CN110916763A - Ultrasonic radio frequency minimally invasive surgery system for isolated communication - Google Patents
Ultrasonic radio frequency minimally invasive surgery system for isolated communication Download PDFInfo
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Abstract
The invention relates to an ultrasonic radio frequency minimally invasive surgery system with isolated communication, which comprises a control system and a cutter system, wherein the control system comprises a control module and an isolation module which are mutually connected through an optical coupler; the control module is an electric non-isolation area, the isolation module is an electric isolation area, and the cutter system comprises a minimally invasive cutter with an ID chip, an ID identification mechanism and an ADRC frequency controller; the minimally invasive cutter is an ultrasonic cutter or a radio frequency cutter, and the radio frequency cutter is a bipolar output radio frequency cutter or a monopolar output radio frequency cutter. The current information and the energy information of the patient contact area are prevented from directly flowing to an external non-isolated electric area, the grounding fault caused by disordered flowing of the current information and the like generated by accidents is avoided, a current grounding loop is cut off, and the safety and the stability of the circuit work are ensured. Meanwhile, the stability of the minimally invasive surgery system is improved by monitoring the frequency of the cutter in real time.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to an ultrasonic radio frequency minimally invasive surgery system with isolated communication.
Background
The high and new technology in the field of medical appliances is intensively applied, and has the characteristic of technology cross integration application. The scalpel is an indispensable tool for surgical operation, and plays an extremely important role in the whole operation process. The ultrasonic knife system and the radio frequency knife system are used as two kinds of operation equipment systems with minimum global trauma, and have great reverberation in the medical field due to good medical effects of less bleeding during operation, quick recovery after operation and the like.
The ultrasonic blade system comprises a host machine, a handle, an ultrasonic transducer, an ultrasonic energy amplifier, an ultrasonic energy conduction part and a cutter. The handle controls the ultrasonic transducer to convert the electric energy of the host machine into ultrasonic oscillation, the amplitude of the energy oscillation is amplified by the ultrasonic energy amplifier and is transmitted to the cutter by the ultrasonic energy transmission part, the cutter vibrates at the amplitude of 55.5KHZ to generate instant low pressure, water in the tissue is vaporized under the action of cavitation effect, protein is solidified by breaking protein hydrogen bonds, and the cell rupture tissue is opened or dissociated and seals small vessels; simultaneously, the vibration of the cutter also generates secondary energy to coagulate deep protein to seal large vessels. The ultrasonic scalpel has the advantages that no current passes through the body of a patient in application, tissue eschar and low drying degree in the using process are achieved, accurate cutting under the minimal thermal injury can be achieved, the amount of smoke generated in the cutting process is extremely small, meanwhile, the ultrasonic scalpel has the functions of cutting, dissociating, stopping bleeding and the like, and the clinical advantage is obvious.
The radio frequency knife system adopts radio frequency electric waves with higher working frequency (1.5 MHZ-4.5 MHZ) to carry out high-frequency stable output, emitter cutters with different shapes directionally emit the radio frequency electric waves, after the radio frequency electric waves contact body tissues, the tissues generate impedance, water molecules in target tissues are instantly oscillated and vaporized under the action of the radio frequency electric waves, cells are broken and evaporated, and the functions of cutting, hemostasis, mixed cutting, electrocautery, ablation, electrocoagulation and the like are realized under the low-temperature constant-temperature state of 40 ℃. The emitter electrode has the advantages of high cutting speed, good hemostatic effect, fine incision, small heat injury and no carbonization or smoke at low temperature, and is very suitable for minimally invasive surgery.
With the increasing medical level, the ultrasonic radio frequency knife system is combined and applied in minimally invasive surgery according to the clinical characteristics of the ultrasonic knife system and the radio frequency knife system, so that the ultrasonic radio frequency minimally invasive surgery knife system with double output and even multiple output power is formed. In a double-output and multi-output ultrasonic radio frequency minimally invasive scalpel system, the cutter frequency and the cutter power need to be accurately controlled through an additional mechanism, so that the precise and timely control of the cutter output frequency and power is ensured, and the control precision of minimally invasive surgery is improved.
