CN117838294A - Optical fiber sensing-based endoscopic surgery forceps head temperature control method - Google Patents
Optical fiber sensing-based endoscopic surgery forceps head temperature control method Download PDFInfo
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- 239000013307 optical fiber Substances 0.000 title claims abstract description 84
- 238000002674 endoscopic surgery Methods 0.000 title claims abstract description 40
- 238000000034 method Methods 0.000 title claims abstract description 36
- 238000012937 correction Methods 0.000 claims abstract description 93
- 238000005520 cutting process Methods 0.000 claims abstract description 71
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- 230000001133 acceleration Effects 0.000 claims description 8
- 239000000835 fiber Substances 0.000 claims description 4
- 206010051814 Eschar Diseases 0.000 abstract description 9
- 231100000333 eschar Toxicity 0.000 abstract description 9
- 230000006378 damage Effects 0.000 abstract description 7
- 208000027418 Wounds and injury Diseases 0.000 abstract description 6
- 208000014674 injury Diseases 0.000 abstract description 6
- 238000009529 body temperature measurement Methods 0.000 abstract description 3
- 210000001519 tissue Anatomy 0.000 description 102
- 238000011217 control strategy Methods 0.000 description 5
- 230000015271 coagulation Effects 0.000 description 4
- 238000005345 coagulation Methods 0.000 description 4
- 238000010438 heat treatment Methods 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 210000004872 soft tissue Anatomy 0.000 description 2
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- 206010057040 Temperature intolerance Diseases 0.000 description 1
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- 210000000988 bone and bone Anatomy 0.000 description 1
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- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000008543 heat sensitivity Effects 0.000 description 1
- 238000002324 minimally invasive surgery Methods 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 230000003685 thermal hair damage Effects 0.000 description 1
- 230000000451 tissue damage Effects 0.000 description 1
- 231100000827 tissue damage Toxicity 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
- A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
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- A—HUMAN NECESSITIES
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- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
- A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
- A61B18/14—Probes or electrodes therefor
- A61B18/1442—Probes having pivoting end effectors, e.g. forceps
- A61B18/1445—Probes having pivoting end effectors, e.g. forceps at the distal end of a shaft, e.g. forceps or scissors at the end of a rigid rod
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B2018/00571—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body for achieving a particular surgical effect
- A61B2018/00589—Coagulation
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- A61B2018/00571—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body for achieving a particular surgical effect
- A61B2018/00601—Cutting
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- A61B2018/00571—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body for achieving a particular surgical effect
- A61B2018/00607—Coagulation and cutting with the same instrument
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- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B2018/00636—Sensing and controlling the application of energy
- A61B2018/00696—Controlled or regulated parameters
- A61B2018/00702—Power or energy
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B2018/00636—Sensing and controlling the application of energy
- A61B2018/00696—Controlled or regulated parameters
- A61B2018/00714—Temperature
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Abstract
The invention discloses a temperature control method for a clamp head of an endoscopic surgery based on optical fiber sensing, and relates to the technical field of medical instrument control. According to the invention, the temperature values of the clamp head and the biological tissue to be cut are measured through the optical fiber sensor, temperature control correction processing is carried out on the precision influence information and the external influence information of the optical fiber sensor, so that the clamp head temperature correction value and the tissue temperature correction value reflecting the comprehensive conditions of temperature measurement accuracy, sensitivity and external influence of the optical fiber sensor are obtained, the clamp head precision temperature value and the tissue precision temperature value are obtained after temperature correction processing, and the corrected and calibrated precision temperature value is matched with the recommended temperature value and the threshold value in a cutting strategy matched with the biological tissue, so that a precise temperature control decision is output for the power generator, and the risk of eschar, adhesion and tear injury in the tissue cutting process is reduced.
Description
Technical Field
The invention belongs to the technical field of medical instrument control, and particularly relates to a temperature control method for a clamp head of an endoscopic surgery based on optical fiber sensing.
Background
Endoscopic surgery is a minimally invasive procedure, often performed endoscopically. In endoscopic surgery, the surgical forceps head is one of the most commonly used tools, and the temperature of the surgical forceps head has an important influence on the problems of tissue damage, bleeding and the like in the surgical process. The heating structure is usually arranged in the clamp head structure to cut and coagulate biological tissues, when the clamp head structure clamps the biological tissues, the temperature difference between the biological tissues and the clamp head structure is very large, heat of the clamp head structure can be taken away due to blood flow, and after the clamp head structure is cut to a certain depth, the biological tissues cannot be cut due to insufficient heat.
