scalpel 130 according to the cutter head status, or determining the current surgical operation of the ultrasonic scalpel 130 according to the cutter head status and The electrical parameters determine the surgical operation currently being performed by the ultrasonic scalpel 130.
  • the surgical operation status of the surgical operation is determined based on the electrical parameters.
  • the energy delivered to the ultrasonic scalpel 130 is controlled based on the status of the blade head, the surgical operation, the surgical operation status and the energy control identifier.
  • the output prompter 150 is controlled to prompt the energy delivered to the ultrasonic scalpel 130 .
  • step 202 includes: determining whether the cutter head state of the cutter head 131 is an open state or a closed state according to the sensing signal, determining the surgical operation currently being performed by the ultrasonic scalpel 130 according to the cutter head status, or determining the current surgical operation of the ultrasonic scalpel 130 according to the cutter head status.
  • the output prompter 150 is controlled to prompt the energy delivered to the ultrasonic scalpel 130.
  • step 202 includes: determining the surgical operation currently being performed by the ultrasonic scalpel 130 based on the induction signal and electrical parameters, determining the surgical operation status corresponding to the surgical operation based on the electrical parameters, and determining the surgical operation status and energy control based on the surgical operation, surgical operation status, and energy control. Identification controls the energy delivered to the ultrasonic scalpel 130 .
  • step 202 includes: determining the surgical operation currently being performed by the ultrasonic scalpel 130 based on the induction signal and electrical parameters, determining the surgical operation status/tissue status corresponding to the surgical operation based on the electrical parameters, and determining the surgical operation status/tissue status corresponding to the surgical operation based on the surgical operation and the surgical operation status. /tissue status, controls the energy delivered to the ultrasonic scalpel 130, and at the same time controls the output prompter 150 to prompt the energy delivered to the ultrasonic scalpel 130 according to the prompt mark.
  • step 202 includes: determining the surgical operation currently being performed by the ultrasonic scalpel 130 based on the induction signal and electrical parameters, determining the surgical operation status/tissue status corresponding to the surgical operation based on the electrical parameters, and determining the surgical operation status/tissue status corresponding to the surgical operation based on the surgical operation and surgical operation status.
  • /Tissue status, and energy control flag control the energy delivered to the ultrasonic scalpel 130, and at the same time, according to the prompt flag, control the output prompter 150 to prompt the energy delivered to the ultrasonic scalpel 130.
  • step 202 includes: determining the surgical operation currently being performed by the ultrasonic scalpel 130 based on the induction signal and electrical parameters, determining the surgical operation status/tissue status corresponding to the surgical operation based on the electrical parameters, and determining the surgical operation status/tissue status corresponding to the surgical operation based on the surgical operation and surgical operation status. /tissue status, and energy control flag, the transducer 120 is controlled to provide corresponding kinetic energy to control the energy output of the ultrasonic scalpel 130, and at the same time, the output prompter 150 is controlled to prompt the energy delivered to the ultrasonic scalpel 130 according to the prompt flag.
  • FIG. 9 it is a schematic flow chart of an ultrasonic scalpel energy output control method provided by an embodiment of the present application.
  • the ultrasonic scalpel energy output control method includes the following steps.
  • step 403 is executed; otherwise, the cutter head is closed, step 404 is executed.
  • the corresponding surgical operation includes clamping and cutting, and according to the electric
  • the parameters determine the tissue state corresponding to the clamping cutting, that is, the cutting state corresponding to the clamping cutting is determined based on the electrical parameters.
  • step 406 and step 407 If the tissue status is about to be cut, execute step 406 and step 407; otherwise, execute step 401.
  • step 408 is executed; otherwise, step 403 is executed.
  • step 409 is executed. If prompting is not supported, step 410 is executed.
  • the ultrasonic scalpel energy output control system does not prompt.
  • FIG. 10 it is a schematic flow chart of an ultrasonic scalpel energy output control method provided by an embodiment of the present application.
  • the ultrasonic scalpel energy output control method includes the following steps.
  • step 202 includes:
  • step 503 is executed; otherwise, the cutter head is closed, step 504 is executed.
  • the corresponding surgical operation includes clamping and cutting, and the tissue state corresponding to the clamping and cutting is identified according to the electrical parameters, that is, the cutting state corresponding to the clamping and cutting is determined according to the electrical parameters.
  • step 506 and step 507 If the tissue status is about to be cut, execute step 506 and step 507; otherwise, execute step 501.
  • step 508 is executed; otherwise, step 503 is executed.
  • step 509 is executed. If prompting is not supported, step 510 is executed.
  • control the ultrasonic scalpel energy output control system to stop energy output. That is to say, it is controlled to stop delivering energy to the ultrasonic scalpel, which will not be described in detail later.
  • the ultrasonic scalpel energy output control system does not prompt.
  • the difference between this embodiment and the embodiment of FIG. 9 is that when the tissue state is about to be cut, the embodiment of FIG. 9 determines whether reducing the energy output is supported, and if supported, controls the ultrasonic scalpel energy output control system 100 to reduce the energy. Output, the embodiment corresponding to Figure 10 determines whether the control supports stopping energy output when the tissue status is about to be cut, and if supported, controls the ultrasonic scalpel energy output control system 100 to stop energy output.
  • FIG. 11 it is another schematic flow chart of the ultrasonic scalpel energy output control method provided by the embodiment of the present application.
  • the ultrasonic scalpel energy output control method includes the following steps.