The ultrasonic radio frequency minimally invasive surgery system with multiple output powers realizes multiple functional outputs by connecting multiple types of minimally invasive surgery cutters, in the actual application process, the connecting cutters often need to be replaced according to actual use requirements, and the working frequency of the cutters also often changes. On the basis of the safety requirement of minimally invasive surgery, the in vivo minimally invasive surgery articles should be electrically isolated, so the invention provides a multi-output minimally invasive surgery system which uses electrical isolation communication and has a frequency real-time tracking function.
Disclosure of Invention
The invention provides a multi-output minimally invasive surgery system applying electrical isolation communication, which avoids the current information and energy information of a patient contact area from directly flowing to an external non-isolated electrical area, avoids the ground fault caused by disordered flowing of current information and the like generated by accidents, cuts off a current ground circuit and ensures the safety and stability of the circuit work. Meanwhile, the stability of the minimally invasive surgery system is improved by monitoring the frequency of the cutter in real time.
In order to solve the technical problems, the invention provides the following technical scheme:
an ultrasonic radio frequency minimally invasive surgery system with isolated communication comprises a control system and a cutter system, wherein the control system comprises a control module and an isolation module which are mutually connected through an optical coupler;
the control module is an electric non-isolation area and comprises a control MCU system, a control power supply module, a working parameter memory, a power control circuit, a frequency driver, a primary side measuring circuit and a protection circuit;
the isolation module is an electrical isolation area and comprises an isolation test MCU system, an isolation power supply, an isolation step-up transformer, a relay, a cutter output circuit, a secondary side measurement circuit and an ID read-write circuit,
the cutter system comprises a minimally invasive cutter with an ID chip, an ID identification mechanism and an ADRC frequency controller;
the minimally invasive cutter is an ultrasonic cutter or a radio frequency cutter, and the radio frequency cutter is a bipolar output radio frequency cutter or a monopolar output radio frequency cutter;
the ID identification mechanism identifies ID chip information carried on the minimally invasive cutter and transmits related information to the ID read-write circuit.
Further, the ADRC frequency controller includes:
the tracking differentiator is used for receiving the target phase difference of the cutter at the resonance working point and outputting a tracking signal, wherein the tracking signal is the change speed of the phase difference and the change rate of the phase difference;
the extended state observer is used for receiving the actual phase difference of the cutter at the resonance working point and outputting an extended signal, observing the real-time disturbance of the cutter at the resonance working point and outputting disturbance compensation, wherein the extended signal is the change speed of the phase and the change rate of the phase;
a state error feedback control law which receives the contrast variable of the tracking signal and the expansion signal and outputs a state signal;
and the direct digital frequency synthesizer is used for receiving the mixed phase value of the state signal after the disturbance compensation, outputting a digital sine wave amplitude to a connecting circuit of the cutter interface, and outputting the actual phase difference of the cutter at the resonance working point to the extended state observer. Compared with the traditional working frequency and frequency tracking method, namely a PID control algorithm takes the reference power as an input value of a control system, utilizes the power calculated by amplitude values of acquired voltage and current as feedback information, and realizes accurate control of the power of the cutter by reducing the deviation value between the feedback information and the reference power value of the input system And the real-time tracking ensures the high-precision operation and the reliability of the surgical system.
Furthermore, the frequency driver is connected with the isolation boosting transformer, the control MCU system is connected with the relay, and the control MCU system is connected with the isolation test MCU system through the optical coupler. The multichannel opto-coupler is connected with the relevant device mechanisms of the non-isolation area and the isolation area, so that the signal transmission stability is improved, and the system breakdown caused by single signal error is avoided. Keep apart through opto-coupler transmission isolation step up transformer, relay and test MCU system promotes output signal stability, combines to keep apart the power, makes output signal not take place the cutout under the short-term trouble condition, avoids serious use accident.
Furthermore, the control power supply module comprises a strong power supply and a weak power supply, the strong power supply is connected with the power control circuit, and the weak power supply is a supplementary power supply of the control module. The double power supplies are arranged to support the control module, the strong power supply is used as a system power energy source, the weak power supply is used as a power energy source for information transmission, system operation power is separated from system information transmission power, and the purposes of low loss, high frequency, high information transmission speed, high fidelity and high reliability are achieved.
