CN114444313B - Biological tissue recognition system - Google Patents

Biological tissue recognition system Download PDF

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CN114444313B
CN114444313B CN202210110212.XA CN202210110212A CN114444313B CN 114444313 B CN114444313 B CN 114444313B CN 202210110212 A CN202210110212 A CN 202210110212A CN 114444313 B CN114444313 B CN 114444313B
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cutting
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surgical instrument
biological tissue
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CN114444313A (en
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李危石
赵宇
胡磊
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Beijing Zhuzheng Robot Co ltd
Peking University Third Hospital
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    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/32—Surgical cutting instruments
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
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    • A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
    • A61B2090/065—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension for measuring contact or contact pressure
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Abstract

The invention discloses a biological tissue recognition system, which comprises: the surgical cutting instrument, the surgical instrument driving system, the pressure sensor, the linear feeding unit, the linear driving device and the control device; the surgical cutting surgical instrument, the surgical instrument driving system and the pressure sensor are arranged on the linear feeding unit; the linear feeding unit is driven by the linear driving device to drive the surgical cutting surgical instrument, the surgical instrument driving system and the pressure sensor to do linear motion; the force sensor is used for detecting the stress state of the surgical cutting operation device; the control device is used for analyzing the stress state and controlling the surgical instrument driving system and the linear driving device. The system can accurately identify the human body material contacted with the surgical instrument.

Description

Biological tissue recognition system
Technical Field
The invention relates to the technical field of medical instruments, in particular to a biological tissue identification system.
Background
In the surgical procedure, especially in the environment of orthopedic minimally invasive surgery, identification of tissue in contact with a surgical tool is the key for a doctor to judge the safety of the surgical operation. In most cases, the physician determines the tissue material by experience or by using the contact force of the instrument with the tissue. Since there is no significant correspondence between the contact force and the material property, the determination accuracy is insufficient. Some prior arts infer human tissue based on physical characteristics such as cutting force and cutting sound during cutting. However, the cutting process is complicated, including a cutting motion for cutting the tissue from the body with the cutting surgical instrument and a feeding motion for driving the cutting surgical instrument into the body. The feed motion is provided by the robot/physician on a clinical basis and the cutting motion is provided by the clinical power unit. The influence on the cutting force is different from power equipment to power equipment and from feeding speed to cutting force. Meanwhile, the personalized difference of human bodies and the material properties of human tissues are also greatly different. Therefore, the existing human tissue identification technology cannot meet clinical requirements.
Disclosure of Invention
In view of the above-mentioned defects or shortcomings in the prior art, the present invention provides a biological tissue identification system, which establishes a relationship between cutting efficiency and the attributes of the material to be cut, and establishes an attribute database of different tissue materials, thereby realizing accurate identification of the tissue materials and providing support for improving the surgical status identification rate and the autonomous operation capability of the robot.
The present invention provides a biological tissue identification system, comprising:
the surgical cutting instrument, the surgical instrument driving system, the pressure sensor, the linear feeding unit, the linear driving device and the control device;
the surgical cutting surgical instrument, the surgical instrument driving system and the pressure sensor are arranged on the linear feeding unit; the linear feeding unit is driven by the linear driving device to drive the surgical cutting surgical instrument, the surgical instrument driving system and the pressure sensor to do linear motion;
the force sensor is used for detecting the stress of the surgical cutting surgical instrument;
the control device is used for analyzing the stress and controlling the surgical instrument driving system and the linear driving device.
Still further, the control device is configured to:
using a material with known shearing stress as a cutting object and using a fixed feeding speed
Figure DEST_PATH_IMAGE002
Driving the surgical cutting instrument to cut the material with the known shear stress to obtain the cutting efficiency of the system
Figure DEST_PATH_IMAGE004
；
By calibrating cutting efficiency
Figure 668209DEST_PATH_IMAGE004
Feeding speed of post-biological tissue recognition system at calibration time
Figure 54191DEST_PATH_IMAGE002
Cutting a biological tissue to be identified to obtain a shear stress of the biological tissue
Figure DEST_PATH_IMAGE006
；
By taking shear stress
Figure 37191DEST_PATH_IMAGE006
The biological tissue type is identified.
