CN-121987297-A - Ultrasonic knife energy output self-adaptive adjusting method based on curve control

CN121987297ACN 121987297 ACN121987297 ACN 121987297ACN-121987297-A

Abstract

The invention discloses an ultrasonic knife energy output self-adaptive regulating method based on curve control, which is characterized in that in the ultrasonic energy output process, an energy output curve is in a trapezoidal curve or an S-shaped curve by limiting the energy change rate and the higher-order change quantity thereof, so that the instantaneous thermal shock of tissues is reduced, and the consistency of cutting and coagulation is improved. The ultrasonic knife head provided by the invention can dynamically adjust the output of energy, so that the temperature of the ultrasonic knife head is not too high, and the service life of the knife head is prolonged. The invention smoothly starts the ultrasonic knife from zero power to avoid tissue damage caused by transient power jump, maintains smooth change in the ultrasonic knife energy output process, improves cutting and coagulation consistency, smoothly reduces to zero in the ultrasonic knife energy output stopping stage to avoid burst cavitation peak value and tissue burst, is suitable for power control of an ultrasonic knife system and similar ultrasonic surgical equipment, and provides a safer, more stable and controllable energy output scheme for clinical operation.

Inventors

ZHANG SHIJUN
MA DEMIN
WU GUANGWEI
Zhuang Wenjiao
Kuang Haiwen
LI SONGSONG
WU JUN

Assignees

常州安康医疗器械有限公司

Dates

Publication Date: 20260508
Application Date: 20260320

Claims (8)

1. The self-adaptive regulation method for ultrasonic knife energy output based on curve control is characterized in that in the ultrasonic energy output process, the energy output curve is in a trapezoid curve or an S-shaped curve by limiting the energy change rate and the higher-order change quantity thereof, so that the instantaneous thermal shock of tissues is reduced and the consistency of cutting and coagulation is improved.
2. The method for adaptively adjusting the energy output of an ultrasonic blade according to claim 1, wherein the trapezoidal curve divides the energy output process into an ascending section, a constant section and a descending section; The rising section is used for controlling the energy to smoothly rise from the initial power (Pmin) to the target power (Pset); The constant segment is used for tissue cutting or coagulation at a target power (Pset); The drop section is used to control the smooth drop of energy from the target power (Pset) to zero power.
3. The ultrasonic blade energy output adaptive adjustment method according to claim 2, wherein the rising period time (Tr), constant period time (Tc), and falling period time (Tf) are dynamically adjusted according to tissue type.
4. The method for adaptively adjusting the energy output of an ultrasonic blade according to claim 3, wherein the power change rate (dP/dt) is limited by an algorithm to prevent the energy output from being subjected to transient impact, and the specific output power P (t) is as follows: ; where k r and k f represent the ramp-up power rate of change, respectively.
5. The adaptive adjustment method of ultrasonic blade energy output according to claim 1, wherein the S-shaped curve is configured by controlling the power output trajectory by a higher derivative limited S-shaped power trajectory plan, so that the output power is continuously and consistently guided during the start, steady state adjustment and stop phases, starts smoothly from zero power, and decays smoothly to zero power during the end phase.
6. The adaptive adjustment method for energy output of an ultrasonic blade according to claim 5, wherein the sigmoid curve is adopted by the S-shaped curve, and specific output power P (t) is as follows: ; Wherein P min ,P max represents the initial power and the highest power respectively, k represents the curve steep coefficient, which is determined by the AI intelligent algorithm, and t 0 represents the curve inflection point time.
7. The adaptive adjustment method for energy output of an ultrasonic blade according to claim 5, wherein the S-shaped curve is a cubic polynomial S-shaped curve, and the specific output power P (t) is as follows: ; wherein a, b, c, d are constant.
8. The method of adaptive adjustment of ultrasonic blade energy output according to any one of claims 1-7, wherein the method is applied to an ultrasonic blade system or an ultrasonic surgical device for controlling the energy output thereof.

