技术领域Technical Field
本发明涉及一种超声刀技术，特别涉及一种超声刀切割组织识别分类方法及系统。The present invention relates to an ultrasonic knife technology, and in particular to an ultrasonic knife cutting tissue identification and classification method and system.
背景技术Background Art
超声软组织手术设备主要由主机、手柄和一次性使用刀头（简称刀头）组成。超声软组织手术设备的手柄与刀头的外壳配接在一起，套管位于刀头外壳的远端，在最远端的波导杆在套管内部与手柄内部的换能器经螺纹耦接在一起，手柄通过线缆与主机相连接。Ultrasonic soft tissue surgery equipment mainly consists of a host, a handle and a disposable blade (abbreviated as blade). The handle of the ultrasonic soft tissue surgery equipment is matched with the shell of the blade, the sleeve is located at the far end of the blade shell, the waveguide rod at the farthest end is threadedly coupled with the transducer inside the handle inside the sleeve, and the handle is connected to the host through a cable.
实际工作过程中，主机提供电能，其产生的超声频率电流传导至手柄，手柄内压电陶瓷片激活工作，根据输入的电能产生纵向机械振动，此超声机械振动在刀头波导杆的传导轴节点处扩大，传导至刀尖处达到最大55.5KHz的振动，在大振幅振动的刀尖与组织的接触界面上，组织因为剧烈交变机械作用及空化和热效应被切开。同时，刀尖与组织蛋白接触，蛋白氢键断裂和蛋白结构重组，蛋白凝固闭合小管腔，蛋白受振动产生二级能量，深度凝固闭合较大的管腔，达到凝闭组织和止血的作用，从而帮助医生高效切割组织和凝闭血管，并最大程度减少给病人带来的伤害。In the actual working process, the host provides electrical energy, and the ultrasonic frequency current it generates is transmitted to the handle. The piezoelectric ceramic piece in the handle is activated and works, and longitudinal mechanical vibration is generated according to the input electrical energy. This ultrasonic mechanical vibration is expanded at the conduction axis node of the waveguide rod of the blade head, and is transmitted to the blade tip to reach a maximum vibration of 55.5KHz. At the contact interface between the blade tip and the tissue with large amplitude vibration, the tissue is cut due to the violent alternating mechanical action, cavitation and thermal effects. At the same time, the blade tip contacts the tissue protein, the protein hydrogen bonds are broken and the protein structure is reorganized, the protein coagulates and closes the small lumen, the protein generates secondary energy due to vibration, and deeply coagulates and closes the larger lumen, achieving the effect of coagulating tissue and stopping bleeding, thereby helping doctors to efficiently cut tissue and coagulate blood vessels, and minimize the harm to patients.
现有技术超声刀在使用过程中，会切割到不同的组织，而对于不同组织来说，其组织弹性、含水量、耐温性能等都不尽相同。若不对切割组织进行识别，而是对不同组织均采用同一输出电流切割，就可能产生以下风险：对一些易切的组织，其切割速度过快，组织未能凝闭完全；对一些难切的组织，其切割速度较慢，刀头热量积累，使得刀头温度很容易超过组织的承受上限，组织被烧糊烧焦。因此，在超声刀切割组织时需要对组织进行识别，以便于及时调整输出电流。During use, the ultrasonic scalpel of the prior art will cut different tissues, and for different tissues, their tissue elasticity, water content, temperature resistance, etc. are not the same. If the tissue to be cut is not identified, and the same output current is used to cut different tissues, the following risks may arise: for some easy-to-cut tissues, the cutting speed is too fast, and the tissues fail to coagulate completely; for some difficult-to-cut tissues, the cutting speed is slow, and the heat of the blade accumulates, making it easy for the temperature of the blade to exceed the upper limit of the tissue's tolerance, and the tissue is burned and charred. Therefore, when the ultrasonic scalpel is cutting tissue, it is necessary to identify the tissue so that the output current can be adjusted in time.