  • step 603 is executed; otherwise, the cutter head is closed, step 604 is executed.
  • the corresponding surgical operation includes punching or dorsal cutting, and the tissue status corresponding to the punching or dorsal cutting is identified based on the electrical parameters.
  • tissue status is punching or dorsal cutting.
  • step 605 is executed; if not, step 611 is executed.
  • step 608 is executed; otherwise, step 611 is executed.
  • step 609 is executed. If prompting is not supported, step 610 is executed.
  • the energy output control system of the ultrasonic scalpel is controlled without prompting.
  • FIG. 12 it is another schematic flow chart of the ultrasonic scalpel energy output control method provided by the embodiment of the present application.
  • the ultrasonic scalpel energy output control method includes the following steps.
  • step 703 If the cutter head is opened, step 703 is executed; otherwise, the cutter head is closed, step 712 is executed.
  • the corresponding surgical operation includes punching or dorsal cutting, and the tissue status corresponding to the punching or dorsal cutting is identified based on the electrical parameters.
  • tissue status is punching or dorsal cutting.
  • step 705 If drilling or undercutting is being performed, perform step 705; if not, perform step 711.
  • step 708 is executed; otherwise, step 711 is executed.
  • step 709 is executed. If prompting is not supported, step 710 is executed.
  • the ultrasonic scalpel energy output control system does not prompt.
  • the corresponding surgical operation includes clamping and cutting, and the tissue state corresponding to the clamping and cutting is identified according to the electrical parameters, that is, the cutting state corresponding to the clamping and cutting is determined according to the electrical parameters.
  • step 714 and step 715 If the tissue status is about to be cut, execute step 714 and step 715; otherwise, execute step 501.
  • step 716 is executed; otherwise, step 711 is executed.
  • step 717 is executed. If prompting is not supported, step 718 is executed.
  • the ultrasonic scalpel energy output control system does not prompt.
  • the surgical operation status is the first operation
  • the surgical operation status is the operation end status
  • the corresponding tissue status is the punching or dorsal cutting completion
  • the surgical operation status is the operation in progress status
  • the corresponding tissue status is punching or dorsal cutting
  • the surgical operation status is the unoperated state
  • the corresponding tissue status is that no punching or dorsal incision has been performed.
  • the surgical operation status includes the operation about to end state, the operation end state, and the unoperated state.
  • tissue statuses are about to be cut (the tissue is about to be severed), the cutting has been completed (the tissue has been severed), the cutting is not in progress, the tissue is not severed, etc.
  • the surgical operation state and tissue cutting state in this application are described from different angles. Although they are described from different angles, the tissue state in the method embodiment may still be replaced by the surgical operation state, and the specific The tissue status is correspondingly replaced with the corresponding specific surgical operation status.
  • the storage medium may include: read-only memory (ROM, Read Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disk, etc.
  • any ultrasonic scalpel energy output control method embodiment provided by the embodiment of the present invention can be executed. Therefore, any ultrasonic scalpel energy output provided by the embodiment of the present invention can be realized.
  • the beneficial effects that can be achieved by the control method are detailed in the previous embodiments and will not be described again here.

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Abstract

一种超声刀能量输出控制系统（100）、方法及计算机可读存储介质，其中，在超声刀能量输出控制系统（100）的超声刀（130）执行手术操作时，根据超声刀（130）刀头（131）的张开状态或闭合状态，以及超声刀能量输出控制系统（100）工作时的电参数，确定超声刀（130）当前正在执行的手术操作，并根据超声刀（130）当前正在执行的手术操作控制递送至超声刀（130）的能量，刀头（131）状态包括两种，张开状态和闭合状态，通过刀头（131）的张开状态或闭合状态，以及电参数一起结合来确定当前正在执行的手术操作，提高了确定当前手术操作的准确性，在确定超声刀（130）当前正在执行的手术操作后，根据该手术操作来控制递送至超声刀（130）的能量，调整超声刀（130）的能量输出，提高手术质量。

Description

超声刀能量输出控制系统、方法及计算机可读存储介质
本申请要求于2022年07月22日提交中国专利局、申请号为202210871104.4、发明名称为“超声刀控制系统、超声刀控制方法及计算机可读存储介质”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及数据处理领域，具体涉及一种超声刀能量输出控制系统、超声刀能量输出控制方法及计算机可读存储介质。
背景技术
超声刀是一种应用于手术场景的能量器械，其将电能转换为机械振动，并传递至刀头，振动的刀头与组织接触，利用机械冲击以达到切换组织或对组织进行凝血的目的。
外科医生在手术过程中，超声刀均是提供固定振幅水平的能量输出，若在所有情况下，超声刀均以固定振幅水平的能量输出，会影响手术质量。例如，在进行打孔等手术操作时，若对组织进行打孔后，外科医生未停止激发超声刀，仍以该固定振幅水平能量输出，则从组织中取回超声刀的刀头时，有可能会误伤到其他组织，降低手术质量。
发明内容
本申请实施例提供一种超声刀能量输出控制系统、超声刀能量输出控制方法及计算机可读存储介质，可提高手术质量。
本申请实施例提供了一种超声刀能量输出控制系统，包括：超声刀、换能器、测量单元、和超声主机，所述超声刀包括刀头和刀柄组件，其中：
所述刀头，用于对组织进行处理，所述刀头包括第一刀头组件和第二刀头组件，所述第一刀头组件和所述第二刀头组件围绕轴相对运动，以使得所述刀头在第一刀头状态和第二刀头状态中发生变化，所 述第一刀头状态为张开状态，所述第二刀头状态为闭合状态；
所述刀柄组件，用于连接所述换能器和所述刀头；
所述换能器，用于将接收的电能转换为动能，并通过所述刀柄组件将所述动能传递至所述刀头；
所述测量单元，用于获取所述超声刀能量输出控制系统工作时的电参数，并将所述电参数发送至所述超声主机，所述电参数包括电流、电压、功率、阻抗或频率中的至少一个；
所述超声主机，用于向所述换能器提供电能，并在所述超声刀执行手术操作时，根据所述张开状态或闭合状态，和所述电参数，确定所述超声刀当前正在执行的手术操作，并根据所述超声刀当前正在执行的手术操作控制递送到所述超声刀的能量。
本申请实施例还提供了一种超声刀能量输出控制方法，应用于超声刀能量输出控制系统中，所述超声刀能量输出控制系统包括超声刀、换能器和超声主机，所述超声刀包括刀头，其中：
所述刀头，用于对组织进行处理，所述刀头包括第一刀头组件和第二刀头组件，所述第一刀头组件和所述第二刀头组件围绕轴相对运动，以使得所述刀头在第一刀头状态和第二刀头状态中发生变化，所述第一刀头状态为张开状态，所述第二刀头状态为闭合状态；
所述换能器，用于将接收的电能转换为动能，并将所述动能传递至所述刀头；
所述超声主机，与所述换能器连接，所述超声主机用于向所述换能器提供电能；
所述超声刀能量输出控制方法，包括：
获取所述超声刀能量输出控制系统工作时的电参数，所述电参数包括电流、电压、功率、阻抗或频率中的至少一个；
在所述超声刀执行手术操作时，根据所述张开状态或闭合状态，和所述电参数，确定所述超声刀当前正在执行的手术操作，并根据所述超声刀当前正在执行的手术操作控制递送到所述超声刀的能量。
本申请实施例还提供了一种计算机可读存储介质，所述计算机可 读存储介质存储有指令，所述指令被处理器执行时，实现上述任一种超声刀能量输出控制方法。
本申请实施例通过的超声主机在超声刀执行手术操作时，根据超声刀刀头的张开状态或闭合状态，以及超声刀能量输出控制系统工作时的电参数，确定超声刀当前正在执行的手术操作，并根据超声刀当前正在执行的手术操作控制递送至超声刀的能量，本申请实施例限定的刀头状态包括两种，张开状态和闭合状态，在确定当前正在执行的手术操作时，通过刀头的张开状态或闭合状态，以及电参数一起结合来确定，提高了确定当前手术操作的准确性，在确定超声刀当前正在执行的手术操作后，根据该手术操作来控制递送至超声刀的能量，调整超声刀的能量输出，提高手术质量。本申请的实施例在超声刀能量输出控制系统中设置传感器，利用传感器来感应超声刀的刀头状态得到感应信号，在激发超声刀时和/或激发超声刀后，根据感应信号和/或超声刀能量输出控制系统工作时的电参数，控制向超声刀的换能器提供对应能量的电能，以控制换能器提供对应的动能，达到控制超声刀的能量输出，如此，根据传感器的感应信号和/或超声刀能量输出控制系统工作时的电参数来调整换能器提供的动能。
附图说明
为了更清楚地说明本申请实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是本申请实施例提供的超声刀控制下系统的结构示意图；
图2是本申请实施例提供的超声刀控制下系统的另一结构示意图；
图3是本申请实施例提供的夹持切割组织时的电参数的示意图；
图4是本申请实施例提供的夹持切割组织时的功率和刀头状态的示意图；
图5是本申请实施例提供的多次背切组织时的功率和刀头状态的 示意图；
图6是本申请实施例提供的对组织打孔时的功率和刀头状态的示意图；
图7是本申请实施例提供的超声刀能量输出控制方法的流程示意图；
图8是本申请实施例提供的为根据功率确定组织状态的流程示意图；
图9是本申请实施例提供的超声刀能量输出控制方法的一流程示意图；
图10是本申请实施例提供的超声刀能量输出控制方法的一流程示意图；
图11是本申请实施例提供的超声刀能量输出控制方法的另一流程示意图；
图12是本申请实施例提供的超声刀能量输出控制方法的又一流程示意图。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
应当理解的是，虽然在一些情况下，术语“第一”、“第二”等在本文中用于描述各种元件或其他对象，但是这些元件或者对象不应受到这些术语限制。这些术语只是用于将一个元件/对象与另一元件/对象区分开。需要说明的是，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接或可以相互通讯；可以是直接相连，也可以通过中间媒介间接相连，可以是 两个元件内部的连通或两个元件的相互作用关系。