The temperature control of the clamp head of the endoscopic surgery in the prior art is realized by acquiring the current temperature of the clamp head structure of the electric knife and comparing the current temperature with a first preset temperature to acquire a temperature fluctuation value; based on the temperature fluctuation value, determining the state of the current target tissue, and adjusting the working temperature of the clamp head structure in real time; thereby guarantee that the temperature of binding clip structure keeps at the temperature of settlement for the binding clip structure cuts off target tissue fast in cutting coagulation process, reduces the thermal damage of biological tissue in the cutting coagulation process, reduces the gluey of binding clip in the cutting coagulation process, has avoided pulling the secondary damage that produces in-process, reduces the eschar of biological tissue in the cutting coagulation process. But does not obtain accurate temperature values in a correction and calibration mode, and provides an accurate temperature control strategy for the power generator so as to further reduce the risks of eschar, adhesion and tear in the tissue cutting process.
Disclosure of Invention
The invention aims to provide a temperature control method for a clamp head of an endoscopic surgery based on optical fiber sensing, which is used for solving the technical problems that in the prior art, an accurate temperature value is not obtained in a correction and calibration mode, and an accurate temperature control strategy is provided for a power generator so as to further reduce the risks of eschar, adhesion and tearing in the process of cutting tissues.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
the endoscopic surgery forceps head temperature control method based on optical fiber sensing comprises the following steps:
s100, optical fiber sensing acquisition: the optical fiber sensor is arranged in the endoscopic surgery forceps head and close to the biological tissue to be cut, and the temperature value of the endoscopic surgery forceps head and the temperature value of the biological tissue to be cut are collected in real time;
s200, temperature control correction: performing temperature control correction processing on the precision sensitivity influence information and the external influence information of the optical fiber sensor to generate a clamp head temperature correction value and a tissue temperature correction value;
s300, temperature control output: performing temperature correction on the surgical binding clip temperature value and the binding clip temperature correction value to obtain a binding clip accurate temperature value, performing temperature correction on the cut tissue temperature value and the tissue temperature correction value to obtain a tissue accurate temperature value, and performing matching analysis on the biological tissue to be cut and a tissue cutting strategy in a strategy database to generate a temperature control scheme;
s400, temperature control decision: according to the temperature control scheme, the power generator is controlled to increase power, so that the accurate temperature value of the clamp head of the endoscopic surgery clamp head reaches the clamping temperature value, the surgical clamp head clamps biological tissues to be cut at the moment, the power generator is controlled to continuously increase power, so that the accurate temperature value of the clamp head of the endoscopic surgery clamp head reaches the cutting temperature value, and the surgical clamp head cuts off the biological tissues.
As a further preferable aspect of the present invention, the smart influence information includes resolution, response time, measured temperature range, and drift value of the optical fiber sensor, and the external influence information includes ambient pressure and vibration acceleration at the optical fiber sensor.
As a further preferable embodiment of the present invention, the temperature control correction process includes the following steps:
s1, subtracting the maximum value and the minimum value of a measured temperature range of an optical fiber sensor to obtain a measured temperature difference, respectively marking the resolution, response time, measured temperature difference and drift value of the optical fiber sensor as Gf, gx, gs, gp, and calculating by a formula to obtain a precision sensitivity influence factor GM of the optical fiber sensor;
the calculation formula of the sensitivity influence factor is as follows:
wherein, w1, w2, w3 and w4 are different preset proportion coefficients, and w3 is more than 0.35 and less than w2 and less than w4 and w1 is less than 3.58;
s2, marking an absolute value obtained by subtracting the atmospheric pressure from the ambient pressure at the optical fiber sensor as Gh, marking vibration acceleration as Gz, and calculating a temperature correction value TX of the optical fiber sensor and a sensitivity influence factor GM through a formula, wherein the temperature correction value of the optical fiber sensor in a clamp head of the endoscopic surgery is a clamp head temperature correction value TXq, and the temperature correction value of the optical fiber sensor close to a biological tissue to be cut is a tissue temperature correction value TXz;
the calculation formula of the temperature correction value is as follows:
wherein, g1, g2 and g3 are different preset proportion coefficients, and g3 is more than 0.56 and less than g2 and g1 is more than 1.26.
