CN-121987258-A - Intelligent depth adjusting system based on ultrasonic technology

CN121987258ACN 121987258 ACN121987258 ACN 121987258ACN-121987258-A

Abstract

The invention relates to an intelligent depth adjusting system based on an ultrasonic technology, which comprises a handheld control host machine and an intelligent annular cutting functional head, wherein the handheld control host machine comprises a rotary driving unit, a linear feeding unit, a middle rod, a composite sensing module and a main control processing unit, the rotary driving unit is provided with a hollow output shaft, the middle rod coaxially penetrates through the hollow output shaft and is configured to be of a circumferentially static non-rotating structure, the composite sensing module comprises a high-frequency ultrasonic probe arranged at the front end of the middle rod, the intelligent annular cutting functional head comprises a negative pressure adsorption cavity and an annular cutter assembly positioned in the negative pressure adsorption cavity, the annular cutter assembly is in transmission connection with the hollow output shaft to obtain rotary power, and the main control processing unit is configured to control the linear feeding unit to drive the middle rod to extend forwards for detection in a scanning stage and control the linear feeding unit to drive the middle rod to retract backwards to form a cutting avoidance space in a cutting stage.

Inventors

LU JIANYUN
WANG DAN
FU ZHIBING
CHEN JIANBO
ZENG JINRONG
GAO LIHUA
ZHOU LU
KUANG YALIN

Assignees

中南大学湘雅三医院

Dates

Publication Date: 20260508
Application Date: 20260204

Claims (10)

1. An intelligent depth adjusting system based on an ultrasonic technology is characterized by comprising a handheld control host machine (100) and an intelligent circular cutting functional head (200) which is detachably connected to the front end of the handheld control host machine (100); The handheld control host (100) comprises a rotary driving unit (120), a linear feeding unit (130), a middle rod (145), a compound sensing module (140) and a main control processing unit (150), wherein the rotary driving unit (120) is provided with a hollow output shaft (121), the middle rod (145) coaxially penetrates through the hollow output shaft (121) and is configured into a circumferentially static non-rotary structure, and the compound sensing module (140) comprises a high-frequency ultrasonic probe (141) which is used for detecting subcutaneous tissue structures and is arranged at the front end of the middle rod (145); the intelligent annular cutting functional head (200) comprises a negative pressure adsorption cavity (210) and an annular cutter assembly (220) positioned in the negative pressure adsorption cavity (210), and the annular cutter assembly (220) is in transmission connection with the hollow output shaft (121) to obtain rotary power; The main control processing unit (150) is configured to control the linear feeding unit (130) to drive the middle rod (145) to extend forwards for detection in a scanning stage, and control the linear feeding unit (130) to drive the middle rod (145) to retract backwards to form a cutting avoidance space in a cutting stage.
2. The system of claim 1, wherein the front end of the hand-held control host (100) is provided with a host connection interface (160), a radio frequency identification reading circuit is arranged at the host connection interface (160), the rear end of the intelligent ring cutting functional head (200) is provided with a quick connection component (230), an RFID identification chip (231) for storing characteristic parameters is integrated in the quick connection component (230), When the intelligent ring cutting functional head (200) is connected to the host connection interface (160), the main control processing unit (150) reads the characteristic parameters in the RFID identification chip (231) through the radio frequency identification reading circuit, and adjusts a control strategy according to the characteristic parameters.
3. The system according to claim 1 or 2, wherein the negative pressure adsorption cavity (210) adopts a double-wall structure, and comprises an outer wall and an inner wall, a negative pressure flow channel (212) is defined between the outer wall and the inner wall, a negative pressure interface (211) communicated with the negative pressure flow channel (212) is arranged on the negative pressure adsorption cavity (210), and at least one part of the outer wall is made of transparent or semitransparent materials to form a viewing window.
4. A system according to any one of claims 1-3, wherein the intelligent ring cutting functional head (200) further comprises a rotating shaft (240), the ring cutting tool assembly (220) is detachably connected with the hollow output shaft (121) through the rotating shaft (240), the ring cutting tool assembly (220) comprises a hollow ring cutting edge (221), and the top end of the hollow ring cutting edge (221) is connected with the rotating shaft (240).
5. The system according to any one of claims 1 to 4, wherein an acoustic coupling medium is preset at the bottom opening of the negative pressure adsorption cavity (210), a gas-liquid separation medium is further configured in the negative pressure adsorption cavity (210), and the gas-liquid separation medium is located between the acoustic coupling medium and the negative pressure runner (212) and is used for allowing gas to pass through and blocking liquid so as to maintain an acoustic coupling environment in the negative pressure adsorption cavity (210).
6. The system according to any one of claims 1 to 5, wherein the compound sensing module (140) further comprises a laser displacement sensor (142) and a non-contact temperature sensor (144), wherein the laser displacement sensor (142) is configured to scan microscopic topography data of the skin surface to establish a cutting reference plane, the non-contact temperature sensor (144) is configured to monitor a thermal parameter of a cutting area, and the main control processing unit (150) is configured to adjust a rotational speed or an operation mode of the rotary drive unit (120) based on the thermal parameter.
7. The system according to any one of claims 1 to 6, wherein the handheld control host (100) further comprises a torque or current monitoring module (143) for detecting in real time a load change of the rotary drive unit (120); the main control processing unit (150) is configured to automatically increase the output torque of the rotary drive unit (120) and decrease the feed rate of the linear feed unit (130) when the load variation is monitored to exceed a preset threshold.
8. The system of any one of claims 1-7, wherein the master processing unit (150) is further configured with negative pressure safety interlock logic: The main control processing unit (150) continuously monitors the negative pressure value, releases the lock of the linear feeding unit (130) to allow the scanning action to be executed only when the negative pressure value is detected to reach a preset threshold value and the fluctuation range in a preset time window is smaller than a preset proportion, and controls the linear feeding unit (130) to execute the forced withdrawing action if the negative pressure value falls below the preset threshold value in the cutting process.
9. The system according to any one of claims 1-8, wherein the master processing unit (150) is further configured with an organized compression compensation algorithm: The main control processing unit (150) acquires contact force data generated by the high-frequency ultrasonic probe (141) during contact scanning, calculates the compression deformation of the tissue by combining a pre-stored tissue elastic model, and superimposes the compression deformation into a target cutting depth to generate a compensated feeding instruction.
10. The system according to any one of claims 1 to 9, wherein the hand-held control host (100) further comprises a negative pressure pipe (170), one end of the negative pressure pipe (170) is led out through the rear end of the hand-held control host (100), and the other end extends to the front end of the hand-held control host (100) to be communicated with the intelligent ring cutting function head (200).