下面将对本申请实施例中的超声刀能量输出控制系统、超声刀能量输出控制方法和计算机可读存储介质分别进行详细说明。需说明的是，以下实施例的描述顺序不作为对实施例优选顺序的限定。
图1是本申请实施例提供的超声刀能量输出控制系统的结构示意图，图2为本申请实施例提供的超声刀能量输出控制系统的另一结构示意图。
如图1所示，该超声刀能量输出控制系统100中包括超声主机110、换能器120、超声刀130和测量单元140，其中，超声主机110与换能器120连接，换能器120与超声刀130连接，测量单元140与超声主机110连接。
如图2所示，超声主机110包括控制器111和驱动单元112，其中，驱动单元112与控制器111连接。超声刀130包括刀头131。超声刀130还包括刀柄组件132，进一步地，超声刀130还包括传感器133。其中，传感器133与测量单元140通信连接，刀头131与刀柄组件132连接。
下面将对超声刀能量输出控制系统100中的各个对象/部件/元件进行进一步地介绍。
刀头131，为超声刀130的执行部件，具体可通过刀头131来执行包括但不限于打孔、背切、裁剪、夹持切割或凝闭等手术操作。在执行手术操作中刀头131与患者的组织接触。
刀头131，用于对组织进行处理，刀头131包括第一刀头组件和第二刀头组件，第一刀头组件和第二刀头组件围绕轴相对运动，以使得刀头131在第一刀头状态和第二刀头状态中发生变化，所述第一刀头状态为张开状态，所述第二刀头状态为闭合状态。
刀柄组件132，用于于连接换能器120和刀头131。
传感器133，用于根据刀头131的刀头状态得到感应信号。其中，传感器133的数量可以为一个，也可以为多个。传感器133可设置于刀柄组件132中和/或设置于刀头131中，传感器133的设置位置不做具体限定。
其中，传感器133可以为任一种的接触式的传感器，如压力传感器，对应地，传感器133可以设置在刀柄组件132中，还可以设置在刀头131中，传感器133还可以为任一种的接近传感器，如测距的接近传感器，对应地，传感器133可以设置在刀头131中。传感器133还可以为任一种电学式的传感器，如霍尔传感器，还可以为任一种机械式的传感器，如开关传感器等。传感器133具体是什么传感器，也不做具体限定。
无论传感器133设置在哪里，也无论传感器133具体是哪种传感器，其对应的功能不变。
换能器120，用于将接收的电能转换为动能，并将动能传递至刀头131，如通过刀柄组件132将动能传递至刀头131。具体地，换能器120中的压电陶瓷将电能转换成机械振动能，通过变幅杆将机械振动能放大并传递至刀头131。
测量单元140，用于获取超声刀能量输出控制系统100工作时的电参数，并将超声刀能量输出控制系统100工作时的电参数发送至超声主机110。当超声刀130中包括传感器133时，测量单元140用于获取传感器133的感应信号和超声刀能量输出控制系统100工作时的电参数，并将感应信号和电参数发送至超声主机110。其中，感应信号可用于确定刀头131的刀头状态，本申请实施例中涉及的刀头状态包括第一刀头状态和第二刀头状态，即张开状态和闭合状态。
其中，测量单元140中包括电路。
在一实施例中，测量单元140集成在超声主机110中，作为超声主机110的一部分/一个部件；在另一实施例中，测量单元140也可集成在超声刀130中，作为超声刀130的一部分/一个部件。无论测量单元140集成在哪里，其所对应的功能不变，即获取传感器133的感应信号和/或超声刀能量输出控制系统100工作时的电参数，并将感应信号和/或电参数发送至能处理其数据的部件/元件/对象，如控制器111。
超声主机110，与换能器120连接，超声主机110，用于向换能器120提供电能，并在激发超声刀130时和/或激发超声刀130后，获取感 应信号和/或电参数，根据感应信号和/或电参数，控制递送至超声刀130的能量。
在一实施例中，通过向换能器120提供对应的电能，如可调整的电能，通过对应的电能来驱动换能器120提供相对应的动能，从而控制递送至超声刀130的能量。对应地，通过向换能器120提供对应的电压(可调整的电压)、对应的电流(可调整的电流)或对应的功率(可调整的功率)，以控制换能器120提供与对应的电压、对应的电流或对应的功率相对应的动能，如此，控制递送至超声刀130的能量。即通过向换能器120提供不同电压、不同电流和不同功率的电流，来控制换能器120提供对应的动能，以控制递送至超声刀130的能量。
在一实施例中，超声主机110向换能器120提供固定电能，超声主机110根据感应信号和/或电参数，控制换能器120，使得换能器120对固定电能进行处理，以调整换能器120提供的动能，从而控制递送至超声刀130的能量，在该实施例中，换能器120中具有微型芯片，本申请实施例中对该种情况不做更详细的描述。
其中，超声主机110的驱动单元112，用于向换能器120提供电能，并驱动换能器120工作。控制器111，用于在在超声刀130执行手术操作时，根据刀头131的张开状态或闭合状态，和电参数，确定超声刀130当前正在执行的手术操作，并根据超声刀130当前正在执行的手术操作控制递送到超声刀130的能量。
下面再进一步描述超声刀130的工作原理：超声主机110提供高频电能传送至换能器120，换能器120中的压电陶瓷将电能转换成机械振动能(下文中的动能包括该机械振动能)，通过变幅杆将机械振动能放大并传递至刀头131，刀头131产生约55.5kHz的振动，振动幅度约为50-100μm，振动的刀头131与患者的组织接触，由于机械冲击使得组织的蛋白质氢键被打断，同时由于热量产生，温度上升，组织蛋白细胞最终变性形成粘滞凝固物，从而达到切割或凝血的目的。医护人员在手术过程中，会采用不同的手术操作(也称为手术操作)使用超声刀130切割或者凝闭组织，这些手术操作包括但不限于打孔、背切、裁剪、夹持切割或凝闭等。下文中会涉及其中的手术操作。
在一实施例中，超声主机110，如超声主机110的控制器111，还用于根据感应信号确定刀头131的刀头状态，根据刀头状态控制递送至超声刀130的能量，如控制换能器120提供对应的动能，以控制超声刀130的能量输出。例如，控制器111根据刀头状态控制驱动单元112向换能器120提供对应的电能，使得换能器120提供与所述电能匹配的对应的动能，以控制递送至超声刀130的能量。该实施例中，感应信号只用来确定刀头状态，控制器111根据刀头状态来控制换能器120提供对应的动能，实现调整换能器120提供的动能，以调整超声刀130的能量输出，提高手术质量。
其中，刀头131的刀头状态包括张开状态和闭合状态。
在一使用场景中，超声主机110，如超声主机110的控制器111，还用于当感应信号表征刀头状态为张开状态时，控制递送至超声刀130的能量为固定能量，如控制换能器120提供固定动能，以控制超声刀130以固定能量输出。例如，当控制器111根据感应信号确定刀头状态为张开状态时，控制驱动单元112向换能器120提供预设电能，该预设电能以预设电压、预设电流或预设功率中的任意一种或多种来确定，使得换能器120提供与预设电压、预设电流或预设功率匹配的动能，以控制超声刀130以固定能量输出。
其中，预设电压为某一固定电压，预设电流为某一固定电流，预设功率为某一固定功率，该预设电压、预设电流或预设功率为超声刀能量输出控制系统100正常运行时所对应的电压、电流或功率，以使得换能器120以固定振幅(如预设振幅)的动能进行输出，下文中将不再重复描述。
其中，当传感器133为接近传感器、压力传感器、霍尔传感器或开关传感器时，上述根据感应信号确定刀头131的刀头状态，包括：若感应信号存在变化，确定的刀头131的刀头状态为张开状态，若感应信号不存在变化，则确定刀头131的刀头状态为闭合状态。
例如，当传感器133为接近传感器时，当刀头131为闭合状态时，并不会触发接近传感器，此时接近传感器没有感应信号，或者感应信号没有任何变化，而在刀头131打开的过程中，接近传感器能检测到， 并产生感应信号，因此，感应信号存在变化。
例如，当传感器133为开关传感器时，当检测到压力传感器上的压力信号，则根据该压力信号来打开超声刀130的刀头131，当超声刀130的刀头为闭合状态时，则无需触发该开关传感器。
下文中，根据感应信号确定刀头的刀头状态请参看该部分的描述，后文中将不再赘述。
在一使用场景中，超声主机110，如超声主机110的控制器111，还用于当感应信号表征刀头状态为闭合状态时，控制递送至超声刀120的能量为固定能量，例如，控制换能器120提供固定动能，以控制超声刀130以固定能量输出。
在一实施例中，超声主机110，如超声主机110的控制器111，还用于根据感应信号确定刀头131的刀头状态，根据刀头状态确定超声刀130当前正在执行的手术操作，或者根据刀头状态和电参数确定超声刀130当前正在执行的手术操作，根据超声刀130当前正在执行的手术操作控制递送至超声刀130的能量。该实施例中感应信号只用于确定刀头状态，在确定刀头状态后，确定手术操作，最后根据手术操作来控制递送至超声刀130的能量，以控制超声刀130在不同刀头状态下的手术操作中以对应的能量进行输出，提高手术质量。
其中，根据刀头状态确定超声刀130当前正在执行的手术操作，包括：若刀头状态为张开状态，确定手术操作为第一操作，该第一操作包括打孔或者背切；若刀头状态为闭合状态，确定手术操作为第二操作，该第二操作包括夹持切割、裁剪或凝闭。该实施例中仅根据刀头状态来确定手术操作。
其中，根据刀头状态和电参数确定超声刀130当前正在执行的手术操作，包括：若刀头状态为张开状态，且电参数发生了变化，确定手术操作为第一操作，该第一操作包括打孔或者背切；若刀头状态为闭合状态、且电参数发生了变化，确定手术操作为第二操作，该第二操作包括夹持切割、裁剪或凝闭。该实施例中根据刀头状态和电参数一起来确定手术操作，其中，只要电参数发生了变化，意味着当前正 在进行手术操作，排除了当前未进行手术操作、或者当前进行的是其他手术操作的情况，提高了确定手术操作的准确性。
其中，根据刀头状态和电参数确定超声刀130当前正在执行的手术操作，包括：若刀头状态为张开状态，且电参数符合第一操作对应的电参数曲线，则确定手术操作为第一操作，该第一操作为打孔或者背切；若刀头状态为闭合状态，且电参数符合第二操作对应的电参数曲线，则确定手术操作为第二操作，该第二操作包括夹持切割、裁剪或凝闭。该实施例中，根据刀头状态和电参数一起来确定手术操作，其中，不仅需要电参数发生变化，即超声主机能量正在进行输出，而且电参数需要符合对应操作方式的电参数曲线，才来确定对应的手术操作，进一步提高了确定手术操作的准确性。
需要特别指出的是，本实施例中，“电参数变化”、“电参数发生了变化”等意在指明能量正处于激发状态，如无特别的说明，下述各实施例中的“电参数变化”、“电参数发生了变化”，描述的是超声主机有能量正在输出的状态。
其中，电参数包括功率、电压、电流、频率、阻抗中的任意一个或多个。
其中，根据电参数不仅可确定对应的手术操作，进一步地还可以根据电参数来确定手术操作的手术操作状态(下文中将会描述)，而且还可以根据电参数来确定手术操作对应的组织状态(下文中将会描述)。
图3为本申请实施例提供的夹持切割组织时的电参数的示意图。其中，在使用超声刀130切割组织的过程中，超声刀能量输出控制系统100的电参数根据手术操作的不同而存在不同，同时电参数会依据组织切割状态发生相应的变化，因此可依据相应电参数的变化进一步对组织切割状态(组织切割状态，也可以称为组织状态)进行识别，对应的组织切割状态对应于后文中的即将切割完毕(组织即将离断)、已经切割完毕(组织已经离断)等，同时可依据相应电参数的变化进一步对手术操作状态进行识别，如包括后文中的操作即将结束状态和 操作结束状态等。
在图3中，最上面的电参数曲线为阻抗曲线，中间的电参数曲线为电压曲线，最下面的电参数曲线为功率曲线。以功率曲线为例进行说明，从0秒到时到第一个高峰，意味着在超声刀130的激发阶段，此时超声刀能量输出控制系统100的能量输出快速增大至极大值，即功率曲线的第一个高峰所对应的值，阻抗由高降低。当从极大值开始下降时，意味着超声刀能量输出控制系统100开始进行夹持切割，在夹持切割初始阶段，超声刀能量输出控制系统100的能量输出逐渐增大至期望能量，超声刀能量输出控制系统100也逐渐进入谐振状态，此时超声刀能量输出控制系统100的电压和功率逐渐增加，阻抗随着系统进入谐振状态而逐渐降低；在夹持切割过程中，随着刀头131温度的增加，导致组织水分的蒸发，刀头131负载逐渐增大，此时超声刀能量输出控制系统100阻抗、电压和功率均呈现增加状态；在夹持切割过程末期，随着切割组织的减少，刀头负载逐渐减小，此时超声刀能量输出控制系统100阻抗、电压和功率均呈现降低状态；在超声刀130离开组织时，此时超声刀能量输出控制系统100阻抗、电压和功率均快速下降。
图4是本申请实施例提供的夹持切割组织时的功率和刀头状态示意图。其中，上图为夹持切割组织时的功率示意图，横坐标为时间，纵坐标为功率；下图为刀头状态示意图，横坐标为时间，纵坐标的1表示刀头状态或者钳口状态为闭合状态，0表示刀头状态或者钳口状态为张开状态。从功率示意图中可看出，从功率开始变化到第一个高峰，意味着在超声刀130的激发阶段，此时超声刀能量输出控制系统100的能量输出快速增大至极大值，当从极大值开始下降时，意味着超声刀能量输出控制系统100开始进行夹持切割，超声刀能量输出控制系统100将逐渐进入谐振状态，在夹持切割的过程中，随着刀头131温度的增加，导致组织水分的蒸发，超声刀130的刀头131负载逐渐增大，此时超声刀能量输出控制系统100的功率均呈现增加状态，如大概1秒至1.5秒之间的情况；在夹持切割末期，随着切割组织的减少， 刀头131负载逐渐减小，此时超声刀能量输出控制系统100的功率均呈现降低状态，如大概1.5秒到2秒之间，为即将切割完毕的状态，大概在2.5秒时，停止激发。
图5是本申请实施例提供的多次背切组织时的功率和刀头状态的示意图。图6为本申请实施例提供的对组织打孔时的功率和刀头状态的示意图。根据图5和图6所示的电参数示意图可识别超声刀130当前正在执行的对应的手术操作，进一步地还可以根据电参数来确定手术操作状态如后文中的操作进行状态、操作结束状态等，同时可依据相应电参数的变化进一步对组织状态进行识别，如包括后文中的操正在打孔或背切，打孔或切背结束等。
如图5所示，上图为多次背切组织的功率示意图，下图中的零表示刀头状态为张开状态。在功率示意图中可看出，从功率表示变化到第一个小高峰，意味着超声刀能量输出控制系统100在激发阶段，从功率下降到第一个极低点(如3秒左右)为一次背切组织的功率变化，其中，2秒左右为超声刀130逐渐离开组织，3秒左右表示离开组织，从该极低点到下一个极低点之间为另一个背切组织的功率变化(如3秒左右到5.7秒左右)，以此类推。
如图6所示，上图为对组织打孔的功率示意图，下图中的零表示刀头状态为张开状态。在功率示意图中，可看出，从功率表示变化到第一个小高峰，意味着超声刀能量输出控制系统100在激发阶段，之后开始对组织打孔，到2.5秒左右有一个瞬时快速上升的线，意味着完成打孔的过程，接着从功率极大值开始，意味着超声刀130逐渐离开组织。
由图3至图6可知，不同手术操作对应不同电参数曲线，同一个手术操作中不同电参数所对应的电参数曲线也存在不同，根据刀头状态和电参数确定超声刀130当前正在执行的手术操作。其中，图中只列出了一些电参数曲线，如功率曲线，由于功率、电压、阻抗、频率等都可以通过物理公式相互转换得知，其他的电参数曲线如频率曲线、电压曲线、阻抗曲线等也可以得出。
上文中公开了如何根据刀头状态来确定当前超声刀130正在执行的手术操作、如何根据刀头状态和电参数来确定当前超声刀130正在执行的手术操作的内容。下文中涉及到的根据刀头状态来确定当前超声刀130正在执行的手术操作、根据刀头状态和电参数来确定当前超声刀130正在执行的手术操作请参看该部分的描述，将不再赘述。