As a further preferable scheme of the invention, the temperature correction treatment process comprises the following steps: respectively marking the real-time temperature value at the clamp head of the endoscopic surgery and the temperature value at the biological tissue to be cut as Tq and Tz, and calculating the temperature value with the clamp head temperature correction value TXq and the tissue temperature correction value TXz through formulas to obtain a clamp head accurate temperature value TJq and a tissue accurate temperature value TJz; the calculation formula is as follows:
as a further preferable embodiment of the present invention, the matching analysis is performed as follows:
s11, matching the name of the biological tissue to be cut with the name of the biological tissue in a tissue cutting strategy in a strategy database, and calling a tissue cutting strategy corresponding to the name of the biological tissue after the matching is successful, wherein the tissue cutting strategy comprises a recommended cutting temperature value, a recommended clamping temperature value, a recommended cutting temperature difference threshold value and a recommended clamping temperature difference threshold value;
and S12, generating a temperature control scheme comprising a cutting temperature value, a clamping temperature value, a cutting temperature difference threshold value and a clamping temperature difference threshold value according to a tissue cutting strategy corresponding to the biological tissue name.
As a further preferable scheme of the invention, the strategy database is used for storing biological tissue names and corresponding tissue cutting strategies thereof in advance, wherein the tissue cutting strategies comprise a recommended cutting temperature value, a recommended clamping temperature value, a recommended cutting temperature difference threshold value and a recommended clamping temperature difference threshold value.
As a further preferable scheme of the invention, step S400 generates an early warning signal and emergently stops the power generator when the cut-off temperature difference exceeds the cut-off temperature difference threshold or the clamping temperature difference exceeds the clamping temperature difference threshold; and storing the accurate clamp head temperature value and the clamping temperature value corresponding to the early warning signal into a strategy database.
In summary, due to the adoption of the technical scheme, the beneficial effects of the invention are as follows:
1. according to the invention, the temperature values of the clamp head and the biological tissue to be cut are measured through the optical fiber sensor, temperature control correction processing is carried out on the precision influence information and the external influence information of the optical fiber sensor, so that the clamp head temperature correction value and the tissue temperature correction value reflecting the comprehensive conditions of temperature measurement accuracy, sensitivity and external influence of the optical fiber sensor are obtained, the clamp head precision temperature value and the tissue precision temperature value are obtained after temperature correction processing, and the corrected and calibrated precision temperature value is matched with the recommended temperature value and the threshold value in a cutting strategy matched with the biological tissue, so that a precise temperature control decision is output for the power generator, and the risk of eschar, adhesion and tear injury in the tissue cutting process is reduced.
2. The temperature control correction processing of the invention obtains the temperature correction value reflecting the accuracy, the sensitivity and the external comprehensive influence factors of the optical fiber sensor in a mode of combining marking and formula calculation, and obtains the clamp head temperature correction value and the tissue temperature correction value according to the different setting positions of the optical fiber sensor; the clamp head accurate temperature value and the tissue accurate temperature value which accurately and stably reflect the temperature mode can be obtained by the temperature correction treatment mode; in the process of matching analysis, a plurality of recommended temperature values matched with biological tissues are generated by combining a tissue cutting strategy, so that the power generator can accurately and timely control the temperature.
3. According to the invention, the early warning signal is generated after the comparison of the temperature difference threshold value, the power generator is stopped in an emergency mode, the safety of the clamping and cutting process of the surgical forceps head is improved, and the adjustment of the temperature control strategy according to the corresponding temperature value of the early warning signal in the later period is facilitated.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 shows a flow chart of a method for controlling the temperature of a clamp head of an endoscopic surgery based on optical fiber sensing;
FIG. 2 shows a block diagram of the laparoscopic surgical forceps head temperature control system based on optical fiber sensing.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The heating structure is needed to be arranged in the clamp head structure for cutting and coagulating biological tissues, the biological tissues can not be cut off when the clamp head temperature is low, and the thermal injury conditions such as eschar, adhesion, tearing injury and the like can be generated by the biological tissues at the contact edge of the biological tissues and the clamp head when the clamp head temperature is high. And the forceps head structure can continuously clamp the biological tissue for a period of time under the condition of heating, and cut the biological tissue after reaching the cutting temperature standard, and the conditions of eschar, adhesion and tearing injury can be formed when the temperature cannot reach the cutting standard as soon as possible. Therefore, the power output of the power generator needs to be timely adjusted according to the temperature value of the current endoscopic surgical forceps head, and the generation of a temperature control strategy is important.