Furthermore, the electric non-isolation area is also connected with a human-computer interaction module, the human-computer interaction module comprises an LCD touch screen and a communication system, the control MCU system is connected with the LCD touch screen through an interface, and a driving chip of the communication system is connected with the control MCU system. The MCU system is controlled to directly control the human-computer interaction module, multi-directional human-computer interaction operation of vision, hearing and touch is achieved by combining the communication chip and the LCD touch screen, data transmission and module operation are directly controlled by the MCU system to guarantee data authenticity, and data error rate is reduced.
Furthermore, the number of the relays is more than three groups, and the cutter output circuit comprises an ultrasonic output circuit and a radio frequency output circuit. The multiple groups of relays are connected in parallel for use, so that the working stability of the output signal of the isolation boosting transformer is improved, the frequency, voltage and current signals output to the cutter output circuit are ensured to be stable, and the use stability of a minimally invasive cutter in a minimally invasive surgery system is improved; the multi-group relay can improve the minimum value of output voltage while ensuring the price, ensure the stable performance of various minimally invasive cutters in the using process, increase the supportable system output voltage, and improve the multi-dimensional practicability of the surgical system by matching the output voltage with the output cutters with various frequency powers.
Further, the cutter output circuit further comprises a high-frequency current output circuit and a low-frequency current output circuit. The use of the multi-dimensional surgical system is realized by combining the output circuits of different types with an external matched cutter, and the practicability of the minimally invasive surgical system is improved.
The use method of the ultrasonic radio frequency minimally invasive surgery system with isolated communication comprises the steps of S1-S11:
s1: the minimally invasive cutter is connected with a control main board comprising a control module and an isolation module through a cutter interface, and the cutter is one of an ultrasonic cutter, a bipolar output radio frequency cutter or a monopolar output radio frequency cutter; when the monopolar output radio frequency cutter is used, the control main board is externally connected with a neutral polar plate through a connecting wire, and the neutral polar plate is arranged on the body surface of a patient and forms a circulating current loop with the monopolar output radio frequency cutter.
S2: the method comprises the following steps that a switch power supply is turned on to electrify a control system, a foot switch controls the input state of the switch power supply, a control module and an isolation module work under the support of a weak power supply and the isolation power supply respectively, an ID read-write circuit in the isolation module identifies an internal ID chip of the minimally invasive cutter, the type of the connected cutter is judged, and data are transmitted to the control MCU system through an isolation test MCU system under the action of an optical coupler;
the control MCU system outputs a control signal of cutter work under the support of a strong power supply through a power control circuit and a frequency driver, the control signal is transmitted into an isolation boosting transformer of an isolation module under the action of an optocoupler, the isolation boosting transformer transmits a boosting transformation signal to a relay, and the relay directly receives the control signal transmitted by the control MCU system through the action of the optocoupler and respectively outputs an ultrasonic signal and a radio frequency signal to a cutter output circuit according to use requirements;
s3: the comparator collects and compares voltage and current waves generated when the cutter works and outputs a voltage square wave signal and a current square wave signal, and the microcontroller captures the voltage square wave signal and the current square wave signal to calculate and outputs the rising edge time t of the voltage square wave signal1And the rising edge time t of the current square wave signal2Outputting a target phase value delta t and an actual phase difference y when the cutter works after the calculation of the formula (1) and the formula (2)r。
Δt＝t1-t2(1)
Δt＝yr(2)
S4: the tracking differentiator operates on the actual phase difference y through the formula (3)rSmoothing, outputting tracking signal and feedforward control amount r3The tracking signal includes the speed of change r of the phase difference1Rate of change of sum phase difference r2，
Wherein R is an adjustable parameter, and the value of R represents yrThe tracking speed of (2) is high and low; the tracking differentiator is a nonlinear tracking differentiator and is insensitive to the value of R.
S5: b, the control process input value u of the extended state observer is calculated by the formula (4)0Amplified output value b0u and the actual output value y are processed to output an expansion signal and a total system disturbance z equivalent to the input side3Said expansion signal comprising a speed of change z of phase1And rate of change z of phase2，
In order to simplify the calculation, the adopted extended state observer is a linear extended state observer 3; and z1And z2For determining the tracking error and its derivative, z3For compensating directly for disturbances β1、β2And β3Is an adjustable parameter.