Description

Intelligent depth adjusting system based on ultrasonic technology Technical Field The invention relates to the technical field of medical instruments, in particular to minimally invasive skin surgery treatment equipment, and more particularly relates to an intelligent depth adjusting system based on an ultrasonic technology. Background In the field of skin surgery, the circular cutting operation is a basic and key operation means and is widely applied to operations such as acne atrophic scar excision, microparticle skin patch acquisition, skin tumor biopsy and the like. The core requirement of this type of procedure is the precise control of the depth and extent of skin tissue cut. For example, in acne scar repair, permanent dishing or functional damage may result if the subcutaneous fat layer or nerve vessel is cut too deeply, and the desired loosening and flattening effect is difficult to achieve if the fibrous tissue is not completely removed if the cut is too shallow. Also, in vitiligo microparticle skin grafting surgery, the thickness of skin taken from the donor area is directly related to the survival rate of the graft and the aesthetic degree of healed donor area. Therefore, the realization of precise quantitative control of the skin circular cutting depth is a key for ensuring the success rate and consistency of the operation. However, the skin circular cutting instruments of the prior art are mostly in a mechanical manual or semi-automatic stage, with significant technical limitations. Conventional endocutters or dermatomes (such as the mechanical stop devices disclosed in some of the prior patents) rely primarily on the medical personnel's manual experience, or preset a fixed feed depth by simple mechanical snaps, roller structures. However, in clinical practice, the skin thickness of patients varies greatly from individual to individual, from body part (e.g., face to back), and from lesion type (e.g., hypertrophic scar to atrophic scar). The single mechanical limiting mode cannot adapt to the tiny change of the skin layered structure in real time, personalized and accurate excision aiming at different focuses is difficult to achieve, and the operation effect is quite easy to be uneven due to subjective judgment errors of operators. The solution of CN109922740a discloses a device for cosmetic skin reconstruction that removes skin tissue from a donor site through a needle assembly and cooperates with a suction device to effect tissue transfer, but the device is primarily concerned with tissue removal and suction processes, does not involve real-time detection of skin layering, nor uses the detection data for dynamic control of cutting depth. Similarly, the skin removing device of CN201586039U mainly sets the cutting depth through a mechanical limiting structure, and the depth parameter of the skin removing device is preset before operation, and cannot be adjusted in real time according to the skin thickness change. With the development of medical imaging technology, high-frequency ultrasound (HFUS) has been widely used for skin thickness measurement and scar morphology evaluation, and can clearly distinguish the boundaries of epidermis, dermis and subcutaneous tissue, but in the current diagnosis and treatment process, image detection and operation execution are usually two links of cleavage. Physicians often need to obtain diagnostic information via ultrasound equipment prior to surgery, estimate cutting parameters via memory or experience, and then manually manipulate surgical instruments to perform the resection. The "off-line" open loop mode of operation fails to directly convert high-precision image data into real-time control instructions for surgical instruments, resulting in an inability of advanced detection techniques to translate into substantial improvements in surgical precision. In addition, the existing skin circular cutting device has obvious defects in the aspects of perception and safety feedback of the cutting process. Skin tissue, especially scar tissue, has varying degrees of stiffness and fibrosis. The existing equipment lacks a real-time monitoring mechanism for the cutting resistance (moment) of the tissue in the cutting process, can not sense whether the cutter head encounters subcutaneous induration or calcification points or not, can not automatically adjust the cutting strategy according to the hardness of the tissue, and is easy to tear the tissue or damage the cutter due to violent cutting. Meanwhile, heat is inevitably generated by mechanical cutting with high-speed rotation, and the existing circular cutting device is rarely monitored and protected against cutting thermal injury, and the accumulation of the heat can lead to micro-scalding of normal tissues around the incision, so that postoperative pigmentation or new scar hyperplasia is caused, and the beautifying and repairing effects are affected. In view of the foregoing, there is a need in the art for an adapti