Example 1
Referring to fig. 2, the embodiment provides a temperature control system for a clamp head of an endoscopic surgery based on optical fiber sensing, which comprises an optical fiber sensor, a temperature control correction acquisition module, a temperature control correction analysis module, a temperature control output module, a temperature control decision module and a strategy database.
The optical fiber sensor is arranged in the endoscopic surgery forceps head and near the biological tissue to be cut, and is used for collecting the temperature value of the endoscopic surgery forceps head and the temperature value of the biological tissue to be cut and sending the temperature value to the temperature control output module.
The principle of measuring temperature by the optical fiber sensor is based on the thermal scattering effect of the optical fiber, when the temperature in the optical fiber changes, the refractive index in the optical fiber also changes correspondingly, and the changes lead to light scattering in the optical fiber, so that the scattering intensity of scattered light has a relation with the temperature; the temperature of the position of the optical fiber is calculated by measuring the intensity and distribution of scattered light. The optical fiber sensor is arranged in the endoscopic surgery forceps head and is 3-6 cm away from the biological tissue to be cut.
The temperature control correction acquisition module is used for acquiring the precision sensitivity influence information and the external influence information of the optical fiber sensor and sending the precision sensitivity influence information and the external influence information to the temperature control correction analysis module.
The temperature control correction analysis module is used for carrying out temperature control correction processing on the precision sensitivity influence information and the external influence information of the optical fiber sensor to generate a clamp head temperature correction value and a tissue temperature correction value; the smart influence information includes resolution, response time, measured temperature range and drift value of the optical fiber sensor, and the external influence information includes ambient pressure and vibration acceleration at the optical fiber sensor.
The resolution of the optical fiber sensor determines the capability of accurately identifying and measuring the temperature change, and the higher the resolution is, the stronger the capability of the sensor for detecting the temperature change is. The response time of the optical fiber sensor refers to the time required by the sensor from the time of receiving the temperature change signal to the time of outputting the corresponding result, and the shorter response time indicates that the sensor can capture the temperature change more quickly and provide accurate measurement results in time. Different optical fiber sensors are suitable for different temperature ranges, and the optical fiber sensor with a larger temperature range can stably work under wider environmental conditions. The drift value of the optical fiber sensor refers to the change degree of the sensor output with time under the same condition, and a smaller drift value indicates that the stability of the sensor is high. In summary, the resolution, response time, measured temperature range and drift value of the fiber optic sensor are key indicators and factors reflecting the detection accuracy and sensitivity thereof.
The ambient pressure and the vibration acceleration are environmental factors influencing the measurement result of the optical fiber sensor, and the accuracy of the image measurement result.
The temperature control output module is used for obtaining a clamp head accurate temperature value through temperature correction treatment on the surgical clamp head temperature value and the clamp head temperature correction value, obtaining a tissue accurate temperature value through temperature correction treatment on the cut tissue temperature value and the tissue temperature correction value, and carrying out matching analysis on the biological tissue to be cut and a tissue cutting strategy in the strategy database to generate a temperature control scheme.
The temperature control decision module is used for controlling the power generator to work to reach a cutting-off temperature value and a clamping temperature value according to a temperature control scheme, and also used for generating an early warning signal and stopping the power generator to work in an emergency when the cutting-off temperature difference exceeds a cutting-off temperature difference threshold or the clamping temperature difference exceeds a clamping temperature difference threshold; the cut-off temperature difference and the clamp temperature difference are TJq to TJz.
The strategy database is used for pre-storing biological tissue names and corresponding tissue cutting strategies thereof, wherein the tissue cutting strategies comprise a recommended cutting-off temperature value, a recommended clamping temperature value, a recommended cutting-off temperature difference threshold value and a recommended clamping temperature difference threshold value.
As the common knowledge in the art, the cutting temperature of the endoscopic surgical forceps head has a certain corresponding relation with the biological tissue to be cut, and different biological tissues have different physical characteristics and heat sensitivity, so that the proper cutting temperature is required to be selected according to the specific biological tissue; for example, soft tissues such as muscles, blood vessels are relatively easily heated, and a cutting temperature range of 40-70 ℃ is selected; the cutting temperature range for hard tissue, such as bone, is typically higher than for soft tissue, with a cutting temperature range of 200-350 c being selected. Of course, these temperature ranges are for reference only, and in practice will vary depending on the different surgical needs, instrument selections and patient conditions, and the tissue cutting strategy in the strategy database is formed by medical staff filling in inputs according to clinical experience and actual needs.