S6: the state error feedback control law outputs a state signal u after the operation of formula (5)0，
u0＝k1(r1-z1)+k2(r2-z2) (5)
Wherein k is1And k2Is an adjustable parameter.
S7: and the state signal is input into a direct digital frequency synthesizer after being subjected to disturbance compensation by the extended state observer, and the final control input process of the system is a formula (6).
S8: and the direct digital frequency synthesizer is connected with a cutter interface circuit, and the actual output value y of the cutter is directly input into the extended state observer to carry out real-time feedback annular control on the working frequency of the cutter.
S9: the resistance value output to the cutter is controlled by using different control buttons so as to switch the output power of the cutter, and thus, the multifunctional use of the cutter is realized; when the monopolar output radio frequency cutter is used, the control button is switched to change the output radio frequency waveform, so that the change of the electric cutting or electric coagulation function is realized; when the bipolar output radio frequency cutter is used, the control button is switched to change the output radio frequency waveform, so that the enhancement or the weakening of the blood coagulation function is realized.
S10: and when the use requirement is changed and a cutter with a new specification needs to be replaced, removing the connection relation between the cutter used before the requirement is changed and the cutter interface, repeating the steps S1-S9, and carrying out real-time feedback annular control on the working frequency of the cutter again. The cutter is directly connected, assembled, disassembled and replaced through the cutter interface, the cutter which is detachable and convenient to replace is convenient to replace according to different use requirements in the use process, and meanwhile, the real-time feedback control of the working frequency of the used cutter can be rapidly realized; the multifunctional multi-output operation of the surgical system is realized by replacing the type cutter, and meanwhile, the operation precision and the operation stability of the surgical system are reliably improved conveniently and quickly.
S11: the primary side measuring circuit and the protection circuit perform data measurement and operation protection on an internal circuit of a surgical system control system, working data of the cutter system are transmitted to a working parameter memory through the secondary side measuring circuit, the isolation test MCU system and the control MCU system in sequence, and a user can check the working data through the LCD touch screen; the user can also carry out voice, touch and visual operation control through the man-machine interaction module.
Compared with the prior art, the invention has the following beneficial effects:
1. compared with the traditional working frequency and frequency tracking method, namely a PID control algorithm takes the reference power as an input value of a control system, utilizes the power calculated by amplitude values of acquired voltage and current as feedback information, and realizes accurate control of the power of the cutter by reducing the deviation value between the feedback information and the reference power value of the input system;
2. the minimally invasive surgery system is provided with an ADRC active disturbance rejection frequency control technology and performs working communication based on an electrical isolation principle, two working areas which do not circulate mutually are arranged in the minimally invasive surgery system, a path through which current directly flows is not arranged between the two working areas, energy information is transmitted through an optical coupler, circuits between an isolation area and a non-isolation area are not grounded in common, the non-circulating current is prevented from flowing between the two circuits, electrical safety is realized, electric shock accidents caused by accidents are prevented from entering human bodies of users, and safe communication is realized on the basis of high-precision frequency control;
3. a patient electric isolation area is arranged to isolate a current circuit directly contacting with the human body of the patient, so that medical crisis is avoided; the patient electric isolation area is provided with a measuring circuit and an ID reading and writing circuit, so that the cutter connection and the cutter working frequency are in a controlled state in the operation process;
4. the electric non-isolation area is provided with a measuring circuit, a protection circuit and a frequency control circuit, and the frequency control measurement is carried out simultaneously in the isolation area and the non-isolation area, so that program errors are avoided; the protection circuit ensures the safe operation of an operator at the operation end and improves the safety of the operation system.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts. The shapes of various parts or structures in the drawings are not intended to represent the actual conditions under which the parts or structures actually operate, but are merely schematic illustrations provided for explaining the present invention.