发明内容Summary of the invention
为了解决上述现有技术中的不足，本发明的目的在于提供一种超声刀切割组织识别分类方法及系统，该识别分类方法及系统能够在超声刀切割组织时需要对组织进行识别，以便于及时调整输出电流，防止在使用过程中手动调节带来的不便。In order to solve the deficiencies in the above-mentioned prior art, the purpose of the present invention is to provide a method and system for identifying and classifying tissue when an ultrasonic knife is cutting tissue. The method and system can identify the tissue when the ultrasonic knife is cutting the tissue, so as to adjust the output current in time and avoid the inconvenience caused by manual adjustment during use.
本发明解决其技术问题所采用的技术方案为：一种超声刀切割组织识别分类方法，包括以下步骤，The technical solution adopted by the present invention to solve the technical problem is: a method for identifying and classifying tissue cut by an ultrasonic knife, comprising the following steps:
S1、切割开始后，主机判断超声刀是否进入电流稳定状态；S1. After the cutting starts, the host determines whether the ultrasonic knife has entered a stable current state;
S2、待进入电流稳定状态后，主机采集阻抗及电流电压相位差数据，并依据阻抗及电流电压相位差数据而获得阻抗变化特征值；S2. After entering the current stable state, the host collects impedance and current-voltage phase difference data, and obtains impedance change characteristic values based on the impedance and current-voltage phase difference data;
S3、将所述阻抗变化特征值按时间变化整合为阻抗变化的曲线，并将阻抗变化的曲线依据最小二乘法进行圆形拟合，得到当前切割组织的组织变化特征值；S3, integrating the impedance change characteristic value into an impedance change curve according to time change, and performing circular fitting on the impedance change curve according to the least square method to obtain the tissue change characteristic value of the currently cut tissue;
S4、将当前切割组织的组织变化特征值与存储在主机内已知的组织变化特征值进行比对，识别出当前切割组织的类别。S4. Compare the tissue change characteristic value of the current cut tissue with the known tissue change characteristic value stored in the host to identify the category of the current cut tissue.
可选的，在步骤S1中，主机判断超声刀是否进入电流稳定状态的方法为：Optionally, in step S1, the method by which the host determines whether the ultrasonic knife enters a current stable state is:
S11、实时采集主机的输出电流；S11, real-time collection of host output current;
S12、将采集的输出电流与当前档位的额定电流之间差值的绝对值与设定的阈值进行比对，当绝对值小于阈值时，判断超声刀进入电流稳定状态。S12, comparing the absolute value of the difference between the collected output current and the rated current of the current gear with a set threshold value, and when the absolute value is less than the threshold value, determining that the ultrasonic knife enters a current stable state.
可选的，在步骤S2中，主机采集的阻抗及电流电压相位差数据为超声刀从电流稳定状态到主机输出频率达到超声刀谐振频率状态期间的数据。Optionally, in step S2, the impedance and current-voltage phase difference data collected by the host are data from the ultrasonic scalpel from a current stable state to a state where the host output frequency reaches the ultrasonic scalpel resonant frequency state.
可选的，在步骤S2中，所述阻抗变化特征值包括有用功分量R有以及无用功分量R无，Optionally, in step S2, the impedance change characteristic value includes a useful work componentRyes and a useless work componentRno ,
； ;
； ;
其中，R为采集的阻抗，θ为电流电压相位差。Where R is the collected impedance and θ is the current-voltage phase difference.
可选的，在步骤S3中，所述组织变化特征值包括对组织变化的曲线进行圆形拟合后得到的圆心位置（A、B）及半径r，其中，Optionally, in step S3, the tissue change characteristic value includes the center position (A, B) and radius r obtained by performing circular fitting on the tissue change curve, wherein:
； ;
； ;
； ;
并且a、b、c满足关系式：。And a, b, c satisfy the relationship: .