Further, the specific identification method of the biological tissue identification system includes:
using a material with known shearing stress as a cutting object and using a fixed feeding speed
Figure 898312DEST_PATH_IMAGE002
Driving the surgical cutting system to cut the material with the known shear stress to obtain the cutting efficiency of the surgical cutting system
Figure 181526DEST_PATH_IMAGE004
；
By calibrating cutting efficiency
Figure 738409DEST_PATH_IMAGE004
Post surgical cutting system with calibrated feed rate
Figure 474284DEST_PATH_IMAGE002
Cutting a biological tissue to be identified to obtain a shear stress of the biological tissue
Figure 142025DEST_PATH_IMAGE006
；
By taking shear stress
Figure 545325DEST_PATH_IMAGE006
The biological tissue type is identified.
Further, the shear stress was calculated according to the following mathematical model
Figure 7530DEST_PATH_IMAGE006
：
Figure DEST_PATH_IMAGE008
Wherein,
Figure DEST_PATH_IMAGE010
is a parameter associated with the configuration of the cutting edge of the surgical instrument and the material of the knife,
Figure 371647DEST_PATH_IMAGE002
as the speed of the feed,
Figure 577500DEST_PATH_IMAGE004
for cutting efficiency.
Further, shear stress
Figure 772989DEST_PATH_IMAGE006
The mathematical model of (2) is obtained by the steps of:
establishing an axial force at a main cutting edge of a surgical cutting instrument
Figure DEST_PATH_IMAGE012
The mathematical model of (2);
establishing an axial force of a chisel edge of a surgical cutting instrument
Figure DEST_PATH_IMAGE014
The mathematical model of (2);
establishing a chisel edge pinch point axial force of a surgical cutting instrument
Figure DEST_PATH_IMAGE016
The mathematical model of (2);
according to axial force of main cutting edge
Figure 358427DEST_PATH_IMAGE012
Mathematical model of (2), axial force of chisel edge
Figure 68894DEST_PATH_IMAGE014
Mathematical model of (2) and axial force of the point of plunge of the chisel edge
Figure 812860DEST_PATH_IMAGE016
To obtain the total feed force of the cutting motion
Figure DEST_PATH_IMAGE018
The mathematical model of (2);
total feed force according to cutting movement
Figure 659593DEST_PATH_IMAGE018
Cutting force of cutting motion
Figure DEST_PATH_IMAGE020
Feeding speed
Figure 198022DEST_PATH_IMAGE002
And cutting speed
Figure DEST_PATH_IMAGE022
Calculating the cutting efficiency of the cutting motion
Figure 864626DEST_PATH_IMAGE004
The mathematical model of (2);
according to the cutting efficiency
Figure 677861DEST_PATH_IMAGE004
Parameters related to the configuration of the cutting edge of a surgical cutting system and the material of the cutting tool
Figure 644680DEST_PATH_IMAGE010
And feed rate
Figure 885169DEST_PATH_IMAGE002
Obtaining shear stress of biological tissue
Figure 304649DEST_PATH_IMAGE006
The mathematical model of (2).
Further, the axial force of the main cutting edge of the surgical cutting instrument
Figure 921575DEST_PATH_IMAGE012
The mathematical model of (a) is:
Figure DEST_PATH_IMAGE024
Figure DEST_PATH_IMAGE026
wherein,
Figure 146496DEST_PATH_IMAGE006
is the shear stress distributed by the shear plane,
Figure DEST_PATH_IMAGE028
in order to cut the thickness of the workpiece,
Figure DEST_PATH_IMAGE030
is the friction angle between the chip and the tool face,
Figure DEST_PATH_IMAGE032
is an anteversion angle and is a concave angle,
Figure DEST_PATH_IMAGE034
the inclination angle of the blade is the inclination angle of the blade,
Figure DEST_PATH_IMAGE036
is the angle of the main shearing plane,
Figure DEST_PATH_IMAGE038
is an intermediate parameter.