FIG. 1 is a schematic diagram of the operation of the present invention;
FIG. 2 is a schematic diagram of the operation of the control system of the present invention;
figure 3 is a schematic diagram of the operating principle of the ADRC frequency controller of the present invention,
in the figure: 1-a tracking differentiator; 2-state error feedback control law; 3-extended state observer; 4-direct digital frequency synthesizer; 5-a tool system; 6-a control system; 61-an isolation module; 611-isolated power supply; 612-isolation test MCU system; 613-relay; 614-isolation step-up transformer; 615-secondary side measuring circuit and ID read-write circuit; 616-ultrasonic output circuitry; 617-1.8M radio frequency output circuit; 618-4M radio frequency output circuit; 62-a control module; 621-a weak power supply; 622-control the MCU system; 623-primary side measurement circuit and protection circuit; 624-frequency driver; 625-a power control circuit; 626-strong power supply; 627-working parameter memory; 628 — a communication system; 7-a foot switch; 8-a human-computer interaction module; 9-switching power supply.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. 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 embodiment of the invention comprises the following steps:
as shown in fig. 1 to 3, an ultrasonic radio frequency minimally invasive surgery system with isolated communication comprises a control system 6 and a cutter system 5, wherein the control system 6 comprises a control module 62 and an isolation module 61 which are connected with each other through an optical coupler;
the control module 62 is an electrically non-isolated area and comprises a control MCU system 622, a control power supply module, a working parameter storage 627, a power control circuit 625, a frequency driver 624, a primary side measuring circuit and a protection circuit 623;
the isolation module 61 is an electrical isolation area and comprises an isolation test MCU system 612, an isolation power supply 611, an isolation step-up transformer 614, a relay 613, a tool output circuit, a secondary side measurement circuit and an ID read-write circuit 615,
the cutter system 5 comprises a minimally invasive cutter with an ID chip, an ID recognition mechanism and an ADRC frequency controller;
the minimally invasive cutter is an ultrasonic cutter or a radio frequency cutter, and the radio frequency cutter is a bipolar output radio frequency cutter or a monopolar output radio frequency cutter; the minimally invasive cutter is provided with 2 control buttons which are electrically connected with a control system,
the ID identification mechanism identifies ID chip information carried on the minimally invasive cutter and transmits related information to the ID read-write circuit.
The ADRC frequency controller includes:
the tracking differentiator 1 is used for receiving the target phase difference of the cutter at the resonance working point and outputting a tracking signal, wherein the tracking signal is the change speed of the phase difference and the change rate of the phase difference;
the extended state observer 3 is used for receiving the actual phase difference of the cutter at the resonance working point and outputting an extended signal, observing the real-time disturbance of the cutter at the resonance working point and outputting disturbance compensation, wherein the extended signal is the change speed of the phase and the change rate of the phase;
a state error feedback control law 2 for receiving the contrast variable of the tracking signal and the expansion signal and outputting a state signal;
and the direct digital frequency synthesizer 4 is used for receiving the mixed phase value of the state signal after the disturbance compensation, outputting a digital sine wave amplitude to a connecting circuit of the cutter interface, and outputting the actual phase difference of the cutter at the resonance working point to the extended state observer 3.
Compared with the traditional working frequency and frequency tracking method, namely a PID control algorithm takes the reference power as an input value of a control system, utilizes the power calculated by the amplitude values of the acquired voltage and current as feedback information, and realizes the accurate control of the power of the cutter by reducing the deviation value between the feedback information and the reference power value of the input system The real-time compensation control and the real-time tracking ensure the high-precision operation and the reliability of the surgical system.
The frequency driver 624 is optically coupled to the isolation step-up transformer 614, the control MCU system 622 is optically coupled to the relay 613, and the control MCU system 622 is optically coupled to the isolation test MCU system 612. The multichannel opto-coupler is connected with the relevant device mechanisms of the non-isolation area and the isolation area, so that the signal transmission stability is improved, and the system breakdown caused by single signal error is avoided. The isolation step-up transformer 614, the relay 613 and the test MCU system are isolated through optical coupling transmission, the stability of output signals is improved, and the isolation power supply 611 is combined, so that the output signals are free from cutoff under the condition of short-time faults, and serious use accidents are avoided.