According to the temperature control system for the clamp head of the endoscopic surgery, temperature values of the clamp head and the biological tissue to be cut are measured through the optical fiber sensor, temperature control correction processing is conducted on precision influence information and external influence information of the optical fiber sensor, clamp head temperature correction value and tissue temperature correction value reflecting comprehensive conditions of temperature measurement accuracy, sensitivity and external influence of the optical fiber sensor are obtained, the clamp head accurate temperature value and the tissue accurate temperature value are obtained after temperature correction processing, and the corrected and calibrated accurate temperature value is matched with a recommended temperature value and a threshold value in a cutting strategy matched with the biological tissue, so that accurate temperature control decision is output for a power generator, and risks of eschar, adhesion and tear injury in a tissue cutting process are reduced.
Example 2
The present embodiment provides the procedure of the temperature control correction process in embodiment 1, specifically as follows:
s1, subtracting the maximum value and the minimum value of a measured temperature range of an optical fiber sensor to obtain a measured temperature difference, respectively marking the resolution, response time, measured temperature difference and drift value of the optical fiber sensor as Gf, gx, gs, gp, and calculating by a formula to obtain a precision sensitivity influence factor GM of the optical fiber sensor;
the calculation formula of the sensitivity influence factor is as follows:
wherein, w1, w2, w3 and w4 are all different preset proportion coefficients, w3 is more than 0.35 and less than w2 and less than w4 and less than w1 and less than 3.58, the value of w3 is 0.367, the value of w2 is 0.587, the value of w4 is 1.685, and the value of w1 is 3.272;
it should be noted that the precision sensitivity influence factor reflects the comprehensive condition of the accuracy and the sensitivity of the detection of the optical fiber sensor, and the larger the value of the precision sensitivity influence factor is, the higher the accuracy and the sensitivity of the optical fiber sensor are when in work;
s2, marking an absolute value obtained by subtracting the atmospheric pressure from the ambient pressure at the optical fiber sensor as Gh, marking vibration acceleration as Gz, and calculating a temperature correction value TX of the optical fiber sensor and a sensitivity influence factor GM through a formula, wherein the temperature correction value of the optical fiber sensor in a clamp head of the endoscopic surgery is a clamp head temperature correction value TXq, and the temperature correction value of the optical fiber sensor close to a biological tissue to be cut is a tissue temperature correction value TXz;
the calculation formula of the temperature correction value is as follows:
wherein, g1, g2 and g3 are all different preset proportion coefficients, g3 is more than 0.56 and less than g2 and less than 1.26, g3 can take on a value of 0.627, g2 can take on a value of 0.985, and g1 can take on a value of 1.235.
The temperature correction process comprises the following steps: respectively marking the real-time temperature value at the clamp head of the endoscopic surgery and the temperature value at the biological tissue to be cut as Tq and Tz, and calculating the temperature value with the clamp head temperature correction value TXq and the tissue temperature correction value TXz through formulas to obtain a clamp head accurate temperature value TJq and a tissue accurate temperature value TJz; the calculation formula is as follows:
the process of matching analysis is as follows:
s11, matching the name of the biological tissue to be cut with the name of the biological tissue in a tissue cutting strategy in a strategy database, and calling a tissue cutting strategy corresponding to the name of the biological tissue after the matching is successful, wherein the tissue cutting strategy comprises a recommended cutting temperature value, a recommended clamping temperature value, a recommended cutting temperature difference threshold value and a recommended clamping temperature difference threshold value;
and S12, generating a temperature control scheme comprising a cutting temperature value, a clamping temperature value, a cutting temperature difference threshold value and a clamping temperature difference threshold value according to a tissue cutting strategy corresponding to the biological tissue name.
The embodiment provides specific processes of temperature control correction processing, temperature correction processing and matching analysis, wherein the temperature control correction processing obtains a temperature correction value reflecting the accuracy, sensitivity and external comprehensive influence factors of the optical fiber sensor in a marking and formula calculation combination mode, and obtains a clamp head temperature correction value and a tissue temperature correction value according to different setting positions of the optical fiber sensor; the clamp head accurate temperature value and the tissue accurate temperature value which accurately and stably reflect the temperature mode can be obtained by the temperature correction treatment mode; in the process of matching analysis, on one hand, a plurality of recommended temperature values matched with biological tissues can be generated by combining a tissue cutting strategy, and on the other hand, the power generator is convenient for accurately and timely controlling the temperature.