Further, axial forces of the chisel edge of the surgical cutting instrument
Figure 902093DEST_PATH_IMAGE014
The mathematical model of (a) is:
Figure DEST_PATH_IMAGE040
Figure DEST_PATH_IMAGE042
Figure DEST_PATH_IMAGE044
wherein,
Figure 153077DEST_PATH_IMAGE006
is the shear stress distributed by the shear plane,
Figure 42536DEST_PATH_IMAGE028
in order to cut the thickness of the workpiece,
Figure 249526DEST_PATH_IMAGE036
is the angle of the main shearing plane, and the main shearing plane,
Figure 831817DEST_PATH_IMAGE030
is the friction angle between the chip and the tool face,
Figure 491468DEST_PATH_IMAGE032
is a front-leaning angle, and the front-leaning angle,
Figure 187548DEST_PATH_IMAGE028
in order to cut the thickness of the workpiece,
Figure DEST_PATH_IMAGE046
is an intermediate parameter.
Further, the chisel edge plunge point of the surgical cutting instrument is axially acted upon
Figure 186728DEST_PATH_IMAGE016
The mathematical model of (a) is:
Figure DEST_PATH_IMAGE048
Figure DEST_PATH_IMAGE050
Figure DEST_PATH_IMAGE052
Figure DEST_PATH_IMAGE054
Figure DEST_PATH_IMAGE056
wherein,
Figure DEST_PATH_IMAGE058
is the solution of the slip line(s),
Figure 425073DEST_PATH_IMAGE006
is the shear stress distributed by the shear plane,
Figure DEST_PATH_IMAGE060
is the included angle of the wedge body which is the radius of the pressing-in area,
Figure DEST_PATH_IMAGE062
is a cross-cutting edge bevel angle,
Figure DEST_PATH_IMAGE064
the static relief angle of the chisel edge,
Figure 978545DEST_PATH_IMAGE028
in order to cut the thickness of the workpiece,
Figure 472456DEST_PATH_IMAGE002
as the speed of the feed,
Figure DEST_PATH_IMAGE066
is an intermediate parameter.
Further, the total feed force of the cutting movement
Figure 857301DEST_PATH_IMAGE018
The mathematical model is as follows:
Figure DEST_PATH_IMAGE068
。
further, the cutting efficiency of the cutting motion
Figure 250236DEST_PATH_IMAGE004
The mathematical model of (a) is:
Figure DEST_PATH_IMAGE070
Figure DEST_PATH_IMAGE072
Figure DEST_PATH_IMAGE074
Figure DEST_PATH_IMAGE076
Figure DEST_PATH_IMAGE078
wherein,
Figure 104054DEST_PATH_IMAGE018
for the total feed force of the cutting movement,
Figure 139006DEST_PATH_IMAGE020
in order to provide the cutting force for the cutting movement,
Figure 175095DEST_PATH_IMAGE002
as the speed of the feed,
Figure 4511DEST_PATH_IMAGE022
in order to achieve a high cutting speed,
Figure 851682DEST_PATH_IMAGE010
is a parameter related to the configuration of the cutting edge of the surgical instrument and the material of the knife.
The biological tissue identification system provided by the invention can accurately identify the human body material contacted with the surgical instrument in the operation process, thereby providing a basis for a robot to enter a clinical assistant doctor to autonomously complete a vertebral plate decompression operation.
Drawings
Other features, objects and advantages of the present application will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings in which:
FIG. 1 is a hardware schematic diagram of a biological tissue identification system according to an embodiment;
FIG. 2 is a schematic view of a planar shear model provided in one embodiment;
FIG. 3 is a schematic diagram of cutting forces of a planar shear model according to an embodiment;
FIG. 4 is a schematic diagram of the chip force of a plane shear model provided by an embodiment;
FIG. 5 is a cutting edge schematic view of a surgical instrument provided in accordance with an embodiment;
FIG. 6 is a schematic view of a chisel edge push zone of a surgical instrument according to one embodiment;
FIG. 7 is a logic flow diagram of a method of biological tissue identification provided by another embodiment;
fig. 8 is a logical block diagram of a biological tissue identification system according to another embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The terminology used in the embodiments of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the examples of the present invention and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be understood that although the terms first, second, third, etc. may be used to describe the acquisition modules in the embodiments of the present invention, these acquisition modules should not be limited to these terms. These terms are only used to distinguish the acquisition modules from each other.