The control power supply module includes a strong power supply 626 and a weak power supply 621, the strong power supply 626 is connected to the power control circuit 625, and the weak power supply 621 is a supplementary power supply for the control module 62. The double power supplies are arranged to support the control module 62, the strong power supply 626 is used as a system power energy source, the weak power supply 621 is used as a power energy source for information transmission, system operation power and system information transmission power are separated, and low loss and high frequency are achieved, meanwhile, the information transmission speed is high, the fidelity is high, and the reliability is high.
The electric non-isolation area is further connected with a human-computer interaction module 8, the human-computer interaction module 8 comprises an LCD touch screen and a communication system 628, the control MCU system 622 is connected with the LCD touch screen through an interface, and a driving chip of the communication system 628 is connected with the control MCU system 622. The MCU system 622 is controlled to directly control the human-computer interaction module 8, multi-directional human-computer interaction operation of vision, hearing and touch is achieved by combining the communication chip and the LCD touch screen, data transmission and module operation are directly controlled by the MCU system 622 to guarantee data authenticity, and data error rate is reduced.
The number of the relays 613 is more than three groups, and the cutter output circuit includes an ultrasonic output circuit 616, a 1.8M rf output circuit 617 and a 4M rf output circuit 618. The multiple groups of relays 613 are connected in parallel for use simultaneously, so that the working stability of the signals output by the isolation boosting transformer 614 is improved, the frequency, voltage and current signals output to the cutter output circuit are ensured to be stable, and the use stability of the minimally invasive cutter in the minimally invasive surgery system is improved; the multiple sets of relays 613 can improve the minimum value of output voltage while ensuring the price, ensure the stable performance of various minimally invasive cutters in the using process, increase the output voltage of a supportable system, and improve the multi-dimensional practicability of the surgical system because the output voltage can be matched with the output cutters with various frequency powers.
The cutter output circuit further comprises a high-frequency current output circuit and a low-frequency current output circuit. The use of the multi-dimensional surgical system is realized by combining the output circuits of different types with an external matched cutter, and the practicability of the minimally invasive surgical system is improved.
The use method of the ultrasonic radio frequency minimally invasive surgery system with isolated communication comprises the steps of S1-S11:
s1: the minimally invasive cutter is connected with a control main board comprising a control module 62 and an isolation module 61 through a cutter interface, and the cutter is one of an ultrasonic cutter, a bipolar output radio frequency cutter or a monopolar output radio frequency cutter; when the monopolar output radio frequency cutter is used, the control main board is externally connected with a neutral polar plate through a connecting wire, and the neutral polar plate is arranged on the body surface of a patient and forms a circulating current loop with the monopolar output radio frequency cutter.
S2: the switch power supply 9 is turned on to electrify the control system 6, the foot switch 7 controls the input state of the switch power supply 9, the control module 62 and the isolation module 61 work under the support of the weak power supply 621 and the isolation power supply 611 respectively, an ID read-write circuit in the isolation module 61 identifies an internal ID chip of the minimally invasive cutter, the type of the connected cutter is judged, and data is transmitted to the control MCU system 622 through the isolation test MCU system 612 under the action of an optical coupler;
the control MCU system 622 outputs a control signal of cutter work through the power control circuit 625 and the frequency driver 624 under the support of a strong power source 626, the control signal is transmitted into the isolation step-up transformer 614 of the isolation module 61 under the action of optical coupling, the isolation step-up transformer 614 transmits a step-up transformation signal to the relay 613, and the relay 613 directly receives the control signal transmitted by the control MCU system 622 through the action of optical coupling and respectively outputs an ultrasonic signal and a radio frequency signal to the cutter output circuit according to use requirements;
s3: the comparator collects and compares voltage and current waves generated when the cutter works and outputs a voltage square wave signal and a current square wave signal, and the microcontroller captures the voltage square wave signal and the current square wave signal to calculate and outputs the rising edge time t of the voltage square wave signal1And the rising edge time t of the current square wave signal2Outputting a target phase value delta t and an actual phase difference y when the cutter works after the calculation of the formula (1) and the formula (2)r。
Δt＝t1-t2(1)
Δt＝yr(2)
S4: the tracking differentiator 1 operates on the actual phase difference y through the formula (3)rSmoothing, outputting tracking signal and feedforward control amount r3The tracking signal includes the speed of change r of the phase difference1Rate of change of sum phase difference r2，
Wherein R is an adjustable parameter, and the value of R represents yrThe tracking speed of (2) is high and low; the tracking differentiator 1 is a nonlinear tracking differentiator 1 and is insensitive to the value of R.