确定了刀头状态和超声刀130当前正在执行的手术操作后，根据手术操作控制递送至超声刀130的能量。例如，控制器111根据超声刀130当前正在执行的手术操作控制驱动单元112向换能器120提供对应的电能，使得换能器120提供与所述电能匹配的对应的动能，以控制递送至超声刀130的能量。
在一使用场景中，超声主机110，如超声主机110的控制器111，还用于当感应信号表征刀头状态为张开状态，且张开状态和电参数表征超声刀130当前正在执行的手术操作为第一操作时，控制递送至制超声刀130的能量为固定能量，其中，第一操作包括打孔或背切。例如，控制器111控制驱动单元112向换能器120提供预设电能，该预设电能以预设电压、预设电流或预设功率中的任意一种或多种来确定，使得换能器120提供与预设电压、预设电流或预设功率匹配的动能，以控制递送至超声刀130的能量为固定能量。
在一使用场景中，超声主机110，如超声主机110的控制器111，还用于当感应信号表征刀头状态为闭合状态，且闭合状态和电参数表征超声刀130当前正在执行的手术操作为第二操作时，控制递送至超声刀130的能量为固定能量，其中，第二操作包括夹持切割、裁剪或凝闭。
在一实施例中，超声主机110，如超声主机110的控制器111，还用于根据感应信号确定刀头131的刀头状态，根据刀头状态确定手术操作、或者根据刀头状态和电参数确定手术操作，根据电参数确定手术操作的手术操作状态，根据刀头状态、手术操作和手术操作状态，控制递送至超声刀130的能量。该实施例中感应信号只用于确定刀头状态，在确定手术操作和手术操作状态后，根据刀头状态、手术操作 和手术操作状态一起来控制递送至超声刀130的能量，以控制超声刀130在不同刀头状态下的不同手术操作中对应的不同手术操作状态以对应的能量进行输出，提高手术质量。
其中，手术操作状态包括未操作状态、操作进行状态、操作即将结束状态和操作结束状态。其中，未操作状态意味着当前虽然已经激发了超声刀130，但该超声刀130未进行任何手术操作；操作进行状态意味着该超声刀正在进行某一手术操作，如对于打孔或背切来说，操作进行状态意味着正在打孔或者背切；操作即将结束状态意味着该超声刀130正在进行中的某一手术操作即将操作结束，如对于夹持切割来说，操作即将结束状态意味着即将夹持切割完毕；操作结束状态意味着该超声刀已经结束某一手术操作，如对于打孔或背切来说，操作结束状态意味着打孔或者背切结束。
其中，当确定手术操作为第一操作时，上述根据电参数确定手术操作的手术操作状态，包括：若电参数降低至对应的第一预设参数阈值，确定手术操作的手术操作状态为操作结束状态；若电参数发生了变化，但电参数未降低至对应的第一预设参数阈值，则确定手术操作的手术操作状态为操作进行状态。
其中，若电参数为功率，则第一预设参数阈值对应为第一预设功率阈值，若电参数为电压或电流，则第一预设参数阈值对应为第一预设电压阈值或第一预设电流阈值，若电参数为频率，则第一预设参数阈值对应为第一预设频率阈值，若电参数为阻抗，则第一预设参数阈值对应为第一预设阻抗阈值，其中，第一预设功率阈值、第一预设电压阈值、第一预设电流阈值、第一预设频率阈值或者第一预设阻抗阈值，都是预先通过实验或者其他方式设定的。
例如，第一预设参数阈值小于超声刀能量输出控制系统100的手术操作状态为操作进行状态时对应的最小参数值，例如，第一预设功率阈值小于超声刀能量输出控制系统100正在打孔或背切时对应的最小功率值，或者第一预设电压阈值小于超声刀能量输出控制系统100正在打孔或背切时对应的最小电压值等。若电参数降低至对应的第一 预设参数阈值，意味着手术操作结束，即手术操作的手术操作状态为操作结束状态。否则，若电参数发生了变化，但电参数未降低至对应的第一预设参数阈值，意味着正在进行打孔或背切的手术操作。
其中，当感应信号表征刀头状态为闭合状态、刀头状态表征超声刀130当前正在执行的手术操作为第二操作时，上述根据电参数确定手术操作的手术操作状态，包括：当识别到电参数极小值和电参数极大值，且识别到电参数下降超过对应的阈值时，确定第二操作的手术操作状态为操作即将结束状态，例如，当识别到电参数从极小值变为极大值，又从极大值开始下降，且下降幅度超过第二预设幅度阈值，则确定第二操作的手术操作状态为操作即将结束状态；否则，确定第二操作的手术操作状态为操作进行状态。其中，电参数可以为功率等。例如，刀头状态为闭合状态下，执行夹持切割时，当电参数从极小值变为极大值，又从极大值开始下降，且下降幅度值超过第二预设幅度阈值时，则确定夹持切割的手术操作即将切割完毕，意味着组织即将离断，否则，意味着还在夹持切割，组织处于未离断状态。
其中，若电参数为功率，则第二预设幅度阈值对应为第二预设功率阈值，若电参数为电压或电流，则第二预设幅度阈值对应为第二预设电压或电流阈值，若电参数为频率，则第二预设幅度阈值对应为第二预设频率阈值，若电参数为阻抗，则第二预设幅度阈值对应为第二预设阻抗阈值，其中，第二预设功率阈值、第二预设电压或电流阈值、第二预设频率阈值或者第二预设阻抗阈值，都是预先通过实验或者其他方式设定的。
其中，下文中的根据电参数确定手术操作的手术操作状态请参看该部分的描述，后文中将不再赘述。
在一实施例中，超声主机110，如超声主机110的控制器111，还用于根据感应信号和电参数确定超声刀130当前正在执行的手术操作、或者根据感应信号和电参数确定超声刀130当前正在执行的手术操作，根据电参数确定手术操作的手术操作状态，并根据手术操作和手术操作状态控制递送到超声刀130的能量。该实施例中根据感应信号和电参数一起来确定超声刀130当前正在执行的手术操作，提高手术操作 确定的准确率，提高超声刀能量控制的准确率，提高手术效率。
在一使用场景中，超声主机110，如超声主机110的控制器111，还用于，当感应信号表征超声刀130当前正在执行的手术操作为第一操作、或者感应信号和电参数表征超声刀130当前正在执行的所述手术操作为第一操作，根据电参数确定手术操作的手术操作状态为未操作状态时，控制递送至超声刀130的能量为固定能量，所述第一操作包括打孔或背切；或者，
当感应信号表征超声刀130当前正在执行的手术操作为第一操作、感应信号和电参数表征超声刀130当前正在执行的手术操作为第一操作，根据电参数确定第一操作的手术操作状态为操作结束状态时，控制降低递送至超声刀130的能量，或者控制停止向超声刀130递送能量；
或者，当感应信号表征超声刀130当前正在执行的手术操作为第一操作、感应信号和电参数表征超声刀130当前正在执行的手术操作为第一操作，电参数表征第一操作的手术操作状态从操作进行状态变更为操作结束状态时，控制降低递送至超声刀130的能量，或者控制停止向超声刀130递送能量。
在一使用场景中，超声主机110，如超声主机110的控制器111，还用于当感应信号表征超声刀130当前正在执行的手术操作为第二操作、感应信号和电参数表征超声刀130当前正在执行的手术操作为第二操作，根据电参数确定第二操作的手术操作状态为操作即将结束状态或者操作结束状态时，控制降低递送至超声刀130的能量，或者控制停止向超声刀130递送能量，所述第二操作包括夹持切割、裁剪或凝闭。
在一实施例中，超声主机110，如超声主机110的控制器111，还用于根据感应信号确定刀头131的刀头状态为张开状态或闭合状态，根据刀头状态确定超声刀130当前正在执行的手术操作、或者根据刀头状态和电参数确定超声刀130当前正在执行的手术操作，根据电参数确定手术操作的手术操作状态，根据刀头状态、手术操作和手术操作状态，控制递送至超声刀130的能量。该实施例中感应信号只用于 确定刀头状态，在确定手术操作和手术操作状态后，根据刀头状态、手术操作和手术操作状态一起来控制递送至超声刀130的能量，以控制超声刀130在不同刀头状态下的不同手术操作，不同手术操作对应的不同手术操作状态中以对应的能量进行输出，提高手术质量。
在一使用场景中，超声主机110，如超声主机110的控制器111，还用于当感应信号表征刀头状态为张开状态，刀头状态表征超声刀130当前正在执行的手术操作为第一操作、或者刀头状态和电参数表征超声刀130当前正在执行的手术操作为第一操作，且电参数(如电参数变化量)表征第一操作的手术操作状态为未操作状态时，控制递送至超声刀130的能量为固定能量，其中，第一操作包括打孔或背切。即在刀头状态为张开状态下，并未执行打孔或者背切时，意味着此时正在准确进行对应的打孔或者背切的手术操作，此时，以固定能量输出，便于进行对应的手术操作。
在一使用场景中，超声主机110，如超声主机110的控制器111，还用于当感应信号表征刀头状态为张开状态，刀头状态表征超声刀130当前正在执行的手术操作为第一操作、或者所述刀头状态和电参数表征超声刀130当前正在执行的手术操作为第一操作，且电参数(如电参数变化量)表征第一操作的手术操作状态为操作结束状态时，控制降低递送至超声刀130的能量如控制换能器120降低动能，以控制超声刀130降低能量输出，或者控制停止向超声刀130递送能量，如控制换能器120停止输出动能，以控制超声刀130停止能量输出，其中，第一操作包括打孔或背切。该实施例中在刀头状态为张开状态、且手术操作为打孔或背切，且电参数(如电参数变化量)表征打孔或背切结束时，控制降低递送至超声刀130的能量，或者控制停止向超声刀130递送能量，以避免从组织中取回超声刀130的刀头131时，误伤到其他组织的可能性，提高手术质量。
其中，控制换能器120降低动能，通过控制器111向换能器120提供降低后的电能如第一电能，该降低后的第一电能驱动换能器120提供与第一电能匹配的动能，如此，换能器120降低动能，以降低超声 刀130的能量输出。其中，第一电能低于预设电能，该第一电能以第一电压、第一电流或第一功率中的任意一种或多种来确定。该第一电压低于预设电压、第一电流低于预设电流、第一功率低于预设功率。其中，控制换能器120停止提供动能，通知控制器111停止驱动单元112向换能器120输出电能，或者将提供给换能器120的电能设置为零。
在一使用场景中，超声主机110，如超声主机110的控制器111，还用于当感应信号表征刀头状态为张开状态，刀头状态表征超声刀130当前正在执行的手术操作为第一操作、或者所述刀头状态和电参数表征超声刀130当前正在执行的手术操作为第一操作，且电参数表征第一操作的手术操作状态从操作进行状态变更为操作结束状态时，控制降低递送至超声刀130的能量，或者控制停止向超声刀130递送能量，其中，第一操作包括打孔或背切。其中，该实施例与上一实施例的区别在于，该实施例中限定了电参数(如电参数变化量)表征第一操作的手术操作状态从操作进行状态变更为操作结束状态时，意味着第一操作对应的手术操作从正在执行到结束执行，如此，更精确的确定第一操作对应的手术操作如打孔或背切已经结束，此时，降低或者停止超声刀130的能量输出，以提高手术质量。
在一使用场景中，超声主机110，如超声主机110的控制器111，还用于当感应信号表征刀头状态为闭合状态，刀头状态表征超声刀130当前正在执行的手术操作为第二操作、或者所述刀头状态和电参数表征超声刀130当前正在执行的手术操作为第二操作，且电参数(如电参数变化量)表征第二操作的手术操作状态为操作即将结束状态时，控制降低递送至超声刀130的能量，或者控制停止向超声刀130递送能量，其中，第二操作包括夹持切割、裁剪或凝闭。例如，在刀头状态为闭合状态下，夹持切割时，若夹持切割即将切割完毕时，则控制降低递送至超声刀130的能量，或者控制停止向超声刀130递送能量。其中，控制换能器120降低动能的实现方式或者控制换能器120停止提供动能的方式请参看上文中对应的描述。该实施例中在刀头状态为闭合状态下，夹持切割时，在夹持切割即将切割完毕的情况下，降低递送至超声刀130的能量或者停止向超声刀130递送能量，以避免误伤到其 他组织，提高手术质量。
在一使用场景中，超声主机110，如超声主机110的控制器111，还用于当感应信号表征刀头状态为闭合状态，刀头状态表征超声刀130当前正在执行的手术操作为第二操作、或者刀头状态和电参数表征超声刀130当前正在执行的手术操作为第二操作，且电参数(如电参数变化量)表征第二操作的手术操作状态为操作结束状态时，控制降低递送至超声刀130的能量，或者控制停止向超声刀130递送能量，其中，第二操作包括夹持切割、裁剪或凝闭，以提高手术质量。
在一实施例中，超声主机110，如超声主机110的控制器111，还用于根据感应信号确定刀头131的刀头状态为张开状态或闭合状态，根据刀头状态确定超声刀130当前正在执行的手术操作、或者根据刀头状态和电参数确定超声刀130当前正在执行的手术操作，根据电参数确定手术操作对应的组织状态，根据刀头状态、手术操作和组织状态，控制递送至超声刀130的能量。该实施例中，根据刀头状态、手术操作和组织状态来控制超声刀130的能量输出。其中，根据电参数来确定手术操作对应的组织状态。
其中，对于第一操作如打孔或背切来说，组织状态包括正在打孔或背切、打孔或背切结束、未进行打孔或背切等，对于第二操作如夹持切割来说，组织状态包括即将切割完毕(组织即将离断)、已经切割完毕(组织已经离断)、未进行切割、组织未离断等。
其中，当所述感应信号表征所述刀头状态为张开状态、且所述刀头状态和电参数表征超声刀130当前正在执行的所述手术操作为第一操作时，所述根据电参数确定第一操作对应的组织状态，包括：若电参数降低至对应的第一预设参数阈值，确定第一操作的对应的组织状态为打孔或背切结束状态；否则，若电参数发生了变化(超声主机有能量输出)，确定所述第一操作对应的组织状态为正在打孔或背切。
其中，当感应信号表征刀头状态为闭合状态、且刀头状态和电参数表征超声刀130当前正在执行的手术操作为第二操作时，根据所述电参数确定所述第二操作对应的组织状态，包括：当电参数从极小值 变为极大值，又从极大值开始下降，且下降幅度值超过对应的第二预设幅度阈值，则确定第二操作对应的组织状态为操作即将切割完毕状态或者切割完毕状态；否则确定第二操作对应的组织状态为正在切割状态。
在一些使用场景中，超声主机110，如超声主机110的控制器111，还用于当感应信号表征刀头状态为张开状态，刀头状态表征超声刀130当前正在执行的手术操作为第一操作、或者所述刀头状态和电参数表征超声刀130当前正在执行的手术操作为第一操作，且电参数表征第一操作对应的组织状态为未进行打孔或背切时，控制递送至超声刀130的能量为固定能量；或者，
当感应信号表征刀头状态为张开状态，刀头状态表征超声刀130当前正在执行的手术操作为第一操作、或者所述刀头状态和电参数表征超声刀130当前正在执行的手术操作为第一操作，且电参数表征第一操作对应的组织状态为正在进行打孔或背切时，控制递送至超声刀130的能量为固定能量；或者
当感应信号表征刀头状态为张开状态，刀头状态表征超声刀130当前正在执行的手术操作为第一操作、或者所述刀头状态和电参数表征超声刀130当前正在执行的手术操作为第一操作，且电参数表征第一操作对应的组织状态为打孔或背切结束时，控制降低递送至超声刀130能量，或者停止向超声刀130递送能量。
在一些使用场景中，超声主机110，如超声主机110的控制器111，当感应信号表征刀头状态为闭合状态，刀头状态表征超声刀130当前正在执行的手术操作为第二操作、或者刀头状态和电参数表征超声刀130当前正在执行的手术操作为第二操作，且电参数(如电参数变化量)表征手术操作对应的组织状态为未进行切割时，控制递送至超声刀130的能量为固定能量；或者
当感应信号表征刀头状态为闭合状态，刀头状态表征超声刀130当前正在执行的手术操作为第二操作、或者刀头状态和电参数表征超声刀130当前正在执行的手术操作为第二操作，且电参数(如电参数变化量)表征手术操作对应的组织状态为即将切割完毕时，控制降低 递送至超声刀130的能量，或者停止向超声刀130递送能量；或者
当感应信号表征刀头状态为闭合状态，刀头状态表征超声刀130当前正在执行的手术操作为第二操作、或者刀头状态和电参数表征超声刀130当前正在执行的手术操作为第二操作，且电参数(如电参数变化量)表征手术操作对应的组织状态为已经切割完毕时，控制降低递送至超声刀130的能量输出，或者停止向超声刀130递送能量。