The preset weight coefficient is used for balancing the duty ratio weight of each item of data in formula calculation, so that the accuracy of a calculation result is promoted; the size of the coefficient is a specific numerical value obtained by quantizing each parameter, so that the subsequent comparison is convenient, and the size of the coefficient depends on the number of sample data and the corresponding weight factor coefficient is preliminarily set for each group of sample data by a person skilled in the art; as long as the proportional relation between the parameter and the quantized value is not affected. The related formulas are all formulas obtained by software simulation after a large amount of data are collected for dimension removal, and a formula close to a true value is selected, and coefficients in the formulas are set by a person skilled in the art according to actual conditions. The threshold value and the preset range value mentioned in the application are obtained and selected by software simulation by a software communication technician collecting a large amount of data.
Example 3
Referring to fig. 1, the embodiment provides a temperature control method for a clamp head of an endoscopic surgery based on optical fiber sensing, which comprises the following steps:
s100, optical fiber sensing acquisition: the optical fiber sensor is arranged in the endoscopic surgery forceps head and close to the biological tissue to be cut, and the temperature value of the endoscopic surgery forceps head and the temperature value of the biological tissue to be cut are collected in real time;
s200, temperature control correction: performing temperature control correction processing on the precision sensitivity influence information and the external influence information of the optical fiber sensor to generate a clamp head temperature correction value and a tissue temperature correction value; the smart influence information includes resolution, response time, measured temperature range and drift value of the optical fiber sensor, and the external influence information includes ambient pressure and vibration acceleration at the optical fiber sensor;
s300, temperature control output: performing temperature correction on the surgical binding clip temperature value and the binding clip temperature correction value to obtain a binding clip accurate temperature value, performing temperature correction on the cut tissue temperature value and the tissue temperature correction value to obtain a tissue accurate temperature value, and performing matching analysis on the biological tissue to be cut and a tissue cutting strategy in a strategy database to generate a temperature control scheme;
s400, temperature control decision: according to a temperature control scheme, controlling a power generator to increase power so that the accurate temperature value of the clamp head of the endoscopic surgery clamp head reaches a clamping temperature value, clamping biological tissues to be cut by the surgical clamp head at the moment, and controlling the power generator to continuously increase power so that the accurate temperature value of the clamp head of the endoscopic surgery clamp head reaches a cutting temperature value, and cutting the biological tissues by the surgical clamp head; when the cutting-off temperature difference exceeds the cutting-off temperature difference threshold or the clamping temperature difference exceeds the clamping temperature difference threshold during working, generating an early warning signal and stopping the power generator in an emergency; and storing the accurate clamp head temperature value and the clamping temperature value corresponding to the early warning signal into a strategy database.
According to the temperature control method for the endoscopic surgery forceps head, the modes of optical fiber sensor acquisition, temperature control correction, temperature control output and temperature control decision are combined, and the temperature control method is matched with the suggested temperature value and the threshold value in the cutting strategy matched with biological tissues, so that the accurate temperature control decision is output for the power generator, and the risks of eschar, adhesion and tearing in the tissue cutting process are reduced; after the temperature difference threshold value is compared, an early warning signal is generated and the power generator is stopped in an emergency mode, so that the safety of the clamping and cutting processes of the surgical forceps head is improved, and the temperature control strategy can be conveniently adjusted according to the corresponding temperature value of the early warning signal in the later period.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application. The functional units in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit.
The foregoing is merely specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily think about changes or substitutions within the technical scope of the present application, and the changes and substitutions are intended to be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (7)
1. The temperature control method of the endoscopic surgery forceps head based on optical fiber sensing is characterized by comprising the following steps of:
s100, optical fiber sensing acquisition: the optical fiber sensor is arranged in the endoscopic surgery forceps head and close to the biological tissue to be cut, and the temperature value of the endoscopic surgery forceps head and the temperature value of the biological tissue to be cut are collected in real time;
s200, temperature control correction: performing temperature control correction processing on the precision sensitivity influence information and the external influence information of the optical fiber sensor to generate a clamp head temperature correction value and a tissue temperature correction value;
s300, temperature control output: performing temperature correction on the surgical binding clip temperature value and the binding clip temperature correction value to obtain a binding clip accurate temperature value, performing temperature correction on the cut tissue temperature value and the tissue temperature correction value to obtain a tissue accurate temperature value, and performing matching analysis on the biological tissue to be cut and a tissue cutting strategy in a strategy database to generate a temperature control scheme;
s400, temperature control decision: according to the temperature control scheme, the power generator is controlled to increase power, so that the accurate temperature value of the clamp head of the endoscopic surgery clamp head reaches the clamping temperature value, the surgical clamp head clamps biological tissues to be cut at the moment, the power generator is controlled to continuously increase power, so that the accurate temperature value of the clamp head of the endoscopic surgery clamp head reaches the cutting temperature value, and the surgical clamp head cuts off the biological tissues.