本发明依据上述的超声刀切割组织识别分类方法，提供了一种超声刀切割组织识别分类系统，其包括主机，所述主机内置有：According to the above-mentioned ultrasonic knife cutting tissue identification and classification method, the present invention provides an ultrasonic knife cutting tissue identification and classification system, which includes a host, and the host has built-in:
数据获取单元，用于获取超声刀的实时状态以及主机输出的频率、阻抗、电流电压相位差数据；A data acquisition unit, used to acquire the real-time status of the ultrasonic knife and the frequency, impedance, current and voltage phase difference data output by the host;
数据运算单元，用于根据所得的频率、阻抗、电流电压相位差数据计算得到当前切割组织的组织变化特征值；A data calculation unit, used for calculating the tissue change characteristic value of the currently cut tissue according to the obtained frequency, impedance, current and voltage phase difference data;
数据存储单元，用于存储已知组织的组织变化特征值；A data storage unit, used for storing tissue change characteristic values of known tissues;
判断单元，将当前切割组织的组织变化特征值与存储在主机内已知组织的组织变化特征值进行比较，识别分类出当前切割组织的类别；A judgment unit compares the tissue change characteristic value of the current cut tissue with the tissue change characteristic value of the known tissue stored in the host, and identifies and classifies the type of the current cut tissue;
其中，在获得当前切割组织的组织变化特征值前，通过阻抗、电流电压相位差数据获得阻抗变化特征值，并将阻抗变化特征值按时间变化整合为阻抗变化的曲线，阻抗变化的曲线依据最小二乘法进行圆形拟合。Among them, before obtaining the tissue change characteristic value of the current cutting tissue, the impedance change characteristic value is obtained through the impedance, current and voltage phase difference data, and the impedance change characteristic value is integrated into an impedance change curve according to time changes. The impedance change curve is circularly fitted according to the least squares method.
采用上述技术方案，本发明具有以下有益效果：By adopting the above technical solution, the present invention has the following beneficial effects:
1、本发明利用切割开始时的失谐阶段，采集不同频率下的阻抗、相位差参数用于组织识别，无需在切割过程中增加额外的数据采集流程，不会对切割过程产生干扰。1. The present invention utilizes the detuning stage at the beginning of cutting to collect impedance and phase difference parameters at different frequencies for tissue identification, without adding additional data collection procedures during the cutting process, and will not interfere with the cutting process.
2、本发明在切割一开始即可判断组织类型，此时刀头和组织的作用并不剧烈，组织的状态相对稳定，从而可以准确的识别出组织类型。2. The present invention can determine the tissue type at the beginning of cutting. At this time, the interaction between the blade and the tissue is not intense, and the state of the tissue is relatively stable, so the tissue type can be accurately identified.
3、本发明在识别出组织类别的同时，作出相应的能量调节，从而避免在切割中途调节能量，导致能量调节效果滞后，影响使用者体验。3. The present invention makes corresponding energy adjustments while identifying tissue types, thereby avoiding adjusting the energy in the middle of cutting, which causes a delay in the energy adjustment effect and affects the user experience.
附图说明BRIEF DESCRIPTION OF THE DRAWINGS
图1是超声刀切割过程中电流、频率、相位差随时间变化图；FIG1 is a graph showing the changes of current, frequency and phase difference over time during ultrasonic knife cutting;
图2是以切割阶段内阻抗的有用功分量、阻抗的无用功分量绘制的二维曲线以及根据此曲线拟合出的阻抗圆；FIG2 is a two-dimensional curve drawn with the useful work component of impedance and the useless work component of impedance during the cutting stage, and an impedance circle fitted according to the curve;
图3是以所述切割阶段内导纳的有用功分量、导纳的无用功分量绘制的二维曲线以及根据此曲线拟合出的导纳圆；FIG3 is a two-dimensional curve drawn with the useful work component of the admittance and the useless work component of the admittance during the cutting stage, and an admittance circle fitted according to the curve;
图4是本发明的控制方法的示意图。FIG. 4 is a schematic diagram of a control method of the present invention.