在一实施例中，超声主机110，如超声主机110的控制器111，还用于获取预设设置的能量控制标识。其中，该预先设置的能量控制标识可通过预设设置的档位来确定，或者通过预设设置的能量操作状态来确定。
例如，在超声主机110中或者在超声刀130中，设置有不同档位，该档位可根据档位按键或者档位按钮或者档位开关来表示。其中，不同档位包括档位一、档位二和档位三，档位一为支持/允许降低能量，档位二为不支持/禁止降低能量，档位三为支持/允许停止能量输出，档位四为不支持/禁止停止能量输出。其中，通过能量控制标识来表示档位一至档位四的值，预先选中或者设置或者打开档位一，则将能量控制标识设置为1，表征支持降低能量，若预先选中或者设置或者打开档位二，则将能量控制标识设置为2，表征禁止降低能量/不支持降低能量，预先选中或者设置或者打开档位三，则将能量控制标识设置为3，表征支持/允许停止能量输出，若预先选中或者设置或者打开档位四，则将能量控制标识设置为4，表征禁止/不支持停止能量输出。或者如果不预先选中或者不预先设置，则默认能量控制标识设置为2。如此，将手术操作过程中的能量输出状态分为三种情况：以固定能量输出、降低能量输出、停止能量输出。
其中，在一情况下，可仅仅设置档位一和档位二，表示要么支持/允许降低能量，要么不支持/不允许降低能量，对应地，将手术操作过程中的能量输出状态分为两种情况：以固定能量输出、降低能量输出。在一情况下，也可仅仅设置档位三和档位四，表示要么支持/允许停止能量输出，要么支持/允许停止能量输出，对应地，将手术操作过程中的能量输出状态分为两种情况：以固定能量输出、停止能量 输出。
例如，在超声主机的显示装置中(如有)或者在超声主机上110上如超声主机110的外壳上或者超声刀130上，显示/设置有是否支持降低能量的按钮或者按键，以及是否支持停止能量输出的按钮或者按键，若预先触发了支持降低能量的按钮或者按键，则设置能量操作状态为1，表征支持/允许降低能量，否则，设置能量操作状态为2，表征禁止降低能量/不支持降低能量，若预先触发了停止能量输出的按钮或者按键，则设置能量操作状态为3，表征支持/允许停止能量输出，否则，设置能量操作状态为4，表征禁止停止/不支持能量输出。
其中，在一实施例中，也可仅仅触发支持降低能量的按钮或者按键，对应地，将手术操作过程中的能量输出状态分为两种情况：以固定能量输出、降低能量输出；在一实施例中，也可仅仅触发停止能量输出的按钮或者按键等，对应地，将手术操作过程中的能量输出状态分为两种情况：以固定能量输出、停止能量输出。
对应地，超声主机110，如超声主机110的控制器111，还用于根据感应信号确定刀头131的刀头状态为张开状态或闭合状态，根据刀头状态确定超声刀130当前正在执行的手术操作、或者根据刀头状态和电参数确定超声刀130当前正在执行的手术操作，根据电参数确定手术操作的手术操作状态，根据刀头状态、手术操作、手术操作状态和能量控制标识，控制递送至超声刀130的能量。该实施例中进一步根据能量控制标识来控制换能器120提供对应的动能，以自由实现降低或者停止超声刀130的能量输出。
在一些使用场景中，超声主机110，如超声主机110的控制器111，还用于当感应信号表征刀头状态为张开状态，刀头状态表征超声刀130当前正在执行的手术操作为第一操作、或者刀头状态和电参数表征超声刀130当前正在执行的所述手术操作为第一操作，电参数表征第一操作的手术操作状态为操作结束状态、或者电参数表征第一操作的手术操作状态从操作进行状态变更为操作结束状态，且能量控制标识表征支持降低能量时，控制降低递送至超声刀130的能量；
或者当感应信号表征刀头状态为张开状态，刀头状态表征超声刀 130当前正在执行的手术操作为第一操作、或者刀头状态和电参数表征超声刀130当前正在执行的手术操作为第一操作，电参数表征第一操作的手术操作状态为操作结束状态、或者电参数表征第一操作的手术操作状态从操作进行状态变更为操作结束状态，且能量控制标识表征支持降低能量时，控制控制停止向超声刀130递送能量；
或者当感应信号表征刀头状态为张开状态，刀头状态表征超声刀130当前正在执行的手术操作为第一操作、或者刀头状态和电参数表征超声刀130当前正在执行的所述手术操作为第一操作，电参数表征第一操作的手术操作状态为操作结束状态、或者电参数表征第一操作的手术操作状态从操作进行状态变更为操作结束状态，且能量控制标识表征支持停止能量输出时，控制停止向超声刀130递送能量；
或者当感应信号表征刀头状态为张开状态，刀头状态表征超声刀130当前正在执行的手术操作为第一操作、或者刀头状态和电参数表征超声刀130当前正在执行的所述手术操作为第一操作，电参数表征第一操作的手术操作状态为操作结束状态、或者电参数表征第一操作的手术操作状态从操作进行状态变更为操作结束状态，且能量控制标识表征不支持/禁止降低能量时，控制递送至超声刀130的能量为固定能量。
例如，在刀头状态为张开状态下，打孔或切背的手术操作已经结束，且支持降低能量的情况下，控制器111向换能器120提供降低后的电能如第二电能，该降低后的第二电能驱动换能器120提供与第二电能匹配的动能，即控制降低递送至超声刀130的能量。其中，第二电能低于预设电能，该第二电能以第二电压、第二电流或第二功率中的任意一种或多种来确定。该第二电压低于预设电压，第二电流低于预设电流，第二功率低于预设功率。其中，第二电能与第一电能可相同，也可不同。在刀头状态为张开状态下，打孔或切背的手术操作已经结束，且不支持/禁止降低能量的情况下，控制器111向换能器120提供预设电能，以驱动换能器120提供与预设电能匹配的动能，即控制递送至超声刀130的能量为固定能量。
在一些使用场景中，超声主机110，如超声主机110的控制器111， 还用于当感应信号表征刀头状态为闭合状态，刀头状态表征超声刀130当前正在执行的手术操作为第二操作、或者刀头状态和电参数表征超声刀130当前正在执行的手术操作为第二操作，电参数表征第二操作的手术操作状态为操作即将结束状态或者操作结束状态，且能量控制标识表征支持降低能量时，控制降低递送至超声刀130的能量；
或者当感应信号表征刀头状态为闭合状态，刀头状态表征超声刀130当前正在执行的手术操作为第二操作、或者刀头状态和电参数表征超声刀130当前正在执行的手术操作为第二操作，电参数表征第二操作的手术操作状态为操作即将结束状态或者操作结束状态，且能量控制标识表征支持降低能量时，控制停止向控制超声刀130递送能量；
或者当感应信号表征刀头状态为闭合状态，刀头状态表征超声刀130当前正在执行的手术操作为第二操作、或者刀头状态和电参数表征超声刀130当前正在执行的所述手术操作为第二操作，电参数表征第二操作的手术操作状态为操作即将结束状态或者操作结束状态，且能量控制标识表征支持停止能量时，控制停止向超声刀130递送能量；
或者当感应信号表征刀头状态为闭合状态，刀头状态表征超声刀130当前正在执行的手术操作为第二操作、或者刀头状态和电参数表征超声刀130当前正在执行的手术操作为第二操作，电参数表征第二操作的手术操作状态为操作即将结束状态或者操作结束状态，且能量控制标识表征不支持/禁止降低能量时，控制递送至超声刀130的能量为固定能量。
例如，在刀头状态为闭合状态下，夹持切割的手术操作已经结束或者即将结束，且支持降低能量的情况下，控制器111向换能器120提供降低后的电能如第三电能，该降低后的第三电能驱动换能器120提供与第三电能匹配的动能，即控制降低递送至超声刀130的能量；或者控制器111向换能器提供的电能为零，或者不向换能器120提供电能，以控制换能器120停止提供电能，即控制停止向超声刀130递送能量。其中，第三电能低于预设电能，该第三电能以第三电压、第三电流或第三功率中的任意一种或多种来确定。该第三电压低于预设电压、第三电流低于预设电流、第三功率低于预设功率。其中，第三电能与 第二电能、第一电能可相同，也可不同。在刀头状态为闭合状态下，夹持切割的手术操作已经结束或者即将结束，且不支持降低能量的情况下，控制器111向换能器120提供预设电能，以驱动换能器120提供与预设电能匹配的动能，即控制递送至超声刀130的能量为固定能量。
在一实施例中，超声主机110，如超声主机110的控制器111，还用于获取预先设置的能量控制标识；超声主机110，还用于根据感应信号和电参数确定超声刀130当前正在执行的手术操作，根据电参数确定手术操作的手术操作状态，并根据手术操作、手术操作状态和述能量控制标识控制递送到超声刀130的能量。
在一使用场景中，超声主机110还用于，当根据感应信号和电参数确定超声刀130当前正在执行的手术操作为第一操作，根据电参数确定第一操作的手术操作状态为操作结束状态，且能量控制标识表征支持降低能量时，控制降低递送至超声刀130的能量，或者控制停止向超声刀130递送能量，第一操作包括打孔或背切；当根据感应信号和电参数确定超声刀130当前正在执行的手术操作为第一操作，根据电参数确定第一操作的手术操作状态为操作结束状态，且能量控制标识表征不支持降低能量/不支持停止能量时，控制递送至超声刀130的能量为固定能量。
在一使用场景中，超声主机110，还用于，当根据感应信号和电参数确定超声刀130当前正在执行的手术操作为第二操作，根据电参数确定第二操作的手术操作状态为操作即将结束状态或者操作结束状态，且能量控制标识表征支持降低能量时，控制降低递送至超声刀130的能量，或者控制停止向超声刀130递送能量，第二操作包括夹持切割、裁剪或凝闭；当根据感应信号和电参数确定超声刀130当前正在执行的手术操作为第二操作，根据电参数确定第二操作的手术操作状态为操作结束状态，且能量控制标识表征不支持降低能量/不支持停止能量时，控制递送至超声刀130的能量为固定能量。
在一实施例中，如图2所示，超声刀能量输出控制系统还包括输出提示器150，输出提示器150与超声主机110通信连接，用于向外界提供提示信息，该提示功能包括但不限于视觉、和/或听觉、和/或触 觉的提示信息等。对应地，超声主机110，如超声主机110的控制器111，还用于获取预设设置的提示标识。其中，该预先设置的提示标识可通过预设设置的按钮/开关来确定，或者通过预设设置的能量操作状态来确定。该实施例中可在降低超声刀130的能量输出时，自由的进行变化提示，提高手术安全性。
例如，在超声主机110中或者在超声刀130中，设置有按钮或者开关，若按下按钮或者打开开关，则表征需要进行提示，对应的，将提示标识设置为1，若没有按下按钮，或者开关保持闭合状态，则表示不需要进行提示。
例如，在超声主机110的显示装置中(如有)或者在超声主机110上如超声主机110的外壳上或者超声刀130上，显示/设置有是否支持提示的按钮或者按键，若预先触发了支持提示的按钮或者按键，则设置提示标识为1，表征支持/允许提示，否则，设置操作状态为0，表征禁止提示/不支持提示。
其中，默认情况下设置提示标识为1，表示支持/允许通过提出提示器150进行提示。
对应地，超声刀能量输出控制系统100中的输出提示器150可以包括一个或多个用于为使用者提供感观反馈的装置/部件/对象/元件组成。例如，输出提示器150包括任何类型的视觉指示装置，包括但不限于白炽光灯或LED、图形用户界面、显示器、模拟指示器、数字指示器、柱状图显示器、数字字母显示器、LCD显示屏幕、LED显示屏幕、显示装置等，用于提供视觉的提示，如视觉变化提示，该视觉变化提示用于表示能量输出的情况，如降低了能量输出。输出提示器150还可以包括任何类型的扬声器、蜂鸣器、可听见的计算机产生的音调、经计算机处理的语言、通过语音/语言平台与计算机相互作用的语音用户界面(VUI)，用于提供听觉的提示，如声音变化提示，该声音变化提示用于表示能量输出的情况，如降低了能量输出。输出提示器150还可以包括任何类型的振动反馈、触觉致动器等，用于提供触觉的提示，如触觉变化提示，该声音变化提示用于表示能量输出的情况，如降低了能量输出。
对应地，超声主机110，如超声主机110的控制器111，还用于根据感应信号确定刀头131的刀头状态为张开状态或闭合状态，根据刀头状态确定超声刀130当前正在执行的手术操作、或者根据刀头状态和电参数确定超声刀130当前正在执行的手术操作，根据电参数确定手术操作的手术操作状态，根据刀头状态、手术操作和手术操作状态，控制递送至超声刀130的能量，同时根据提示标识，控制输出提示器150对递送至超声刀130的能量进行提示。
在一使用场景中，超声主机110，如超声主机110的控制器111，还用于当感应信号表征刀头状态为张开状态，刀头状态表征超声刀130当前正在执行的手术操作为第一操作、或者刀头状态和电参数表征超声刀130当前正在执行的手术操作为第二操作，且电参数表征第一操作的手术操作状态为操作结束状态、或者电参数表征第一操作的手术操作状态从操作进行状态变更为操作结束状态时，控制降低递送至超声刀130的能量或者控制停止向超声刀130递送能量，同时根据提示标识，控制输出提示器150对递送至超声刀130的能量进行相应的提示，如提示标识表征支持/允许提示，控制输出提示器150进行降低递送能量的变化提示或者停止递送能量的变化提示，若提示标识表征不支持/禁止提示，则控制输出提示器150不进行提示，其中，第一操作包括打孔或背切。
在一使用场景中，超声主机110，如超声主机110的控制器111，还用于当感应信号表征刀头状态为闭合状态，刀头状态表征超声刀130当前正在执行的手术操作为第二操作、或者刀头状态和电参数表征超声刀130当前正在执行的手术操作为第二操作，且电参数表征第二操作的手术操作状态为操作即将结束状态或者操作结束状态时，控制降低递送至超声刀130的能量，同时根据提示标识，控制输出提示器150对递送至超声刀130的能量进行相应的提示，其中，第二操作包括夹持切割、裁剪或凝闭。
在一使用场景中，超声主机110，如超声主机110的控制器111，还用于当感应信号表征刀头状态为闭合状态，刀头状态表征超声刀130当前正在执行的手术操作为第二操作、或者刀头状态和电参数表 征超声刀130当前正在执行的手术操作为第二操作，且电参数表征第二操作的手术操作状态为操作即将结束状态或者操作结束状态时，控制停止向超声刀130递送能量，同时根据提示标识，控制输出指示器150对递送至超声刀130的能量进行相应的提示。
其中，若控制递送至超声刀130的能量为固定能量，当提示标识表征支持/允许提示时，输出提示器150可进行提示，也可不进行提示。当进行提示时，用于提示递送至超声刀130的能量为固定能量。
在一实施例中，超声主机110，如超声主机110的控制器111，还用于获取预先设置的提示标识；超声主机110，还用于根据感应信号和电参数确定超声刀130当前正在执行的手术操作，根据电参数确定手术操作的手术操作状态，并根据手术操作和手术操作状态控制递送到超声刀130的能量；同时根据提示标识，控制输出提示器150对递送至超声刀130的能量进行提示。
在一使用场景中，超声主机110还用于，当根据感应信号和电参数确定超声刀130当前正在执行的手术操作为第一操作，根据电参数确定第一操作的手术操作状态为操作结束状态时，控制降低递送至超声刀130的能量，或者控制停止向超声刀130递送能量，第一操作包括打孔或背切；同时根据提示标识，控制输出提示器150对递送至超声刀130的能量进行提示。
在一使用场景中，超声主机110，还用于，当根据感应信号和电参数确定超声刀130当前正在执行的手术操作为第二操作，根据电参数确定第二操作的手术操作状态为操作即将结束状态或者操作结束状态，控制降低递送至超声刀130的能量，或者控制停止向超声刀130递送能量，第二操作包括夹持切割、裁剪或凝闭；同时根据提示标识，控制输出提示器150对递送至超声刀130的能量进行提示。
在一实施例中，超声主机110，如超声主机110的控制器111，还用于根据感应信号确定刀头131的刀头状态为张开状态或闭合状态，根据刀头状态确定超声刀130当前正在执行的手术操作，或者根据刀头状态和电参数确定超声刀130当前正在执行的手术操作，根据电参数确定手术操作对应的组织状态，根据刀头状态、手术操作、组织状 态和能量控制标识，控制递送至超声刀130的能量，如控制换能器120提供对应的动能，以控制超声刀130的能量输出。