2. The fiber optic sensing based laparoscopic surgical clamp head temperature control method according to claim 1, wherein the insensitivity affecting information includes resolution, response time, measured temperature range and drift value of the fiber optic sensor, and the external affecting information includes ambient pressure and vibration acceleration at the fiber optic sensor.
3. The method for controlling the temperature of the clamp head of the endoscopic surgery based on optical fiber sensing according to claim 2, wherein the temperature control correction process comprises the following steps:
s1, subtracting the maximum value and the minimum value of a measured temperature range of an optical fiber sensor to obtain a measured temperature difference, respectively marking the resolution, response time, measured temperature difference and drift value of the optical fiber sensor as Gf, gx, gs, gp, and calculating by a formula to obtain a precision sensitivity influence factor GM of the optical fiber sensor;
the calculation formula of the sensitivity influence factor is as follows:
wherein, w1, w2, w3 and w4 are different preset proportion coefficients, and w3 is more than 0.35 and less than w2 and less than w4 and w1 is less than 3.58;
s2, marking an absolute value obtained by subtracting the atmospheric pressure from the ambient pressure at the optical fiber sensor as Gh, marking vibration acceleration as Gz, and calculating a temperature correction value TX of the optical fiber sensor and a sensitivity influence factor GM through a formula, wherein the temperature correction value of the optical fiber sensor in a clamp head of the endoscopic surgery is a clamp head temperature correction value TXq, and the temperature correction value of the optical fiber sensor close to a biological tissue to be cut is a tissue temperature correction value TXz;
the calculation formula of the temperature correction value is as follows:
wherein, g1, g2 and g3 are different preset proportion coefficients, and g3 is more than 0.56 and less than g2 and g1 is more than 1.26.
4. The method for controlling the temperature of the clamp head of the endoscopic surgery based on optical fiber sensing according to claim 1, wherein the temperature correction process is as follows: respectively marking the real-time temperature value at the clamp head of the endoscopic surgery and the temperature value at the biological tissue to be cut as Tq and Tz, and calculating the temperature value with the clamp head temperature correction value TXq and the tissue temperature correction value TXz through formulas to obtain a clamp head accurate temperature value TJq and a tissue accurate temperature value TJz; the calculation formula is as follows:
5. the method for controlling the temperature of a clamp head of an endoscopic surgery based on optical fiber sensing according to claim 1, wherein the matching analysis process is as follows:
s11, matching the name of the biological tissue to be cut with the name of the biological tissue in a tissue cutting strategy in a strategy database, and calling a tissue cutting strategy corresponding to the name of the biological tissue after the matching is successful, wherein the tissue cutting strategy comprises a recommended cutting temperature value, a recommended clamping temperature value, a recommended cutting temperature difference threshold value and a recommended clamping temperature difference threshold value;
and S12, generating a temperature control scheme comprising a cutting temperature value, a clamping temperature value, a cutting temperature difference threshold value and a clamping temperature difference threshold value according to a tissue cutting strategy corresponding to the biological tissue name.
6. The method of claim 1, wherein the policy database is configured to pre-store biological tissue names and corresponding tissue cutting policies, the tissue cutting policies including a recommended cutting temperature value, a recommended clamping temperature value, a recommended cutting temperature difference threshold, and a recommended clamping temperature difference threshold.
7. The method for controlling the temperature of a clamp head for an endoscopic surgery based on optical fiber sensing according to claim 1, wherein the step S400 generates an early warning signal and promptly stops the power generator when the cutting temperature difference exceeds a cutting temperature difference threshold or the clamping temperature difference exceeds a clamping temperature difference threshold; and storing the accurate clamp head temperature value and the clamping temperature value corresponding to the early warning signal into a strategy database.
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