具体实施方式DETAILED DESCRIPTION
下面结合附图和实施例对本申请作进一步的详细说明。可以理解的是，此处所描述的具体实施例仅仅用于解释相关发明，而非对该发明的限定。另外还需要说明的是，为了便于描述，附图中仅示出了与发明相关的部分。The present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the relevant inventions, rather than to limit the inventions. It is also necessary to explain that, for ease of description, only the parts related to the invention are shown in the accompanying drawings.
需要说明的是，在不冲突的情况下，本申请中的实施例及实施例中的特征可以相互组合。下面将参考附图并结合实施例来详细说明本申请。It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.
在超声软组织手术设备中，超声刀的能量输出方式为恒电流输出（电流I），在能量输出过程中，驱动电压U会随着组织切割过程而变化，因而主机的输出功率P也是处于动态变化状态中。当超声刀的刀尖接触到组织后的实际阻抗发生变化以及手柄内的压电陶瓷温度发生变化时，主机实时改变输出电流的频率，使得超声换能器一直工作在工作效率较高的正谐振点附近。在超声刀的整个切割过程中，电压电流传感器实时采集驱动电压U、输出电流I、电压电流相位差θ（在下面描述中简称相位差）和输出频率F，并将这些参数发送给主机。In ultrasonic soft tissue surgical equipment, the energy output mode of the ultrasonic knife is constant current output (current I). During the energy output process, the driving voltage U will change with the tissue cutting process, so the output power P of the host is also in a dynamic change state. When the actual impedance of the ultrasonic knife tip changes after contacting the tissue and the temperature of the piezoelectric ceramic in the handle changes, the host changes the frequency of the output current in real time, so that the ultrasonic transducer always works near the positive resonance point with higher working efficiency. During the entire cutting process of the ultrasonic knife, the voltage and current sensor collects the driving voltage U, output current I, voltage and current phase difference θ (referred to as phase difference in the following description) and output frequency F in real time, and sends these parameters to the host.
如图1所示，在实际切割组织的过程中，主机从接收到激发信号到输出谐振频率期间，具有三个输出阶段。As shown in FIG. 1 , during the actual process of cutting tissue, the host has three output stages from receiving the excitation signal to outputting the resonant frequency.
输出阶段一：主机接收到激发信号后开始调节输出电流，输出电流逐步加载至额定电流。在此过程中，由于主机的电流一直处于调节状态，因而主机的输出频率与刀尖的谐振频率不相等，刀尖处于失谐状态且电流处于不稳定状态。Output stage 1: After receiving the excitation signal, the host starts to adjust the output current, and the output current is gradually loaded to the rated current. In this process, since the current of the host is always in the adjustment state, the output frequency of the host is not equal to the resonant frequency of the blade tip, the blade tip is in a detuned state and the current is in an unstable state.
输出阶段二：主机的输出电流达到并维持在额定电流附近。在此过程中，主机的输出电流已稳定，其输出频率从一个频率逐步变化到另一个频率，相当于对刀尖进行扫频。但是，刀尖在此过程中仍处于失谐状态，其切割效率低，并且和组织的作用并不剧烈，因此组织的状态相对稳定，从而可以利用此阶段内的扫频数据，作为组织类别的识别依据。Output stage 2: The output current of the host reaches and remains near the rated current. During this process, the output current of the host has stabilized, and its output frequency gradually changes from one frequency to another, which is equivalent to sweeping the knife tip. However, the knife tip is still in a detuned state during this process, its cutting efficiency is low, and the effect on the tissue is not intense, so the state of the tissue is relatively stable, so the sweeping frequency data in this stage can be used as the basis for identifying the tissue category.
输出阶段三：主机的输出频率达到刀尖的谐振频率，并且主机根据刀尖状态的变化，实时改变输出电流，使刀尖拥有正常的切割效率，和组织之间产生剧烈的交互作用。Output stage three: The output frequency of the host reaches the resonant frequency of the blade tip, and the host changes the output current in real time according to the changes in the blade tip state, so that the blade tip has normal cutting efficiency and produces a violent interaction with the tissue.