在一些使用场景中，超声主机110，如超声主机110的控制器111，还用于当感应信号表征刀头状态为张开状态，刀头状态表征超声刀130当前正在执行的手术操作为第一操作、或者刀头状态和电参数表征超声刀130当前正在执行的所述手术操作为第一操作，电参数表征第一操作对应的组织状态为打孔或背切结束状态，且能量控制标识表征支持降低能量时，控制降低递送至超声刀130的能量，其中，第一操作包括打孔或背切；或者
当感应信号表征刀头状态为张开状态，刀头状态表征超声刀130当前正在执行的手术操作为第一操作、或者刀头状态和电参数表征超声刀130当前正在执行的所述手术操作为第一操作，电参数表征第一操作对应的组织状态为打孔或背切结束状态，且能量控制标识表征支持降低能量时，控制停止向超声刀130递送能量；或者，
当感应信号表征刀头状态为张开状态，刀头状态表征超声刀130当前正在执行的手术操作为第一操作、或者刀头状态和电参数表征超声刀130当前正在执行的所述手术操作为第一操作，电参数表征第一操作对应的组织状态为打孔或背切结束状态，且能量控制标识表征支持停止能量输出时，控制停止向超声刀130递送能量；或者，
当感应信号表征刀头状态为张开状态，刀头状态表征超声刀130当前正在执行的手术操作为第一操作、或者刀头状态和电参数表征超声刀130当前正在执行的所述手术操作为第一操作，电参数表征第一操作对应的组织状态为打孔或背切结束状态，且能量控制标识表征不支持/禁止降低能量时，控制递送至超声刀130的能量为固定能量。
在一些使用场景中，超声主机110，如超声主机110的控制器111，还用于当感应信号表征刀头状态为闭合状态，刀头状态表征超声刀130当前正在执行的手术操作为第二操作、或者刀头状态和电参数表征超声刀130当前正在执行的所述手术操作为第二操作，电参数表征第二操作对应的组织状态为即将切割完毕状态，且能量控制标识表征支持降低能量时，控制降低递送至超声刀130的能量，输出；或者
当感应信号表征刀头状态为闭合状态，刀头状态表征超声刀130当前正在执行的手术操作为第二操作、或者刀头状态和电参数表征超声刀130当前正在执行的所述手术操作为第二操作，电参数表征第二操作对应的组织状态为即将切割完毕状态，且能量控制标识表征支持降低能量时，控制停止向超声刀130递送能量；或者，
当感应信号表征刀头状态为闭合状态，刀头状态表征超声刀130当前正在执行的手术操作为第二操作、或者刀头状态和电参数表征超声刀130当前正在执行的所述手术操作为第二操作，电参数表征第二操作对应的组织状态为已经切割完毕，且能量控制标识表征支持降低能量时，控制降低递送至超声刀130的能量，或者
当感应信号表征刀头状态为闭合状态，刀头状态表征超声刀130当前正在执行的手术操作手术操作为第二操作、或者刀头状态和电参数表征超声刀130当前正在执行的手术操作所述手术操作为第二操作，电参数表征第二操作对应的组织状态为已经切割完毕，且能量控制标识表征支持降低能量时，控制停止向超声刀130递送能量；或者
当感应信号表征刀头状态为闭合状态，刀头状态表征超声刀130当前正在执行的手术操作为第二操作、或者刀头状态和电参数表征超声刀130当前正在执行的所述手术操作为第二操作，电参数表征第二操作对应的组织状态为即将切割完毕状态或者已经切割完毕，且能量控制标识表征不支持/禁止降低能量时，控制递送至超声刀130的能量为固定能量。
在一实施例中，超声主机110，如超声主机110的控制器111，还用于根据感应信号确定刀头131的刀头状态为张开状态或闭合状态，根据刀头状态确定超声刀130当前正在执行的手术操作，或者根据刀头状态和电参数确定超声刀130当前正在执行的手术操作，根据电参数确定手术操作对应的组织状态，根据刀头状态、手术操作、组织状态，控制递送至超声刀130的能量，同时根据提示标识，控制输出指示器150对递送至超声刀130的能量进行提示。其中，如何根据刀头状态、手术操作、组织状态，控制递送至超声刀130的能量，请参看上文中所述；如何根据提示标识，控制输出指示器150对递送至超声刀 130的能量进行提示，也请参看上文中所述，在此都不再赘述。
在一实施例中，超声主机110，如超声主机110的控制器111，还用于根据感应信号确定刀头131的刀头状态为张开状态或闭合状态，根据刀头状态确定超声刀130当前正在执行的手术操作、或者根据刀头状态和电参数确定超声刀130当前正在执行的手术操作，根据电参数确定手术操作的手术操作状态，根据刀头状态、手术操作、手术操作状态和能量控制标识，控制递送至超声刀130的能量，同时根据提示标识，控制输出提示器150对递送至超声刀130的能量进行提示。该实施例中进一步根据能量控制标识来控制递送至超声刀130的能量，同时进一步根据提示标识来控制输出提示器150对递送至超声刀130的能量进行提示，可实现降低递送能量的变化提示。
在一实施例中，超声主机110，如超声主机110的控制器111，还用于根据感应信号和电参数确定超声刀130当前正在执行的手术操作，根据电参数确定手术操作的手术操作状态，并根据手术操作、手术操作状态和述能量控制标识控制递送到超声刀130的能量；同时根据提示标识，控制输出提示器150对递送至超声刀130的能量进行提示。
具体地，如何根据刀头状态、手术操作、手术操作状态和能量控制标识，控制换能器120提供对应的动能，以控制超声刀130的能量输出，以及如何根据提示标识，控制输出提示器150进行提示的相应内容，请参看上文中的对应步骤描述，在此不再赘述。
在一实施例中，超声主机110，如超声主机110的控制器111，还用于根据感应信号确定刀头131的刀头状态为张开状态或闭合状态，根据刀头状态确定超声刀130当前正在执行的手术操作、或者根据刀头状态和电参数确定超声刀130当前正在执行的手术操作，根据电参数确定手术操作对应的组织状态，根据刀头状态、手术操作、组织状态和能量控制标识，控制递送至超声刀130的能量，同时根据提示标识，控制输出指示器150对递送至超声刀130的能量进行提示。具体地，如何根据刀头状态、手术操作、组织态和能量控制标识，控制递送至超声刀130的能量，以及如何根据提示标识，控制输出指示器150对递送至超声刀130的能量进行提示的相应内容，请参看上文中的对应步 骤描述，在此不再赘述。
上述所有的技术方案，可以采用任意结合形成本申请的可选实施例，在此不再一一赘述。
图7是本申请实施例提供的超声刀能量输出控制方法的流程示意图。该超声刀能量输出控制方法应用于上述任一实施例描述的超声刀能量输出控制系统100中。例如，超声刀能量输出控制系统100包括超声刀130、换能器120、测量单元140、和超声主机110，所述超声刀130包括刀头131。刀头131，用于对组织进行处理，刀头131包括第一刀头组件和第二刀头组件，第一刀头组件和第二刀头组件围绕轴相对运动，以使得刀头131在第一刀头状态和第二刀头状态中发生变化，所述第一刀头状态为张开状态，所述第二刀头状态为闭合状态。超声刀130还包括刀柄组件132，刀柄组件132，分别与换能器120和刀头131连接，换能器120，用于将接收的电能转换为动能，并通过刀柄组件132将动能传递至刀头131，超声主机110，与换能器120连接，超声主机110用于向换能器120提供电能。其中，超声刀能量输出控制系统100中的各个部件的具体功能请参看上文中所示。
所述超声刀能量输出控制方法由超声主机110来实现。所述超声刀能量输出控制方法包括：在激发超声刀130时和/或激发超声刀130后，获取感应信号和/或电参数，根据感应信号和/或电参数，控制递送至超声刀130的能量。
其中，当感应信号表征刀头状态为张开状态时，控制递送至超声刀130的能量为固定能量。例如，当控制器111根据感应信号确定刀头状态为张开状态时，控制驱动单元112向换能器120提供预设电能，该预设电能以预设电压、预设电流或预设功率中的任意一种或多种来确定，使得换能器120提供与预设电压、预设电流或预设功率匹配的动能，以控制超声刀130以固定能量输出。
其中，当感应信号表征刀头状态为闭合状态时，控制递送至超声刀130的能量为固定能量。
在一实施例中，所述超声刀能量输出控制方法包括如下步骤。
201，获取超声刀能量输出控制系统工作时的电参数，所述电参 数包括电流、电压、功率、阻抗或频率中的至少一个。
该步骤可以由测量单元140来实现，测量单元可以集成在超声主机110中，也可以独立于超声主机110而存在。
202，在超声刀执行手术操作时，根据超声刀的刀头的张开状态或闭合状态，和电参数，确定超声刀当前正在执行的手术操作，并根据超声刀当前正在执行的手术操作控制递送到超声刀的能量。
在一实施例中，超声刀中能量输出控制系统100中还包括传感器133，其中：传感器133，用于感应刀头131的刀头状态得到感应信号，传感器133设置于刀柄组件132和/或刀头中。当超声刀中能量输出控制系统100中包括传感器133时，超声主机110还用于获取感应信号，该感应信号用于确定刀头131的刀头状态，该刀头状态包括张开状态和闭合状态。对应地，超声主机110，还用于根据刀头状态和电参数确定超声刀130当前正在执行的手术操作，根据超声刀130当前正在执行的手术操作控制递送到超声刀130的能量。
在一实施例中，步骤202，包括：在超声刀130执行手术操作时，根据感应信号和电参数确定超声刀130当前正在执行的手术操作，根据电参数确定手术操作的手术操作状态，并根据手术操作和手术操作状态控制递送到超声刀130的能量。
其中，当传感器133为接近传感器、压力传感器或霍尔传感器时，上述根据感应信号确定刀头131的刀头状态的步骤，包括：若感应信号存在变化，确定刀头131的刀头状态为张开状态；若感应信号不存在变化，确定刀头131的刀头状态为闭合状态。
在一实施例中，步骤202，包括：根据感应信号确定刀头131的刀头状态为张开状态或闭合状态；根据刀头状态确定超声刀130当前正在执行的手术操作、或者根据刀头状态和电参数确定超声刀130当前正在执行的手术操作；根据电参数确定手术操作的手术操作状态；根据刀头状态、手术操作和手术操作状态控制递送至超声刀130的能量。
其中，当传感器133为接近传感器、压力传感器或霍尔传感器时，上述根据感应信号确定刀头131的刀头状态的步骤，包括：若感应信 号存在变化，确定刀头131的刀头状态为张开状态；若感应信号不存在变化，确定刀头131的刀头状态为闭合状态。
其中，上述根据刀头状态确定超声刀130当前正在执行的手术操作的步骤，包括：若刀头状态为张开状态，确定手术操作为第一操作，该一操作方式包括打孔或者背切；若刀头状态为闭合状态，确定手术操作为第二操作，该第二操作包括夹持切割、裁剪或凝闭。
其中，上述根据刀头状态和电参数确定超声刀130当前正在执行的手术操作的步骤，包括：若刀头状态为张开状态，且电参数发生了变化，确定手术操作为第一操作，该第一操作包括打孔或者背切；若刀头状态为闭合状态、且电参数发生了变化，确定手术操作为第二操作，该第二操作包括夹持切割、裁剪或凝闭。
其中，上述根据刀头状态和电参数确定超声刀130当前正在执行的手术操作的步骤，包括：若刀头状态为张开状态，且电参数符合第一操作对应的电参数曲线，则确定手术操作为第一操作，该第一操作包括打孔或者背切；若刀头状态为闭合状态，且电参数符合第二操作对应的电参数曲线，则确定手术操作为第二操作，该第二操作包括夹持切割、裁剪或凝闭。
其中，电参数包括功率、电压、电流、频率、阻抗中的任意一个或多个。
其中，在一实施例中，当感应信号表征刀头状态为张开状态，刀头状态表征超声刀130当前正在执行的手术操作为第一操作、刀头状态和电参数表征超声刀130当前正在执行的手术操作为第一操作时，控制递送至超声刀130的能量为固定能量，其中，第一操作包括打孔或背切。
其中，在一实施例中，当感应信号表征刀头状态为闭合状态，刀头状态表征超声刀130当前正在执行的手术操作为第二操作、或者刀头状态和电参数表征超声刀130当前正在执行的手术操作为第二操作时，控制递送至超声刀130的能量为固定能量，其中，第二操作包括夹持切割。
在一实施例中，步骤202，包括：根据感应信号确定刀头131的刀 头状态，根据刀头状态确定超声刀130当前正在执行的手术操作，或者根据刀头状态和电参数确定超声刀130当前正在执行的手术操作，根据电参数确定手术操作的手术操作状态，根据刀头状态、手术操作和手术操作状态，控制递送至超声刀130的能量。
其中，当确定手术操作为第一操作时，上述根据电参数确定手术操作的手术操作状态的步骤，包括：若电参数降低至对应的第一预设参数阈值，确定手术操作的手术操作状态为操作结束状态；否则，若电参数发生了变化，则确定手术操作的手术操作状态为操作进行状态。
其中，若电参数为功率，则第一预设参数阈值对应为第一预设功率阈值，若电参数为电压或电流，则第一预设参数阈值对应为第一预设电压阈值或第一预设电流阈值，若电参数为频率，则第一预设参数阈值对应为第一预设频率阈值，若电参数为阻抗，则第一预设参数阈值对应为第一预设阻抗阈值，其中，第一预设功率阈值、第一预设电压或电流阈值、第一预设频率阈值或者第一预设阻抗阈值，都是预先通过实验或者其他方式设定的。
其中，当确定手术操作为第二操作时，上述根据电参数确定手术操作的手术操作状态，包括：当识别到电参数极小值和电参数极大值，且识别到电参数下降超过对应的阈值时，确定第二操作的手术操作状态为操作即将结束状态，具体地，当电参数从极小值变为极大值，又从极大值开始下降，且下降参数值超过第二预设参数阈值，则确定第二操作的手术操作状态为操作即将结束状态；否则，确定第二操作的手术操作状态为操作进行状态。
其中，根据刀头状态、手术操作和手术操作状态，控制递送至超声刀130的能量，包括：当感应信号表征刀头状态为张开状态、刀头状态表征超声刀130当前正在执行的手术操作为第一操作、且电参数(如电参数变化量)表征第一操作的手术操作状态为未操作状态时，控制递送至超声刀130的能量为固定能量。
其中，根据刀头状态、手术操作和手术操作状态，控制换递送至超声刀130的能量，包括：当感应信号表征刀头状态为张开状态，刀头状态表征超声刀130当前正在执行的手术操作为第一操作、或者所 述刀头状态和电参数表征超声刀130当前正在执行的手术操作为第一操作，且电参数(如电参数变化量)表征第一操作的手术操作状态为操作结束状态时，控制降低递送至超声刀130的能量能量输出，或者控制停止向超声刀130递送能量。
其中，根据刀头状态、手术操作和手术操作状态，控制递送至超声刀130的能量，包括：当感应信号表征刀头状态为张开状态，刀头状态表征超声刀130当前正在执行的手术操作为第一操作、或者所述刀头状态和电参数表征超声刀130当前正在执行的手术操作为第一操作，且电参数表征第一操作的手术操作状态从操作进行状态变更为操作结束状态时，控制降低递送至超声刀130的能量，或者控制停止向超声刀130递送能量。
其中，根据刀头状态、手术操作和手术操作状态，控制递送至超声刀130的能量，包括：当感应信号表征刀头状态为闭合状态，刀头状态表征超声刀130当前正在执行的手术操作为第二操作、或者所述刀头状态和电参数表征超声刀130当前正在执行的手术操作为第一操作，且电参数(如电参数变化量)表征第二操作的手术操作状态为操作即将结束状态时，控制降低递送至超声刀130的能量，或者控制停止向超声刀130递送能量。
其中，根据刀头状态、手术操作和手术操作状态，控制递送至超声刀130的能量，包括：当感应信号表征刀头状态为闭合状态，刀头状态表征超声刀130当前正在执行的手术操作为第二操作、或者刀头状态和电参数表征超声刀130当前正在执行的手术操作为第二操作，且电参数(如电参数变化量)表征第二操作的手术操作状态为操作结束状态时，控制降低递送至超声刀130的能量，或者控制停止向超声刀130递送能量。
在一实施例中，步骤202，包括：根据感应信号确定刀头131的刀头状态为张开状态或闭合状态，根据刀头状态确定手术操作、或者根据刀头状态和电参数确定手术操作，根据电参数确定手术操作对应的组织状态，根据刀头状态、手术操作和组织状态，控制换能器120提供对应的动能，以控制超声刀130的能量输出。
其中，当所述感应信号表征所述刀头状态为张开状态、且所述刀头状态和电参数表征手术操作为第一操作时，所述根据电参数确定手术操作对应的组织状态，包括：若电参数降低至对应的第一预设参数阈值，确定第一操作的对应的组织状态为打孔或背切结束状态；否则，若电参数发生了变化，确定所述第一操作对应的组织状态为正在打孔或背切。