S5: the extended state observer 3 processes the output value b0u and the actual output value y of the control process input value u amplified by b0 through the operation of formula (4), and outputs an extended signal and the total system disturbance z equivalent to the input side3Said expansion signal comprising a speed of change z of phase1And rate of change z of phase2，
Wherein, in order to simplify the calculation, the extended state observer 3 is a linear extended state observer 33; and z1And z2For determining the tracking error and its derivative, z3For compensating directly for disturbances β1、β2And β3Is an adjustable parameter.
S6: the state error feedback control law 2 outputs a state signal u after the operation of formula (5)0，
u0＝k1(r1-z1)+k2(r2-z2) (5)
Wherein k is1And k2Is an adjustable parameter.
S7: the state signal is input into the direct digital frequency synthesizer 4 after being disturbed and compensated by the extended state observer 3, and the control input process of the final system is a formula (6).
S8: the direct digital frequency synthesizer 4 is connected with a cutter interface circuit, and the actual output value y of the cutter is directly input into the extended state observer 3 to perform real-time feedback annular control on the working frequency of the cutter.
S9: the resistance value output to the cutter is controlled by using different control buttons so as to switch the output power of the cutter, and thus, the multifunctional use of the cutter is realized; when the monopolar output radio frequency cutter is used, the control button is switched to change the output radio frequency waveform, so that the change of the electric cutting or electric coagulation function is realized; when the bipolar output radio frequency cutter is used, the control button is switched to change the output radio frequency waveform, so that the enhancement or the weakening of the blood coagulation function is realized.
S10: and when the use requirement is changed and a cutter with a new specification needs to be replaced, removing the connection relation between the cutter used before the requirement is changed and the cutter interface, repeating the steps S1-S9, and carrying out real-time feedback annular control on the working frequency of the cutter again. The cutter is directly connected, assembled, disassembled and replaced through the cutter interface, the cutter which is detachable and convenient to replace is convenient to replace according to different use requirements in the use process, and meanwhile, the real-time feedback control of the working frequency of the used cutter can be rapidly realized; the multifunctional multi-output operation of the surgical system is realized by replacing the type cutter, and meanwhile, the operation precision and the operation stability of the surgical system are reliably improved conveniently and quickly.
S11: the primary side measuring circuit and the protection circuit 623 perform data measurement and operation protection on the internal circuit of the surgical system control system 6, the working data of the cutter system 5 are transmitted to the working parameter memory 627 through the secondary side measuring circuit, the isolation test MCU system 612 and the control MCU system 622 in sequence, and a user can check the working data through an LCD touch screen; the user can also perform voice, touch and visual operation control through the man-machine interaction module 8.
Compared with the prior art, the invention has the following beneficial effects:
1. compared with the traditional working frequency and frequency tracking method, namely a PID control algorithm takes the reference power as an input value of a control system 6, utilizes the power calculated by amplitude values of acquired voltage and current as feedback information, and realizes accurate control of the power of the cutter by reducing the deviation value between the feedback information and the reference power value of the input system;
2. the minimally invasive surgery system is provided with an ADRC active disturbance rejection frequency control technology and performs working communication based on an electrical isolation principle, two working areas which do not circulate mutually are arranged in the minimally invasive surgery system, a path through which current directly flows is not arranged between the two working areas, energy information is transmitted through an optical coupler, circuits between an isolation area and a non-isolation area are not grounded in common, the non-circulating current is prevented from flowing between the two circuits, electrical safety is realized, electric shock accidents caused by accidents are prevented from entering human bodies of users, and safe communication is realized on the basis of high-precision frequency control;
3. a patient electric isolation area is arranged to isolate a current circuit directly contacting with the human body of the patient, so that medical crisis is avoided; the patient electric isolation area is provided with a measuring circuit and an ID reading and writing circuit, so that the cutter connection and the cutter working frequency are in a controlled state in the operation process;
4. the electric non-isolation area is provided with a measuring circuit, a protection circuit and a frequency control circuit, and the frequency control measurement is carried out simultaneously in the isolation area and the non-isolation area, so that program errors are avoided; the protection circuit ensures the safe operation of an operator at the operation end and improves the safety of the operation system.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by the present specification, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (7)
1. An ultrasonic radio frequency minimally invasive surgery system with isolated communication comprises a control system and a cutter system, and is characterized in that the control system comprises a control module and an isolation module which are mutually connected through an optical coupler;
the control module is an electric non-isolation area and comprises a control MCU system, a control power supply module, a working parameter memory, a power control circuit, a frequency driver, a primary side measuring circuit and a protection circuit;
the isolation module is an electrical isolation area and comprises an isolation test MCU system, an isolation power supply, an isolation step-up transformer, a relay, a cutter output circuit, a secondary side measurement circuit and an ID read-write circuit,
the cutter system comprises a minimally invasive cutter with an ID chip, an ID identification mechanism and an ADRC frequency controller;
the minimally invasive cutter is an ultrasonic cutter or a radio frequency cutter, and the radio frequency cutter is a bipolar output radio frequency cutter or a monopolar output radio frequency cutter;
the ID identification mechanism identifies ID chip information carried on the minimally invasive cutter and transmits related information to the ID read-write circuit.