主机在上述的三个输出阶段中，只有输出阶段二的输出电流是保持稳定的，同时刀尖是处于失谐状态的，因此，在输出阶段二中，主机加载输出频率的过程中，刀尖与组织之间在交互作用下，组织仍能保持原来的稳定状态，因此，可利用输出阶段二的检测数据来确定组织的类别。但是，若要利用输出阶段二的数据，首先需要确定主机的输出电流稳定的起始时间点以及结束时间点，即判断超声刀进入稳定工作状态的起始时间点以及结束时间点。In the above three output stages of the host, only the output current of output stage 2 is kept stable, and the blade tip is in a detuned state. Therefore, in output stage 2, when the host loads the output frequency, the blade tip and the tissue can still maintain the original stable state under the interaction. Therefore, the detection data of output stage 2 can be used to determine the type of tissue. However, if the data of output stage 2 is to be used, it is first necessary to determine the starting time point and the ending time point of the host's output current stabilization, that is, to determine the starting time point and the ending time point of the ultrasonic knife entering a stable working state.
判断超声刀是否进入稳定工作状态的起始时间点的方法为：The method for determining the starting time point of whether the ultrasonic knife enters a stable working state is:
实时计算主机的输出电流I和当前档位的额定电流之间差值的绝对值；Real-time calculation of the absolute value of the difference between the host's output current I and the rated current of the current gear;
当上述的绝对值小于设定的阈值时，判断超声刀进入稳定工作状态。此阈值可以设定为1~5mA中的任意值。When the absolute value is less than the set threshold, it is determined that the ultrasonic knife has entered a stable working state. This threshold can be set to any value between 1 and 5 mA.
此外，还需要明确输出阶段二的结束时间点，即判断刀尖是否由失谐状态转变为谐振状态。判断方法为：In addition, it is also necessary to determine the end time of the second output stage, that is, to determine whether the tool tip has changed from a detuned state to a resonant state. The determination method is:
在超声刀切割过程中，刀尖由失谐状态转变为谐振状态，主机的输出频率往往呈现逐步上升至刀尖的谐振频率的状态，随后刀尖进入谐振状态，由于刀尖和组织之间产生剧烈的交互作用，刀尖的频率逐渐下降，因而可以将主机的输出频率出现极大值的时刻作为输出阶段二的结束时间点。During the ultrasonic knife cutting process, the blade tip changes from a detuned state to a resonant state, and the output frequency of the host tends to gradually rise to the resonant frequency of the blade tip, and then the blade tip enters a resonant state. Due to the violent interaction between the blade tip and the tissue, the frequency of the blade tip gradually decreases. Therefore, the moment when the output frequency of the host reaches a maximum value can be used as the end time point of the output stage 2.
在本发明中，在判断输出阶段二的结束时间点时，还可以利用相位差θ来确认输出阶段二的结束时间点。在刀尖由失谐状态转变为谐振状态时，其相位差θ会由较大值逐步减小，直至刀尖进入谐振状态时，相位差θ趋于稳定。因此，通过检测相位差θ是否逐渐减小并最终维持在稳定的区间内，来确认输出阶段二是否结束。In the present invention, when determining the end time point of the output stage 2, the phase difference θ can also be used to confirm the end time point of the output stage 2. When the tool tip changes from a detuned state to a resonant state, its phase difference θ will gradually decrease from a larger value until the tool tip enters a resonant state, when the phase difference θ tends to be stable. Therefore, by detecting whether the phase difference θ gradually decreases and finally remains in a stable range, it is confirmed whether the output stage 2 has ended.
主机在确认了输出阶段二之后，在输出阶段三中，利用输出阶段二的检测数据来判断当前切割组织的类别。After confirming the output stage 2, the host uses the detection data of the output stage 2 to determine the type of the current cutting tissue in the output stage 3.