The word "if" as used herein may be interpreted as "at 8230; \8230;" or "when 8230; \8230;" or "in response to a determination" or "in response to a detection", depending on the context. Similarly, the phrase "if determined" or "if detected (a stated condition or event)" may be interpreted as "upon determining" or "in response to determining" or "upon detecting (a stated condition or event)" or "in response to detecting (a stated condition or event)", depending on the context.
It should be noted that the terms "upper," "lower," "left," "right," and the like used in the description of the embodiments of the present invention are illustrated in the drawings, and should not be construed as limiting the embodiments of the present invention. In addition, in this context, it is also to be understood that when an element is referred to as being "on" or "under" another element, it can be directly formed on "or" under "the other element or be indirectly formed on" or "under" the other element through an intermediate element.
The problems that nerves/spinal cords are easy to damage and the autonomous operation capability of an operation robot is insufficient exist in surgical laminectomy operation in the prior art. The environment of the surgical cutting operation, especially the laminectomy operation, is complex and closed, the operation information amount is small, and doctors do not know the specific position of the nerve, so that the nerve is easily injured by a cutting tool. The existing spine robot realizes accurate position tracking, but can not identify the shape/relative position change of a vertebral body and a spinal cord/nerve in an operation, can not complete laminectomy, and the function of the robot is still in positioning operation. In the prior art, physical characteristics such as cutting force, sound and the like in an operation are used for identifying an operation state and judging the relative position relationship between a surgical instrument and a nerve, so that accurate excision of a vertebral plate is realized.
In fact, the key to laminectomy is to identify the body tissue that the surgical instrument is in contact with, and cut the lamina without damaging the nerves. Due to the complexity of the cutting process, it includes a cutting motion in which the cutting surgical instrument is used to cut tissue from the body and a feeding motion in which the cutting surgical instrument is driven into the body. The feed motion is provided by the robot/doctor according to clinical requirements and the cutting motion is provided by clinical power equipment. The influence on the cutting force is different from power equipment to power equipment and from feeding speed to cutting force. Meanwhile, the personalized difference of human bodies and the material properties of human tissues are also greatly different. Therefore, the existing human tissue identification method cannot meet clinical requirements.
The application provides a biological tissue identification system, which utilizes a cutting theory to establish a relation between cutting efficiency (cutting feed force/feed speed) and the attributes of a cut material, realizes accurate identification of the material, and provides a method and equipment support for improving the operation state identification rate and the autonomous operation capability of a robot.
Referring to fig. 1, a biological tissue identification system 100 includes: a surgical cutting instrument 101, a surgical instrument drive system 102, a pressure sensor 103, a linear feed unit 104, a linear drive device 105 and a control device 106. The biological tissue system 100 of the present embodiment may be a surgical cutting device or a device for simply identifying the material property.
Wherein the surgical cutting instrument 101, the surgical instrument drive system 102 and the pressure sensor 103 are mounted on the linear feeding unit 104; the linear feeding unit 104 is driven by the linear driving device to drive the surgical cutting surgical instrument 101, the surgical instrument driving system 102 and the pressure sensor 103 to do linear motion; the pressure sensor 103 is used for detecting the stress condition of the surgical cutting operation system 100; the control device 106 is used for analyzing the stress state and controlling the surgical instrument driving system and the linear driving device. Specifically, the control device 106 analyzes the pressure data detected by the pressure sensor 103 to obtain the tissue type of the surgical object, and obtains whether the surgical cutting instrument 101 penetrates the biological tissue of the surgical object according to the pressure data, and if the biological tissue penetrates the biological tissue, the control device 106 controls the operation instrument driving system 102 and the linear driving device 105 to stop working.