Description

Ultrasonic knife energy output self-adaptive adjusting method based on curve control Technical Field The invention relates to the field of ultrasonic surgical energy control, in particular to an ultrasonic knife energy output self-adaptive adjusting method based on curve control, which can be used for controlling the energy of an ultrasonic knife system and improving the consistency of tissue cutting and coagulation. Background After the traditional ultrasonic knife is excited to start working, the ultrasonic knife is always in a gear and works under the same current, and a large amount of heat can be generated in the process, so that the temperature of the knife head is increased, and the tissue is carbonized or adhered due to overlarge energy, so that the operation is influenced. The existing ultrasonic knife power control mostly adopts a linear slope or step mode, and instantaneous power jump exists in the energy starting or stopping stage. The jump may cause the local temperature of the tissue to rise sharply, which causes the cavitation peak to increase or the tissue moisture to evaporate rapidly, thereby generating the problems of burst tissue, inconsistent coagulation and the like, and reducing the stability and repeatability of the operation effect. Thus, there is a need for an ultrasonic energy control method that can smoothly start from zero, accurately control power during steady state phases, and smoothly attenuate to zero during end phases while reducing transient thermal shock. Disclosure of Invention The invention aims to provide an ultrasonic knife energy output self-adaptive regulating method based on curve control, which reduces the instantaneous thermal shock of tissues and improves the consistency of cutting and coagulation by limiting the energy change rate and the high-order change quantity thereof. The technical scheme of the invention is as follows: in the ultrasonic energy output process, the energy output curve is in a trapezoidal curve or an S-shaped curve by limiting the energy change rate and the higher-order change quantity thereof, so that the instantaneous thermal shock of tissues is reduced and the consistency of cutting and coagulation is improved. Preferably, the trapezoidal curve divides the energy output process into an ascending section, a constant section and a descending section; The rising section is used for controlling the energy to smoothly rise from the initial power (Pmin) to the target power (Pset); The constant segment is used for tissue cutting or coagulation at a target power (Pset); The drop section is used to control the smooth drop of energy from the target power (Pset) to zero power. Preferably, the time (Tr) of the rising period, the time (Tc) of the constant period and the time (Tf) of the falling period are dynamically adjusted according to the tissue type. Preferably, the power change rate (dP/dt) is limited by an algorithm to prevent the energy output from generating transient impact, and the specific output power P (t) is as follows: ; where k r and k f represent the ramp-up power rate of change, respectively. Preferably, the S-shaped curve controls the power output track through the S-shaped power track planning with limited higher derivative, so that the output power is a continuous conductive curve in the starting, steady-state adjusting and stopping stages, starts smoothly from zero power, and decays smoothly to zero power in the ending stage. Preferably, the sigmoid curve is adopted as the S-shaped curve, and specific output power P (t) is as follows: ; Wherein P min,Pmax represents the initial power and the highest power respectively, k represents the curve steep coefficient, which is determined by the AI intelligent algorithm, and t 0 represents the curve inflection point time. Preferably, the sigmoid curve uses a cubic polynomial sigmoid curve, and the specific output power P (t) is as follows: ; wherein a, b, c, d are constant. Preferably, the method is applied to an ultrasonic blade system or an ultrasonic surgical device for controlling the energy output thereof. The beneficial effects are that: 1. the ultrasonic knife is smoothly started from zero power, so that tissue damage caused by transient power jump is avoided; 2. The invention maintains smooth change in the ultrasonic knife energy output process, and improves the consistency of cutting and coagulation; 3. the ultrasonic knife energy output is smoothly reduced to zero in the stopping stage, so that burst cavitation peak values and tissue burst are avoided; 4. The ultrasonic knife head provided by the invention can dynamically adjust the output of energy, so that the temperature of the ultrasonic knife head is not too high, and the service life of the knife head is prolonged. 5. The invention is suitable for power control of ultrasonic knife systems and similar ultrasonic surgical equipment, and provides a safer, more stable and controllable energy output scheme for clinical opera