在本发明的第一实施例中，主机采集阻抗R及相位差θ数据，并依据阻抗R及相位差θ数据而获得阻抗变化特征值。In the first embodiment of the present invention, the host collects impedance R and phase difference θ data, and obtains impedance change characteristic values according to the impedance R and phase difference θ data.
阻抗R通过驱动电压U与输出电流I按以下公式获得：The impedance R is obtained by the driving voltage U and the output current I according to the following formula:
（1）； (1);
阻抗R可分解为两个正交的分量，即The impedance R can be decomposed into two orthogonal components, namely
（2）； (2);
（3）。 (3).
其中，R有为阻抗R的有用功分量，R无为阻抗R的无用功分量。Among them, Ris the useful work component of the impedance R, and Ris the useless work component of the impedance R.
根据阻抗R的有用功分量和无用功分量可知，阻抗变化特征值由阻抗R的有用功分量和无用功分量构成。那么以阻抗R的有用功分量作为x轴、阻抗R的无用功分量为y轴建立坐标系，在输出阶段二所采集的阻抗R在坐标系中的曲线与圆形轮廓接近，得到阻抗圆。阻抗圆是指，将大范围不同频率下刀尖的阻抗变化特征值，以阻抗R的有用功分量作为x轴、以阻抗R的无用功分量作为y轴，绘制出来所构成的二维空间曲线，其轮廓与圆形相接近，被称为阻抗圆。阻抗圆的特征参数为圆心位置（A，B）以及半径r，因此，组织变化特征值的特征参数即阻抗圆的圆心位置（A，B）和半径r。According to the useful work component and useless work component of impedance R, it can be known that the impedance change characteristic value is composed of the useful work component and useless work component of impedance R. Then, a coordinate system is established with the useful work component of impedance R as the x-axis and the useless work component of impedance R as the y-axis. The curve of impedance R collected in the coordinate system in the second output stage is close to the circular contour, and the impedance circle is obtained. The impedance circle refers to the two-dimensional space curve formed by drawing the impedance change characteristic value of the tool tip under a wide range of different frequencies, with the useful work component of impedance R as the x-axis and the useless work component of impedance R as the y-axis. Its contour is close to a circle and is called the impedance circle. The characteristic parameters of the impedance circle are the center position (A, B) and the radius r. Therefore, the characteristic parameters of the tissue change characteristic value are the center position (A, B) and the radius r of the impedance circle.
在输出阶段二中，主机的输出频率的变化范围有限，因而在坐标系中的阻抗R的曲线一般为阻抗圆轮廓的一部分，因此，无法直接得到此阻抗圆的半径及圆心位置。针对于此，可将阻抗R的曲线进行圆形拟合，使其曲线满足完整的圆形特征。在圆形拟合的过程中，可采用最小二乘方法进行拟合来得到阻抗圆的半径及圆心位置，从而得到组织变化特征值，如图2所示。In the output stage 2, the output frequency of the host has a limited range of change, so the impedance R curve in the coordinate system is generally a part of the impedance circle contour, so the radius and center position of this impedance circle cannot be directly obtained. In view of this, the impedance R curve can be fitted in a circle so that the curve satisfies the complete circular feature. In the process of circular fitting, the least squares method can be used to fit the radius and center position of the impedance circle, thereby obtaining the characteristic value of tissue change, as shown in Figure 2.
最小二乘方法拟合阻抗圆的具体方法为：The specific method of fitting the impedance circle by the least squares method is:
拟定阻抗圆的半径为r、圆心为（A，B），将在输出阶段二内采集到的阻抗R的有用功分量记为，阻抗R的无用功分量记为，，N为采集的点数。The radius of the proposed impedance circle is r, and the center is (A, B). The useful work component of the impedance R collected in the output stage 2 is recorded as , the useless work component of impedance R is recorded as , , N is the number of points collected.
则圆方程可记为：The equation of a circle can be written as:
（4）， (4),
此方程可改写为：This equation can be rewritten as:
（5）， (5),
其中，，，。in, , , .