Further, the surgical cutting instrument 101 may be a rotary cutting instrument or an ultrasonic vibration cutting tool, and the present application is not limited to a specific type. The present embodiment is described by taking a rotary cutting surgical instrument as an example.
Further, the surgical instrument drive system 102 may be any of a variety of types of rotary motors configured to rotate a rotary cutting surgical instrument to perform a cutting operation on tissue of a human body.
Further, the pressure sensor 103 may be a single or multiple sensors for cooperating collection, which operates all the time when the system starts to work, and provides the stress information in the whole collection process for the system to judge and use. Normally, the sensor information is collected to a computer software end (not shown in the figure), the current stress information is analyzed by the software in real time, when the pressure sensor has a penetration characteristic, the software judges that the cutting is finished, and the operation of the surgical cutting operation instrument 101, the linear feeding unit 104 and the linear driving device 105 is controlled to stop. Through the stress information collected by the pressure sensor 103, the cutting efficiency and the cutter type parameter value known by the system, the control device 106 can accurately judge and identify the type of the cut tissue, and the specific judging method refers to the method embodiment.
Specifically, the system 100 is a single degree of freedom system, and in a testing or working state, the linear driving device 105, such as a linear unit motor, drives the linear feeding unit 104 to realize linear motion of one or more pressure sensors 103 and the surgical cutting instrument 101 mounted on the linear feeding unit 104. In the AI identification learning training process, the surgical cutting instrument 101 is opened, different tissue materials are fixed, the control device 106 controls the linear feeding unit 104 to perform linear motion, pressure sensor data collected in the process is classified, characteristic parameters of the materials, such as mechanical characteristic values corresponding to each tissue material, are extracted, and the characteristic parameters are stored in the system memory. During the operation or measurement, the control device 106 can accurately determine the type of the human tissue by acquiring the cutting pressure data during the operation.
Further, the control device 106 may be an embedded system used for the biological tissue identification system 100, such as a single chip microcomputer, a PLC, an FPGA, a CPLD, or a DSP, or may be an upper computer system, such as a PC or a server.
In another embodiment of the present application, a method for identifying biological tissue based on surgical cutting efficiency is also provided, which may be performed by the biological tissue identification system 100 in the product embodiment.
The tissue identification of this embodiment is primarily to identify the type of tissue material being cut by the surgical tool, such as cortical bone, cancellous bone, soft tissue, and hollow cuts. In the bone surgery, the outer layer is the cortical bone generally, middle cancellous bone, and the inlayer is the cortical bone again, and similar sandwich structure, through discerning the tissue, the surgical robot can judge whether continue to cut, for example has cut to inlayer cortical bone to discern the idle cut, explain to cut through whole sandwich structure, need stop cutting at once to guarantee safety.
In order to realize the biological tissue identification method of the invention, a human tissue identification model based on cutting efficiency needs to be established, and the process is as follows:
1. analysis of the surgical cutting procedure and cutting motion was performed:
particularly, the surgical cutting process is very complex, and the main sliding cutting process of the main cutting area in the cutting process can be well described based on the parallel surface cutting model provided by the invention.
Referring to fig. 2, the major cutting plane a-B is parallel to the initial cutting line C-D and the final cutting line E-F, and bisects the cut,Vis the cutting speed of the cutting motion,V C it is the speed of the chips that is,
Figure 690325DEST_PATH_IMAGE036
is the angle of the main shear plane.
See the force analysis of the plane shear model shown in fig. 3 and the chip force analysis shown in fig. 4. At steady state cutting, cutting force
Figure 315342DEST_PATH_IMAGE018
Cutting force that can be resolved into parallel cutting speeds depending on the direction of cutting motion
Figure 581238DEST_PATH_IMAGE020
And feed force perpendicular to cutting speed
Figure 658916DEST_PATH_IMAGE012
Or as shear forces along the main shear plane
Figure DEST_PATH_IMAGE080
And normal force perpendicular to the main shear plane
Figure DEST_PATH_IMAGE082
The resultant force of (a). In FIG. 4
Figure DEST_PATH_IMAGE084
To cutting force
Figure 238933DEST_PATH_IMAGE018
The two forces are equal in magnitude and opposite in direction.