其中，当感应信号表征刀头状态为闭合状态、且刀头状态和电参数表征手术操作为第二操作时，根据所述电参数确定所述第二操作对应的组织状态，包括：当电参数从极小值变为极大值，又从极大值开始下降，且下降参数值超过对应的第二预设参数阈值，则确定手术操作对应的组织状态为操作即将切割完毕状态或者切割完毕状态；否则继续执行根据感应信号确定刀头状态的步骤。
以电参数为功率为例，如图8所示，为根据功率确定组织状态的流程示意图，具体包括如下步骤。
301，判断是否监测到功率极小值。
即在激发开始后，获取功率值。并判断所获取的功率值中是否检测到功率极小值。若是，则执行步骤302，否则，执行步骤305。
302，判断是否监测到功率极大值。
判断所获取的功率值中是否检测到功率极小值。
若是，则执行步骤303，否则，执行步骤305。
303，判断下降参数值是否超过第二预设功率阈值。
若是，则执行步骤304，否则，执行步骤305。
304，确定组织状态为即将切割完毕或已经切割完毕。即将切割完毕意味着组织即将离断，已经切割完毕意味着组织已经离断。
305，确定组织状态为组织未离断。
其中，上述根据刀头状态、手术操作和组织状态，控制递送至超声刀130的能量的步骤，包括：当感应信号表征刀头状态为张开状态，刀头状态表征超声刀130当前正在执行的手术操作为第一操作、或者所述刀头状态和电参数表征超声刀130当前正在执行的手术操作为第一操作，且电参数表征第一操作对应的组织状态为未进行打孔或背切 时，控制递送至换超声刀130的能量为固定能量。
其中，上述根据刀头状态、手术操作和组织状态，控制递送至超声刀130的能量的步骤，包括：当感应信号表征刀头状态为张开状态，刀头状态表征超声刀130当前正在执行的手术操作为第一操作、或者所述刀头状态和电参数表征超声刀130当前正在执行的手术操作为第一操作，且电参数表征第一操作对应的组织状态为正在进行打孔或背切时，控制递送至超声刀130的能量为固定能量。
其中，上述根据刀头状态、手术操作和组织状态，控制递送至超声刀130的能量的步骤，包括：当感应信号表征刀头状态为张开状态，刀头状态表征超声刀130当前正在执行的手术操作为第一操作、或者所述刀头状态和电参数表征超声刀130当前正在执行的手术操作为第一操作，且电参数表征第一操作对应的组织状态为打孔或背切结束时，控制降低递送至超声刀130能量，或者控制停止向超声刀130递送能量。
其中，上述根据刀头状态、手术操作和组织状态，控制递送至超声刀130的能量的步骤，包括：当感应信号表征刀头状态为闭合状态，刀头状态表征超声刀130当前正在执行的手术操作为第二操作、或者刀头状态和电参数表征超声刀130当前正在执行的手术操作为第二操作，且电参数(如电参数变化量)表征手术操作对应的组织状态未进行切割时，控制递送至超声刀130的能量为固定能量。
其中，上述根据刀头状态、手术操作和组织状态，控制递送至超声刀130的能量的步骤，包括：当感应信号表征刀头状态为闭合状态，刀头状态表征超声刀130当前正在执行的手术操作为第二操作、或者刀头状态和电参数表征超声刀130当前正在执行的手术操作为第二操作，且电参数(如电参数变化量)表征手术操作对应的组织状态即将切割完毕时，控制降低递送至超声刀130能量，或者控制停止向超声刀130递送能量。
其中，上述根据刀头状态、手术操作和组织状态，控制递送至超声刀130的能量的步骤，包括：当感应信号表征刀头状态为闭合状态，刀头状态表征超声刀130当前正在执行的手术操作为第二操作、或者刀头状态和电参数表征超声刀130当前正在执行的手术操作为第二操 作，且电参数(如电参数变化量)表征手术操作对应的组织状态已经切割完毕时，控制降低递送至换能器120的能量或者，控制停止向超声刀130递送能量。
在一实施例中，所述超声刀能量输出控制方法还包括获取预设设置的能量控制标识。对应的，步骤202，包括：根据感应信号确定刀头131的刀头状态为张开状态或闭合状态，根据刀头状态确定超声刀130当前正在执行的手术操作、或者根据刀头状态和电参数确定超声刀130当前正在执行的手术操作，根据电参数确定手术操作的手术操作状态，根据刀头状态、手术操作、手术操作状态和能量控制标识，控制递送至超声刀130的能量。该实施例中进一步根据能量控制标识来控制换能器120提供对应的动能，以自由实现降低或者停止超声刀130的能量输出。
其中，上述根据刀头状态、手术操作、手术操作状态和能量控制标识，控制递送至超声刀130的能量的步骤，请参看上文中对应部分的描述。
在一实施例中，超声刀能量输出控制系统还包括输出提示器150，输出提示器150与超声主机110通信连接，用于向外界提供提示信息，该提示功能包括但不限于视觉、和/或听觉、和/或触觉的提示信息等。对应地，超声刀能量输出控制方法还包括：获取预设设置的提示标识。对应地，步骤202，包括：根据感应信号确定刀头131的刀头状态为张开状态或闭合状态，根据刀头状态确定超声刀130当前正在执行的手术操作、或者根据刀头状态和电参数确定超声刀130当前正在执行的手术操作，根据电参数确定手术操作的手术操作状态，根据刀头状态、手术操作和手术操作状态，控制换能器120提供对应的动能，以控制超声刀130的能量输出，根据提示标识，控制输出提示器150对递送至超声刀130的能量进行提示。
其中，根据提示标识，控制输出提示器150对递送至超声刀130的能量进行提示，包括：当需要降低能量输出或者停止能量输出时，若提示标识表征支持/允许提示，控制输出提示器150进行降低能量的变化提示或者停止能量的变化提示，若提示标识表征不支持/禁止提 示，则控制输出提示器150不进行提示。
在一实施例中，步骤202，包括：根据感应信号确定刀头131的刀头状态为张开状态或闭合状态，根据刀头状态确定超声刀130当前正在执行的手术操作、或者根据刀头状态和电参数确定超声刀130当前正在执行的手术操作，根据电参数确定手术操作对应的组织状态，根据刀头状态、手术操作、组织状态和能量控制标识，控制递送至超声刀130的能量。其中，根据刀头状态、手术操作、组织状态和能量控制标识，控制递送至超声刀130的能量的步骤，请参看上文中对应部分的描述，在此不再赘述。
在一实施例中，步骤202，包括：根据感应信号确定刀头131的刀头状态为张开状态或闭合状态，根据刀头状态确定超声刀130当前正在执行的手术操作，或者根据刀头状态和电参数确定超声刀130当前正在执行的手术操作，根据电参数确定手术操作对应的组织状态，根据刀头状态、手术操作、组织状态，控制换能器120提供对应的动能，以控制超声刀130的能量输出；同时根据提示标识，控制输出提示器150对递送至超声刀130的能量进行提示。
在一实施例中，步骤202，包括：根据感应信号确定刀头131的刀头状态为张开状态或闭合状态，根据刀头状态确定超声刀130当前正在执行的手术操作或者根据刀头状态和电参数确定超声刀130当前正在执行的手术操作，根据电参数确定手术操作的手术操作状态，根据刀头状态、手术操作、手术操作状态和能量控制标识，控制递送至超声刀130的能量，同时根据提示标识，控制输出提示器150对递送至超声刀130的能量进行提示。
在一实施例中，步骤202，包括：根据感应信号确定刀头131的刀头状态为张开状态或闭合状态，根据刀头状态确定超声刀130当前正在执行的手术操作、或者根据刀头状态和电参数确定超声刀130当前正在执行的手术操作，根据电参数确定手术操作对应的组织状态，根据刀头状态、手术操作、组织状态和能量控制标识，控制换能器120提供对应的动能，以控制超声刀130的能量输出，同时根据提示标识，控制输出提示器150对递送至超声刀130的能量进行提示。
在一实施例中，步骤202，包括：根据感应信号和电参数确定超声刀130当前正在执行的手术操作，根据电参数确定手术操作对应的手术操作状态，根据手术操作、手术操作状态和能量控制标识，控制递送至超声刀130的能量。
在一实施例中，步骤202，包括：根据感应信号和电参数确定超声刀130当前正在执行的手术操作，根据电参数确定手术操作对应的手术操作状态/组织状态，根据手术操作和手术操作状态/组织状态，控制递送至超声刀130的能量，同时根据提示标识，控制输出提示器150对递送至超声刀130的能量进行提示。
在一实施例中，步骤202，包括：根据感应信号和电参数确定超声刀130当前正在执行的手术操作，根据电参数确定手术操作对应的手术操作状态/组织状态，根据手术操作、手术操作状态/组织状态、和能量控制标识，控制递送至超声刀130的能量，同时根据提示标识，控制输出提示器150对递送至超声刀130的能量进行提示。
在一实施例中，步骤202，包括：根据感应信号和电参数确定超声刀130当前正在执行的手术操作，根据电参数确定手术操作对应的手术操作状态/组织状态，根据手术操作、手术操作状态/组织状态、和能量控制标识，控制换能器120提供对应的动能，以控制超声刀130的能量输出，同时根据提示标识，控制输出提示器150对递送至超声刀130的能量进行提示。
在一实施例中，如图9所示，为本申请实施例提供的超声刀能量输出控制方法的一流程示意图。该超声刀能量输出控制方法包括如下步骤。
401，根据感应信号确定刀头状态。
402，刀头状态是否为刀头张开。
若刀头张开，则执行步骤403，否刀头关闭，执行步骤404。
403，控制超声刀能量输出控制系统以固定能量输出。也即控制递送至超声刀的能量为固定能量，后文中将不再赘述。
404，根据电参数确定夹持切割对应的组织状态。
其中，当刀头闭合时，对应的手术操作包括夹持切割，并根据电 参数确定夹持切割对应的组织状态，即根据电参数确定夹持切割对应的切割状态。
405，组织状态是否为即将切割完毕。
若组织状态为即将切割完毕，则执行步骤406和步骤407，否则，接着执行步骤401。
406，是否支持降低能量。
若支持降低能量输出，则执行步骤408，否则，则执行步骤403。
407，是否支持提示。
若支持提示，则执行步骤409，若不支持提示，则执行步骤410。
408，控制超声刀能量输出控制系统降低能量输出。也即控制降低递送至超声刀130的能量，后文中将不再赘述。
409，控制超声刀能量输出控制系统进行提示。
410，控制超声刀能量输出控制系统不进行提示。
在一实施例中，如图10所示，为本申请实施例提供的超声刀能量输出控制方法的一流程示意图。该超声刀能量输出控制方法包括如下步骤。
在一实施例中，步骤202，包括：
501，根据感应信号确定刀头状态。
502，刀头状态是否为刀头张开。
若刀头张开，则执行步骤503，否刀头关闭，执行步骤504。
503，控制超声刀能量输出控制系统以固定能量激发。
504，根据电参数识别夹持切割对应的组织状态。
其中，当刀头闭合时，对应的手术操作包括夹持切割，并根据电参数识别夹持切割对应的组织状态，即根据电参数确定夹持切割对应的切割状态。
505，组织状态是否为即将切割完毕。
若组织状态为即将切割完毕，则执行步骤506和步骤507，否则，接着执行步骤501。
506，是否支持停止能量输出。
若支持停止能量输出，则执行步骤508，否则，则执行步骤503。
507，是否支持提示。
若支持提示，则执行步骤509，若不支持提示，则执行步骤510。
508，控制超声刀能量输出控制系统停止能量输出。也即控制停止向超声刀递送能量，后文中将不再赘述。
509，控制超声刀能量输出控制系统进行提示。
510，控制超声刀能量输出控制系统不进行提示。
该实施例中与图9实施例的区别在于：在组织状态为即将切割完毕，图9实施例是判断是否支持降低能量输出，并在支持的情况下，控制超声刀能量输出控制系统100降低能量输出，图10所对应的实施例在组织状态为即将切割完毕时，判定控制是否支持停止能量输出，并在支持的情况下，控制超声刀能量输出控制系统100停止能量输出。
在一实施例中，如图11所示，为本申请实施例提供的超声刀能量输出控制方法的另一流程示意图。该超声刀能量输出控制方法包括如下步骤。
601，根据感应信号确定刀头状态。
602，刀头状态是否为刀头张开。
若刀头张开，则执行步骤603，否刀头关闭，执行步骤604。
603，根据电参数识别打孔或背切对应的组织状态。
其中，当刀头张开时，对应的手术操作包括打孔或背切，并根据电参数识别打孔或背切对应的组织状态。
604，组织状态是否为正在打孔或背切。
若正在打孔或背切，执行步骤605，若否，则执行步骤611。
605，组织状态是否为打孔或背切结束。
若打孔或背切结束，则执行步骤606和607，否则，执行步骤601。
606，是否支持降低能量输出。
若支持降低能量输出，则执行步骤608，否则，则执行步骤611。
607，是否支持提示。
若支持提示，则执行步骤609，若不支持提示，则执行步骤610。
608，控制超声刀能量输出控制系统降低能量输出。
609，控制超声刀能量输出控制系统进行提示。
610，控制超声刀能量输出控制系统不进行提示。
611，控制超声刀能量输出控制系统提供固定能量。
在一实施例中，如图12所示，为本申请实施例提供的超声刀能量输出控制方法的又一流程示意图。该超声刀能量输出控制方法包括如下步骤。
701，根据感应信号确定刀头状态。
702，判断刀头状态是否为刀头张开。
若刀头张开，则执行步骤703，否刀头关闭，执行步骤712。
703，根据电参数识别打孔或背切对应的组织状态。
其中，当刀头张开时，对应的手术操作包括打孔或背切，并根据电参数识别打孔或背切对应的组织状态。
704，判断组织状态是否为正在打孔或背切。
若正在打孔或背切，执行步骤705，若否，则执行步骤711。
705，判断组织状态是否为打孔或背切结束。
若打孔或背切结束，则执行步骤706和707，否则，执行步骤701。
706，判断是否支持降低能量输出。
若支持降低能量输出，则执行步骤708，否则，则执行步骤711。
707，判断是否支持提示。
若支持提示，则执行步骤709，若不支持提示，则执行步骤710。
708，控制超声刀能量输出控制系统降低能量输出。
709，控制超声刀能量输出控制系统进行提示。
710，控制超声刀能量输出控制系统不进行提示。
711，控制超声刀能量输出控制系统提供固定能量。
712，根据电参数识别夹持切割对应的组织状态。
其中，当刀头闭合时，对应的手术操作包括夹持切割，并根据电参数识别夹持切割对应的组织状态，即根据电参数确定夹持切割对应的切割状态。
713，判断组织状态是否为即将切割完毕。
若组织状态为即将切割完毕，则执行步骤714和步骤715，否则，接着执行步骤501。
714，判断是否支持降低能量输出。
若支持降低能量输出，则执行步骤716，否则，则执行步骤711。
715，判断是否支持提示。
若支持提示，则执行步骤717，若不支持提示，则执行步骤718。
716，控制超声刀能量输出控制系统降低能量输出。
717，控制超声刀能量输出控制系统进行提示。
718，控制超声刀能量输出控制系统不进行提示。
上述方法实施例中所有的技术方案，可以采用任意结合形成本申请的可选实施例，上述方法实施例中未详细描述的步骤，请参看上文中对应步骤的描述，在此不再一一赘述。
在上述所有的实施例中，手术操作状态和组织状态存在对应关系。例如，若手术操作为第一操作，手术操作状态为操作结束状态，对应的组织状态为打孔或背切结束，手术操作状态为操作进行状态，对应的组织状态为正在打孔或背切，手术操作状态为未操作状态，则对应的组织状态为未进行打孔或背切等，对于第二操作如夹持切割来说，手术操作状态包括操作即将结束状态、操作结束状态、未操作状态、操作进行状态等，对应的组织状态分别为即将切割完毕(组织即将离断)、已经切割完毕(组织已经离断)、未进行切割、组织未离断等。本申请中的手术操作状态和组织切割状态分别从不同角度来进行描述，虽然是从不同角度来进行描述的，但是方法实施例中的组织状态仍可能替换成手术操作状态，并可以将具体的组织状态对应替换为对应的具体的手术操作状态。
本领域普通技术人员可以理解，上述实施例的各种方法中的全部或部分步骤可以通过指令来完成，或通过指令控制相关的硬件来完成，该指令可以存储于一计算机可读存储介质中，并由处理器进行加载和执行。为此，本发明实施例提供一种存储介质，其中存储有多条指令，该指令能够被处理器进行加载，以执行本发明实施例所提供的超声刀能量输出控制方法中任一实施例的步骤。