根据最小二乘方法计算偏差和，则有：According to the least squares method, the deviation and sum are calculated:
（6）， (6),
为使偏差和最小，则其关于a、b、c的一阶导数应为零，即：In order to minimize the deviation and the first-order derivative with respect to a, b, and c, it should be zero, that is:
（7）； (7);
将上式改写为矩阵形式，则有：Rewrite the above formula into matrix form:
（8）； (8);
对上式进行求解可得：Solving the above formula yields:
（9）； (9);
其中，in,
； ;
； ;
； ;
； ;
。 .
根据式（9）对a、b、c求解，并将a、b、c的值代入A、B、r的解式中，获得A、B、r的值，从而获得阻抗圆的特征参数，该特征参数即为当前切割组织的组织变化特征值。According to formula (9), a, b, and c are solved, and the values of a, b, and c are substituted into the solution of A, B, and r to obtain the values of A, B, and r, thereby obtaining the characteristic parameters of the impedance circle, which are the characteristic values of the tissue change of the current cutting tissue.
在获得当前切割组织的组织变化特征值后，将其与主机中已经存储的组织的组织变化特征值进行比较，比较方式采用绝对误差、加权误差、欧氏距离中的一种或多种，当当前切割组织的组织变化特征值与主机中已经存储的组织的组织变化特征值比较的结果小于设定的阈值，则可判断当前切割组织的类别。After obtaining the tissue change characteristic value of the current cutting tissue, it is compared with the tissue change characteristic value of the tissue already stored in the host. The comparison method adopts one or more of absolute error, weighted error, and Euclidean distance. When the result of comparing the tissue change characteristic value of the current cutting tissue with the tissue change characteristic value of the tissue already stored in the host is less than the set threshold, the category of the current cutting tissue can be determined.
在本发明中，主机在判断出当前切割组织的类别后，调节输出电流，使输出电流适应当前切割组织。In the present invention, after determining the type of the currently cut tissue, the host adjusts the output current to adapt the output current to the currently cut tissue.
在本发明的第二实施例中，还可以导纳圆的半径及圆心作为组织变化特征值。导纳圆是指，将大范围不同频率下刀尖的阻抗变化特征值，以导纳的有用功分量作为x轴、以导纳的无用功分量作为y轴，绘制出来所构成的二维空间曲线，其轮廓与圆形相接近，被称为导纳圆，导纳圆的主要特征也为其半径及圆心位置。采用与第一实施例中相同的拟合方式，来得到导纳圆的半径及圆心位置，从而得到所述组织变化特征值，如图3所示。In the second embodiment of the present invention, the radius and center of the admittance circle can also be used as the tissue change characteristic value. The admittance circle refers to a two-dimensional space curve formed by drawing the impedance change characteristic value of the tool tip under a wide range of different frequencies, with the useful work component of the admittance as the x-axis and the useless work component of the admittance as the y-axis. Its contour is close to a circle and is called the admittance circle. The main features of the admittance circle are also its radius and center position. The same fitting method as in the first embodiment is used to obtain the radius and center position of the admittance circle, thereby obtaining the tissue change characteristic value, as shown in Figure 3.
导纳Y由以下公式计算得到：The admittance Y is calculated by the following formula:
（10）； (10);
导纳由有用功分量和无用功分量组成，导纳的有用功分量由以下公式计算得到：Admittance consists of useful work component and useless work component. The useful work component of admittance is calculated by the following formula:
（11）； (11);
导纳的无用功分量由以下公式计算得到：The useless work component of admittance is calculated by the following formula:
（12）。 (12).
在本发明的第三实施例中，也可以阻抗圆和导纳圆在空间中的分布关系作为组织变化特征值。例如：将阻抗圆和导纳圆绘制在同一个二维坐标系下，根据其空间分布的不同，两圆会呈现相切、相交、相离的状态，亦可将此状态作为组织变化特征值。In the third embodiment of the present invention, the distribution relationship between the impedance circle and the admittance circle in space can also be used as the tissue change characteristic value. For example, the impedance circle and the admittance circle are drawn in the same two-dimensional coordinate system. According to their different spatial distributions, the two circles will be tangent, intersecting, or separated. This state can also be used as the tissue change characteristic value.