Figure DEST_PATH_IMAGE086
To cutting force
Figure 187297DEST_PATH_IMAGE018
The force component in the direction perpendicular to the cutting direction,
Figure 889674DEST_PATH_IMAGE014
to the cutting force
Figure 392330DEST_PATH_IMAGE018
A component in the axial direction (i.e., the direction of the cutting flow).
In a surgical operation, a movement of a surgical instrument to cut a biological tissue may be divided into a cutting movement in which a tool peels off the tissue and a cutter feeding movement in which a cutter enters the tissue. Taking a common rotary cutting instrument in orthopedics as an example, the rotary motion of the cutter enables the cutting edge of the cutter to peel off tissues to form the cutting motion of the cutting process, the feed motion of the tool enables the cutting edge of the tool to enter the tissues to form the feed motion of the cutting process, and the cutting force of the cutting motion is reasonably formed by the two forces. The cutting motion of the surgical instrument is typically provided by an instrument drive system and the feed motion is typically adjusted and controlled by the surgeon in real time based on the surgical conditions. The cutting motion and the feed motion interact and influence each other in the cutting process, and the tissue cutting and stripping task is completed together.
2. Establishing a cutting force model:
referring to fig. 5, during the cutting process, three parts of the main cutting edge, the chisel edge and the chisel edge pressing area of the cutting surgical instrument participate in cutting, and the cutting force models of the three parts need to be established respectively due to different effects on the cutting motion.
1. Establishing an axial force of the main cutting edge
Figure 572776DEST_PATH_IMAGE012
Model:
assuming that the shear stress in the main shear plane is uniform, and the shear force is directly proportional to the shear stress, the shear force of the main shear plane is:
Figure DEST_PATH_IMAGE088
wherein,
Figure 110068DEST_PATH_IMAGE080
is the shearing force of the main shearing surface,
Figure DEST_PATH_IMAGE090
is the size of the shear plane(s),
Figure 449258DEST_PATH_IMAGE006
is the shear stress distributed by the shear plane.
Figure DEST_PATH_IMAGE092
Where t is the cutting thickness, b is the main cutting edge width,
Figure 704790DEST_PATH_IMAGE006
in order to shear the distributed shear stress on the shear plane of the material,
Figure 423347DEST_PATH_IMAGE034
the inclination angle of the blade is the inclination angle of the blade,
Figure 143041DEST_PATH_IMAGE036
is the primary shear plane angle.
According to the parallel plane shear zone model, the following steps are known:
Figure DEST_PATH_IMAGE094
Figure DEST_PATH_IMAGE096
wherein the feed force is perpendicular to the cutting speed
Figure 62587DEST_PATH_IMAGE012
，
Figure 602153DEST_PATH_IMAGE032
Is an anteversion angle and is a concave angle,
Figure 124401DEST_PATH_IMAGE030
is the chip to blade face friction angle, and is related to the material friction properties of the two contacts.
Figure 698602DEST_PATH_IMAGE006
Is the shear stress distributed across the shear plane of the shear material. Different tissue materials of
Figure 648103DEST_PATH_IMAGE006
The shear stress is different.
Order:
Figure DEST_PATH_IMAGE098
then there are:
Figure DEST_PATH_IMAGE024A
wherein,
Figure 84419DEST_PATH_IMAGE038
is an intermediate parameter for subsequent calculations.