2. The isolated communication ultrasound radio frequency minimally invasive surgical system according to claim 1, wherein the ADRC frequency controller comprises:
the tracking differentiator is used for receiving the target phase difference of the cutter at the resonance working point and outputting a tracking signal, wherein the tracking signal is the change speed of the phase difference and the change rate of the phase difference;
the extended state observer is used for receiving the actual phase difference of the cutter at the resonance working point and outputting an extended signal, observing the real-time disturbance of the cutter at the resonance working point and outputting disturbance compensation, wherein the extended signal is the change speed of the phase and the change rate of the phase;
a state error feedback control law which receives the contrast variable of the tracking signal and the expansion signal and outputs a state signal;
and the direct digital frequency synthesizer is used for receiving the mixed phase value of the state signal after the disturbance compensation, outputting a digital sine wave amplitude to a connecting circuit of the cutter interface, and outputting the actual phase difference of the cutter at the resonance working point to the extended state observer.
3. The ultrasonic radio frequency minimally invasive surgery system with isolated communication according to claim 1, characterized in that the frequency driver and the isolation step-up transformer, the control MCU system and the relay, and the control MCU system and the isolation test MCU system are all connected through the optical coupler.
4. The isolated communication ultrasound RF minimally invasive surgical system according to claim 1, wherein the control power module includes a strong power source and a weak power source, the strong power source is connected to the power control circuit, and the weak power source is a supplementary power source for the control module.
5. The ultrasonic radio-frequency minimally invasive surgery system with isolated communication of claim 1, wherein the electrically non-isolated area is further connected with a human-computer interaction module, the human-computer interaction module comprises an LCD touch screen and a communication system, the control MCU system is connected with the LCD touch screen through an interface, and a driving chip of the communication system is connected with the control MCU system.
6. The ultrasonic radio-frequency minimally invasive surgery system capable of isolating communication according to claim 1, wherein the number of the relays is more than three groups, and the cutter output circuit comprises an ultrasonic output circuit and a radio-frequency output circuit.
7. The isolated communication ultrasound radio frequency minimally invasive surgical system according to claim 6, wherein the cutter output circuit further comprises a high frequency current output circuit and a low frequency current output circuit.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
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| CN201910583557.5A CN110916763A (en) | 2019-07-01 | 2019-07-01 | Ultrasonic radio frequency minimally invasive surgery system for isolated communication |
| PCT/CN2019/127091 WO2021000538A1 (en) | 2019-07-01 | 2019-12-20 | Ultrasound/radio frequency minimally invasive surgery system having isolated communications |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910583557.5A CN110916763A (en) | 2019-07-01 | 2019-07-01 | Ultrasonic radio frequency minimally invasive surgery system for isolated communication |
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| CN201910583557.5A Withdrawn CN110916763A (en) | 2019-07-01 | 2019-07-01 | Ultrasonic radio frequency minimally invasive surgery system for isolated communication |
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| WO (1) | WO2021000538A1 (en) |
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