在本发明中，通过对已知组织进行切割试验，得到与不同组织相对应的组织变化特征值，并将相对应的组织变化特征值存储在主机中，在超声刀切割当前组织时，主机在计算时实时读取，再将当前切割过程中得到的组织变化特征值与不同组织的组织变化特征值进行比较，从而识别并分类出当前所切割的组织。之后主机可根据识别及分类出的组织类别，控制输出电流，从而相应的调整超声刀的刀尖对当前组织的切割效果。In the present invention, by performing a cutting test on a known tissue, tissue change characteristic values corresponding to different tissues are obtained, and the corresponding tissue change characteristic values are stored in the host. When the ultrasonic knife cuts the current tissue, the host reads it in real time during calculation, and then compares the tissue change characteristic values obtained in the current cutting process with the tissue change characteristic values of different tissues, thereby identifying and classifying the currently cut tissue. Afterwards, the host can control the output current according to the identified and classified tissue category, thereby correspondingly adjusting the cutting effect of the ultrasonic knife tip on the current tissue.
基于上述超声刀切割组织识别分类方法，本发明提供了一种超声刀切割组织识别分类系统，其包括主机，主机内置有：Based on the above ultrasonic knife cutting tissue identification and classification method, the present invention provides an ultrasonic knife cutting tissue identification and classification system, which includes a host, and the host has built-in:
数据获取单元，用于获取超声刀的实时状态以及主机输出的频率、阻抗、电流电压相位差数据；A data acquisition unit, used to acquire the real-time status of the ultrasonic knife and the frequency, impedance, current and voltage phase difference data output by the host;
数据运算单元，用于根据所得的频率、阻抗、相位差数据计算得到当前切割组织的组织变化特征值；A data calculation unit, used for calculating the tissue change characteristic value of the current cut tissue according to the obtained frequency, impedance and phase difference data;
数据存储单元，用于存储已知组织的组织变化特征值；A data storage unit, used for storing tissue change characteristic values of known tissues;
判断单元，将当前切割组织的组织变化特征值与存储在主机内已知组织的组织变化特征值进行比较，识别出当前切割组织的类别；A judgment unit compares the tissue change characteristic value of the current cut tissue with the tissue change characteristic value of the known tissue stored in the host to identify the type of the current cut tissue;
控制单元，根据判断的组织类别，按与其相适应的方式调节超声刀输出电流。The control unit adjusts the ultrasonic knife output current in a manner suitable for the determined tissue type.
以上描述仅为本申请的较佳实施例以及对所运用技术原理的说明。本领域技术人员应当理解，本申请中所涉及的发明范围，并不限于上述技术特征的特定组合而成的技术方案，同时也应涵盖在不脱离所述发明构思的情况下，由上述技术特征或其等同特征进行任意组合而形成的其它技术方案。例如上述特征与本申请中公开的(但不限于)具有类似功能的技术特征进行互相替换而形成的技术方案。The above description is only a preferred embodiment of the present application and an explanation of the technical principles used. Those skilled in the art should understand that the scope of the invention involved in the present application is not limited to the technical solution formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the inventive concept. For example, the above features are replaced with the technical features with similar functions disclosed in this application (but not limited to) by each other.
除说明书所述的技术特征外，其余技术特征为本领域技术人员的已知技术，为突出本发明的创新特点，其余技术特征在此不再赘述。Except for the technical features described in the specification, the remaining technical features are known technologies to those skilled in the art. In order to highlight the innovative features of the present invention, the remaining technical features will not be described here in detail.
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| CN111818862A (en)* | 2018-03-08 | 2020-10-23 | 爱惜康有限责任公司 | Application of Smart Knife Technology |
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| CN111818862A (en)* | 2018-03-08 | 2020-10-23 | 爱惜康有限责任公司 | Application of Smart Knife Technology |
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