2. Establishing an axial force of the second cutting edge
Figure 675938DEST_PATH_IMAGE014
Model:
the axial force of the differential cell dl on the chisel edge can be described as:
Figure DEST_PATH_IMAGE100
the total axial force of the chisel edge is:
Figure DEST_PATH_IMAGE102
Figure DEST_PATH_IMAGE104
Figure DEST_PATH_IMAGE042A
then there are:
Figure DEST_PATH_IMAGE106
3. establishing a chisel edge plunge zone axial force
Figure 120957DEST_PATH_IMAGE016
Model:
referring to fig. 6, the calculation formula for the chisel edge plunge zone radius is:
Figure DEST_PATH_IMAGE052A
wherein,
Figure 179042DEST_PATH_IMAGE002
is the feed speed, has a value of 2 times the thickness t,
Figure 958780DEST_PATH_IMAGE064
is the static relief angle of the chisel edge, and the size is equal to the included angle of the wedge body
Figure DEST_PATH_IMAGE108
。
Figure DEST_PATH_IMAGE110
Figure DEST_PATH_IMAGE112
Wherein,
Figure 695267DEST_PATH_IMAGE058
is the solution of the slip line and is,
Figure DEST_PATH_IMAGE114
the half sharp angle of the drill point and psi is the chisel edge bevel angle.
The total load of wedging is:
Figure DEST_PATH_IMAGE048A
Figure DEST_PATH_IMAGE116
Figure DEST_PATH_IMAGE056A
wherein,
Figure 525951DEST_PATH_IMAGE066
is an intermediate parameter for subsequent calculations.
4. Establishing a total feed force for a cutting motion
Figure 348413DEST_PATH_IMAGE018
Model:
Figure DEST_PATH_IMAGE118
then there are:
Figure DEST_PATH_IMAGE120
wherein：
Figure DEST_PATH_IMAGE122
Is a parameter related to the shape of the cutting edge of the instrument, invariant during cutting.
Figure 490813DEST_PATH_IMAGE006
The shear stress of human tissues is related to the attributes of the tissues and is also a key parameter for distinguishing the human tissues.
Figure 158555DEST_PATH_IMAGE028
Is the feed rate of the cutting edge and is also the depth of cut by the cutting edge.
5. Establishing a relation model of cutting efficiency and tissue material property of cutting motion:
the cutting motion can be decoupled into a cutting motion and a feed motion, the cutting motion being effected by the surgical instrument and its power system. Efficiency of cutting motion under stable cutting conditions
Figure 296275DEST_PATH_IMAGE004
(product of maximum cutting force and cutting speed) characterizes the performance of the surgical instrument and its power system.
Figure DEST_PATH_IMAGE124
From the parallel shear zone model, the following relationship exists:
Figure DEST_PATH_IMAGE126
cutting force of cutting motion
Figure 757733DEST_PATH_IMAGE020
And cutting motion feed force
Figure 980903DEST_PATH_IMAGE018
The relationship is as follows:
Figure DEST_PATH_IMAGE128
for example, in a twist drill configuration, the feed rate f is 2 times the cut thickness t:
Figure DEST_PATH_IMAGE130
cutting speed V and feed speed
Figure 593282DEST_PATH_IMAGE002
The following relationships exist:
Figure DEST_PATH_IMAGE132
thus, cutting efficiency
Figure 788771DEST_PATH_IMAGE004
Can be described as:
Figure DEST_PATH_IMAGE134
Figure DEST_PATH_IMAGE136
order:
Figure DEST_PATH_IMAGE138
Figure DEST_PATH_IMAGE140
Figure DEST_PATH_IMAGE008A
Figure 435259DEST_PATH_IMAGE010
is a parameter related to the configuration of the cutting edge of the surgical instrument and the material of the cutter.
Figure DEST_PATH_IMAGE142
The shear stress of human tissues is related to the attributes of the tissues and is also a key parameter for judging the human tissues.
According to the relation model among the above parameters, the cutting tool configuration
Figure 614568DEST_PATH_IMAGE010
And cutting efficiency
Figure 624112DEST_PATH_IMAGE004
At certain times, the properties of the cut material are related to cutting efficiency and feed rate.
Referring to fig. 7, the following biological tissue identification method can be obtained according to the relationship model:
step S201, using the material with known shearing stress as the cutting object and using the fixed feeding speed
Figure 736425DEST_PATH_IMAGE002
Driving the surgical cutting system to cut the material with the known shear stress to obtain the cutting efficiency of the surgical cutting system
Figure 540433DEST_PATH_IMAGE004
。
Step S202, calibrating cutting efficiency
Figure 3775DEST_PATH_IMAGE004
Post surgical cutting system with calibrated feed rate
Figure 551431DEST_PATH_IMAGE002
Cutting a biological tissue to be identified to obtain a shear stress of the biological tissue
Figure 783829DEST_PATH_IMAGE006
；
Step S203, obtaining the shear stress
Figure 758738DEST_PATH_IMAGE006
The biological tissue type is identified.