其中，该存储介质可以包括：只读存储器(ROM，Read Only  Memory)、随机存取记忆体(RAM，Random Access Memory)、磁盘或光盘等。
由于该存储介质中所存储的指令，可以执行本发明实施例所提供的任一超声刀能量输出控制方法实施例中的步骤，因此，可以实现本发明实施例所提供的任一超声刀能量输出控制方法所能实现的有益效果，详见前面的实施例，在此不再赘述。
以上对本申请实施例所提供的一种超声刀能量输出控制系统、超声刀能量输出控制方法以及存储介质进行了详细介绍，本文中应用了具体个例对本申请的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本申请的方法及其核心思想；同时，对于本领域的技术人员，依据本申请的思想，在具体实施方式及应用范围上均会有改变之处，综上所述，本说明书内容不应理解为对本申请的限制。

Claims (28)

  1. 一种超声刀能量输出控制系统，其特征在于，包括：超声刀、换能器、测量单元和超声主机，所述超声刀包括刀头和刀柄组件，其中：
    所述刀头，用于对组织进行处理，所述刀头包括第一刀头组件和第二刀头组件，所述第一刀头组件和所述第二刀头组件围绕轴相对运动，以使得所述刀头在第一刀头状态和第二刀头状态中发生变化，所述第一刀头状态为张开状态，所述第二刀头状态为闭合状态；
    所述刀柄组件，用于连接所述换能器和所述刀头；
    所述换能器，用于将接收的电能转换为动能，并通过所述刀柄组件将所述动能传递至所述刀头；
    所述测量单元，用于获取所述超声刀能量输出控制系统工作时的电参数，并将所述电参数发送至所述超声主机，所述电参数包括电流、电压、功率、阻抗或频率中的至少一个；
    所述超声主机，用于向所述换能器提供电能，并在所述超声刀执行手术操作时，根据所述张开状态或闭合状态，和所述电参数，确定所述超声刀当前正在执行的手术操作，并根据所述超声刀当前正在执行的手术操作控制递送到所述超声刀的能量。
  2. 根据权利要求1所述的系统，其特征在于，所述超声刀能量输出控制系统还包括传感器，所述超声主机还用于获取所述传感器的感应信号；
    所述感应信号，用于确定所述刀头的刀头状态，所述刀头状态包括所述张开状态和所述闭合状态；
    所述超声主机，根据所述刀头状态和所述电参数确定所述超声刀当前正在执行的手术操作，根据所述超声刀当前正在执行的所述手术操作控制递送到所述超声刀的能量。
  3. 根据权利要求2所述的系统，其特征在于，所述超声主机还用于，当所述感应信号表征所述刀头状态为张开状态，且所述张开状态和所述电参数表征所述超声刀当前正在执行的所述手术操作为第一操作时，控制递送到所述超声刀的能量为固定能量，所述第一操作为打孔或背切。
  4. 根据权利要求2所述的系统，其特征在于，所述超声主机还用于，根据所述感应信号和所述电参数确定所述超声刀当前正在执行的手术操作，根据所述电参数确定所述手术操作的手术操作状态，并根据所述手术操作和所述手术操作状态控制递送到所述超声刀的能量。
  5. 根据权利要求4所述的系统，其特征在于，所述超声主机还用于，
    当所述感应信号和所述电参数表征所述超声刀当前正在执行的手术操作为第一操作，根据所述电参数确定所述第一操作的手术操作状态为操作结束状态时，控制降低递送至所述超声刀的能量，或者控制停止向所述超声刀递送能量，所述第一操作为打孔或背切；或者
    当所述感应信号和所述电参数表征所述超声刀当前正在执行的所述手术操作为第一操作，所述电参数表征所述第一操作的手术操作状态从操作进行状态变更为操作结束状态时，控制降低递送至所述超声刀的能量，或者控制停止向所述超声刀递送能量。
  6. 根据权利要求4所述的系统，其特征在于，所述超声主机还用于，当所述感应信号和所述电参数表征所述超声刀当前正在执行的所述手术操作为第二操作，根据所述电参数确定所述第二操作的手术操作状态为操作即将结束状态或者操作结束状态时，控制降低递送至所述超声刀的能量，或者控制停止向所述超声刀递送能量，所述第二操作为夹持切割。
  7. 根据权利要求2所述的系统，其特征在于，所述超声主机还用于，根据所述感应信号确定所述刀头的刀头状态为张开状态或闭合状态，根据所述张开状态或闭合状态，和所述电参数确定所述超声刀当前正在执行的手术操作，根据所述电参数确定所述手术操作的手术操作状态，根据所述刀头状态、所述手术操作和所述手术操作状态，控制递送至所述超声刀的能量。
  8. 根据权利要求7所述的系统，其特征在于，所述超声主机还用于，
    当所述感应信号表征所述刀头状态为张开状态，所述张开状态和所述电参数表征所述手术操作为第一操作，且所述电参数表征所述第一操作的手术操作状态为操作结束状态时，控制降低递送至所述超声刀的能量，或者控制停止递送至所述超声刀的能量，所述第一操作为打孔或背切；或者
    当所述感应信号表征所述刀头状态为张开状态，所述张开状态和所述电参数表征所述手术操作为第一操作，且所述电参数表征所述第一操作的手术操作状态从操作进行状态变更为操作结束状态时，控制降低递送至所述超声刀的能量降低，或者控制停止递送至所述超声刀的能量。
  9. 根据权利要求7所述的系统，其特征在于，所述超声主机还用于，当所述感应信号表征所述刀头状态为闭合状态，所述闭合状态和所述电参数表征所述手术操作为第二操作，且所述电参数表征所述第二操作的手术操作状态为操作即将结束状态或者操作结束状态时，控制降低递送至所述超声刀的能量，或者控制停止向所述超声刀递送能量，所述第二操作为夹持切割。
  10. 根据权利要求2所述的系统，其特征在于，所述超声主机还用于，获取预先设置的能量控制标识；
    所述超声主机还用于，根据所述感应信号确定所述刀头的刀头状态为张开状态或闭合状态，根据所述张开状态或闭合状态，和所述电参数确定所述超声刀当前正在执行的手术操作，根据所述电参数确定所述手术操作的手术操作状态，根据所述刀头状态、所述手术操作、所述手术操作状态和所述能量控制标识，控制递送至所述超声刀的能量。
  11. 根据权利要求10所述的系统，其特征在于，所述预先设置的能量控制标识通过预先设置的档位来确定，或者通过预先设置的能量操作状态来确定。
  12. 根据权利要求10所述的系统，其特征在于，所述超声主机还用于：
    当所述感应信号表征所述刀头状态为张开状态，所述张开状态和所述电参数表征所述手术操作为第一操作，所述电参数表征所述第一操作的手术操作状态为操作结束状态，且所述能量控制标识表征支持降低能量时，控制降低递送至所述超声刀的能量，或者控制停止向所述超声刀递送能量，所述第一操作为打孔或背切；或者
    当所述感应信号表征所述刀头状态为张开状态，所述张开状态和所述电参数表征所述手术操作为第一操作，所述电参数表征所述第一操作的手术操作状态为操作结束状态，且所述能量控制标识表征不支持降低能量或者不支持停止能量输出时，控制递送至所述超声刀的能量为固定能量。
  13. 根据权利要求10所述的系统，其特征在于，所述超声主机还用于：
    当所述感应信号表征所述刀头状态为闭合状态，所述闭合状态和所述电参数表征所述手术操作为第二操作，所述电参数表征所述第二操作的手术操作状态为操作即将结束状态或者操作结束状态，且所述 能量控制标识表征支持降低能量时，控制降低递送至所述超声刀的能量，或者控制停止向所述超声刀递送能量，所述第二操作为夹持切割；或者
    当所述感应信号表征所述刀头状态为闭合状态，所述闭合状态和所述电参数表征所述手术操作为第二操作，所述电参数表征所述第二操作的手术操作状态为操作即将结束状态或者操作结束状态，且所述能量控制标识表征不支持降低能量时，控制递送至所述超声刀的能量为固定能量。
  14. 根据权利要求2所述的系统，其特征在于，所述系统还包括输出提示器，所述输出提示器与所述超声主机通信连接，用于向外界提供提示功能；所述超声主机还用于，获取预先设置的提示标识；
    所述超声主机还用于，根据所述感应信号确定所述刀头的刀头状态为张开状态或闭合状态，根据所述张开状态或闭合状态，和所述电参数确定所述超声刀当前正在执行的手术操作，根据所述电参数确定所述手术操作的手术操作状态，根据所述刀头状态、所述手术操作和所述手术操作状态，控制递送至所述超声刀的能量，同时根据所述提示标识，控制所述输出提示器对递送至所述超声刀的能量进行提示。
  15. 根据权利要求2所述的系统，其特征在于，所述系统还包括输出提示器，所述输出提示器与所述超声主机通信连接，用于向外界提供提示功能；所述超声主机还用于，获取预先设置的能量控制标识和提示标识；
    所述超声主机还用于，根据所述感应信号确定所述刀头的刀头状态为张开状态或闭合状态，根据所述张开状态或闭合状态，和所述电参数确定所述超声刀当前正在执行的手术操作，根据所述电参数确定所述手术操作的手术操作状态，根据所述刀头状态、所述手术操作、所述手术操作状态和所述能量控制标识，控制递送至所述超声刀的能量，同时根据所述提示标识，控制所述输出提示器对递送至所述超声 刀的能量进行提示。
  16. 根据权利要求1至15任一项所述的系统，其特征在于，所述传感器设置于所述刀柄组件和/或所述刀头。
  17. 根据权利要求7-15任一项所述的系统，其特征在于，所述根据所述感应信号确定所述刀头的刀头状态，包括：
    若所述感应信号存在变化，确定所述刀头的刀头状态为张开状态；
    若所述感应信号不存在变化，确定所述刀头的刀头状态为闭合状态。
  18. 根据权利要求17所述的系统，其特征在于，所述传感器为接近传感器、压力传感器或霍尔传感器。
  19. 根据权利要求2或者7-15任一项所述的系统，其特征在于，所述超声主机还用于，根据所述刀头状态确定所述超声刀当前正在执行的手术操作，包括：
    若所述刀头状态为张开状态，确定所述超声刀当前正在执行的手术操作为第一操作，所述第一操作包括为打孔或者背切；
    若所述刀头状态为闭合状态，确定所述超声刀当前正在执行的手术操作为第二操作，所述第二操作包括为夹持切割。
  20. 根据权利要求7-15任一项所述的系统，其特征在于，
    当所述电参数包括电压、电流、功率或者阻抗中的至少一个时，根据所述张开状态或闭合状态，和所述电参数确定所述超声刀当前正在执行的手术操作，包括：
    若所述刀头状态为张开状态、且所述电参数发生了变化，确定所述超声刀当前正在执行的手术操作为第一操作，所述第一操作为打孔或者背切；
    若所述刀头状态为闭合状态、且所述电参数发生了变化，确定所述超声刀当前正在执行的手术操作为第二操作，所述第二操作为夹持切割；或者，
    当所述电参数包括频率时，根据所述张开状态或闭合状态，和所述电参数确定所述超声刀当前正在执行的手术操作，包括：
    若所述刀头状态为张开状态、且所述频率变化率超过第一预设频率变化率，确定所述超声刀当前正在执行的手术操作为第一操作，所述第一操作为打孔或者背切；
    若所述刀头状态为闭合状态、且所述频率变化率超过第二预设频率变化率，确定所述超声刀当前正在执行的手术操作为第二操作，所述第二操作为夹持切割。
  21. 根据权利要求4至15任一项所述的系统，其特征在于，当所述感应信号表征所述刀头状态为张开状态，所述张开状态和所述电参数表征所述手术操作为第一操作时，所述根据所述电参数确定所述手术操作的手术操作状态，包括：
    若所述电参数降低至对应的第一预设参数阈值，确定所述手术操作的手术操作状态为操作结束状态；
    若所述电参数未降低至对应的第一预设参数阈值，确定所述手术操作的手术操作状态为操作进行状态。
  22. 根据权利要求4至15任一项所述的系统，其特征在于，当所述感应信号表征所述刀头状态为闭合状态、且所述闭合状态和所述电参数表征所述手术操作为第二操作时，所述根据所述电参数确定所述手术操作的手术操作状态，包括：
    当所述电参数从极小值变为极大值，又从所述极大值开始下降，且下降幅度超过对应的第二预设幅度阈值，则确定所述手术操作的手术操作状态为操作即将结束状态或者操作结束状态。
  23. 一种超声刀能量输出控制方法，其特征在于，应用于超声刀能量输出控制系统中，所述超声刀能量输出控制系统包括超声刀、换能器和超声主机，所述超声刀包括刀头，其中：
    所述刀头，用于对组织进行处理，所述刀头包括第一刀头组件和第二刀头组件，所述第一刀头组件和所述第二刀头组件围绕轴相对运动，以使得所述刀头在第一刀头状态和第二刀头状态中发生变化，所述第一刀头状态为张开状态，所述第二刀头状态为闭合状态；
    所述换能器，用于将接收的电能转换为动能，并将所述动能传递至所述刀头；
    所述超声主机，与所述换能器连接，所述超声主机用于向所述换能器提供电能；
    所述超声刀能量输出控制方法，包括：
    获取所述超声刀能量输出控制系统工作时的电参数，所述电参数包括电流、电压、功率、阻抗或频率中的至少一个；
    在所述超声刀执行手术操作时，根据所述张开状态或闭合状态，和所述电参数，确定所述超声刀当前正在执行的手术操作，并根据所述超声刀当前正在执行的手术操作控制递送到所述超声刀的能量。
  24. 根据权利要求23所述的方法，其特征在于，所述超声刀能量输出控制系统还包括传感器，所述超声主机用于获取所述传感器的感应信号；所述感应信号，用于确定所述刀头的刀头状态；
    根据所述张开状态或闭合状态，和所述电参数，确定所述超声刀当前正在执行的手术操作，并根据所述超声刀当前正在执行的手术操作控制递送到所述超声刀的能量的步骤，包括：
    根据所述感应信号确定所述刀头的刀头状态为张开状态或闭合状态；
    根据所述张开状态或闭合状态，和所述电参数确定所述超声刀当前正在执行的手术操作；
    根据所述刀头状态和所述超声刀当前正在执行的所述手术操作 控制递送到所述超声刀的能量。
  25. 根据权利要求23所述的方法，其特征在于，所述根据所述张开状态或闭合状态，和所述电参数，确定所述超声刀当前正在执行的手术操作，并根据所述超声刀当前正在执行的手术操作控制递送到所述超声刀的能量的步骤，包括：
    根据所述张开状态或闭合状态，和所述电参数确定所述超声刀当前正在执行的手术操作；
    根据所述电参数确定所述手术操作的手术操作状态；
    根据所述手术操作和所述手术操作状态控制递送到所述超声刀的能量。
  26. 根据权利要求23所述的方法，其特征在于，所述根据所述张开状态或闭合状态，和所述电参数，确定所述超声刀当前正在执行的手术操作，并根据所述超声刀当前正在执行的手术操作控制递送到所述超声刀的能量的步骤，包括：
    根据所述感应信号确定所述刀头的刀头状态为张开状态或闭合状态；
    根据所述张开状态或闭合状态，和所述电参数确定所述超声刀当前正在执行的手术操作；
    根据所述电参数确定所述手术操作的手术操作状态；
    根据所述刀头状态、所述手术操作和所述手术操作状态，控制递送至所述超声刀的能量。
  27. 根据权利要求23所述的方法，其特征在于，所述根据张开状态或闭合状态，和所述电参数，确定所述超声刀当前正在执行的手术操作，并根据所述超声刀当前正在执行的手术操作控制递送到所述超声刀的能量的步骤，包括：
    获取预先设置的能量控制标识和/或提示标识；
    根据所述感应信号确定所述刀头的刀头状态为张开状态或闭合状态；
    根据所述张开状态或闭合状态，和所述电参数，确定所述超声刀当前正在执行的手术操作；
    根据所述电参数确定所述手术操作的手术操作状态；
    根据所述刀头状态、所述手术操作、所述手术操作状态、以及所述能量控制标识控制递送到所述超声刀的能量，和/或根据所述提示标识，控制所述超声刀能量输出控制系统中的输出提示器对递送至所述超声刀的能量进行提示。
  28. 一种计算机可读存储介质，其特征在于，所述计算机可读存储介质存储有指令，所述指令适于处理器进行加载，以执行如权利要求23至27任一项所述的超声刀能量输出控制方法中的步骤。
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