In the specific implementation process, the cutting determination can be performed in advance aiming at a plurality of different human tissue materials, and the shearing stress aiming at different human tissues is obtained
Figure 443798DEST_PATH_IMAGE006
And establishing human tissue and shear stress
Figure 795145DEST_PATH_IMAGE006
And storing the corresponding relation in a computer of the surgical system, wherein the surgical system can accurately obtain the tissue type of the surgical object by detecting the shearing stress of the surgical object during formal test or formal surgery.
Further, in order to make the recognition result faster and more accurate, the recognition process may be trained by combining with an artificial neural network or other AI algorithms, which is not described in detail in this embodiment.
Referring to fig. 8, according to another embodiment of the present invention, there is provided a biological tissue identification apparatus 300, including a cutting efficiency acquisition module 301, a cutting application acquisition module 302, and a tissue type identification module 303. The biological tissue identification apparatus 300 may be a software virtual function module for implementing the biological tissue identification method in the above embodiment, or may be a hardware device. Specifically, the method comprises the following steps:
a cutting efficiency acquisition module 301 configured to use a material of known shear stress as a cutting object with a fixed feed speed
Figure 882049DEST_PATH_IMAGE002
Driving the surgical cutting system to cut the material with the known shear stress to obtain the cutting efficiency of the surgical cutting system
Figure 293439DEST_PATH_IMAGE004
。
A shear application acquisition module 302 configured to calibrate cutting efficiency
Figure 200215DEST_PATH_IMAGE004
Post surgical cutting system with calibrated feed rate
Figure 355253DEST_PATH_IMAGE002
Cutting a biological tissue to be identified to obtain a shear stress of the biological tissue
Figure 299594DEST_PATH_IMAGE006
。
A tissue type identification module 303 configured to identify the tissue type by the obtained shear stress
Figure 616306DEST_PATH_IMAGE006
The biological tissue type is identified.
It should be noted that the biological tissue identification apparatus 300 provided in this embodiment is a software virtual function module of the above-mentioned biological tissue identification method, and the implementation principle and technical effect thereof are similar to those of the method, and are not described herein again.
The above description is that of the preferred embodiment of the invention only. It will be appreciated by those skilled in the art that the scope of the disclosure herein is not limited to the particular combination of features described above, but also encompasses other combinations of features described above or equivalents thereof without departing from the spirit of the disclosure. For example, the above features and (but not limited to) features having similar functions disclosed in the present invention are mutually replaced to form the technical solution.

Claims (1)

1. A biological tissue identification system, comprising:
the surgical cutting instrument, the surgical instrument driving system, the pressure sensor, the linear feeding unit, the linear driving device and the control device;
the surgical cutting instrument, the surgical instrument drive system and the pressure sensor are mounted on the linear feed unit; the linear feeding unit is driven by the linear driving device to drive the surgical cutting surgical instrument, the surgical instrument driving system and the pressure sensor to do linear motion;
the force sensor is used for detecting the stress of the surgical cutting surgical instrument;
the control device is used for analyzing the stress and controlling the surgical instrument driving system and the linear driving device;
the control device is configured to:
taking a material with known shear stress as a cutting object, and driving a surgical cutting surgical instrument to cut the material with the known shear stress at a fixed feeding speed f to obtain the cutting efficiency P of the system;
cutting the biological tissue to be identified at a feed speed f during calibration by using a biological tissue identification system with a calibrated cutting efficiency P to obtain the shear stress tau of the biological tissue s Wherein:
Figure FDA0003887782720000011
b is a parameter related to the configuration of the cutting edge of the surgical cutting instrument and the material of the cutting tool, f is the feed rate, and P is the cutting efficiency;
by taking the shear stress tau s The biological tissue type is identified.
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