CN111609921A - Ultrasonic transducer frequency tracking device and method - Google Patents
Ultrasonic transducer frequency tracking device and method Download PDFInfo
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- CN111609921A CN111609921A CN202010473707.XA CN202010473707A CN111609921A CN 111609921 A CN111609921 A CN 111609921A CN 202010473707 A CN202010473707 A CN 202010473707A CN 111609921 A CN111609921 A CN 111609921A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01H—MEASUREMENT OF MECHANICAL VIBRATIONS OR ULTRASONIC, SONIC OR INFRASONIC WAVES
- G01H11/00—Measuring mechanical vibrations or ultrasonic, sonic or infrasonic waves by detecting changes in electric or magnetic properties
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- A—HUMAN NECESSITIES
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- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/32—Surgical cutting instruments
- A61B17/320068—Surgical cutting instruments using mechanical vibrations, e.g. ultrasonic
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01H—MEASUREMENT OF MECHANICAL VIBRATIONS OR ULTRASONIC, SONIC OR INFRASONIC WAVES
- G01H13/00—Measuring resonant frequency
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Abstract
The invention relates to a device and a method for tracking the frequency of an ultrasonic transducer, belonging to the technical field of medical instruments. The frequency tracking method can well realize automatic frequency tracking under different loads, is reliable in operation, and can be widely applied to ultrasonic knives.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a device and a method for tracking the frequency of an ultrasonic transducer.
Background
The low-frequency ultrasonic surgical knife appeared in the seventh and eighties of the 20 th century adopts ultrasonic energy to crush, separate and cut off pathological tissues or organs of a human body so as to achieve the aim of surgical treatment. It mainly consists of two parts: an ultrasonic power source and an ultrasonic vibration system, wherein the ultrasonic vibration system comprises 3 components: ultrasonic transducer, concentrator and tool bit. The existing ultrasonic scalpel is mainly applied to the aspects of cataract emulsification, liver and gall tumor absorption, fat absorption and beauty treatment, bone cutting, blood coagulation cutting and the like. The application range of the ultrasonic cutting hemostatic knife is wide, the ultrasonic transducer is utilized to enable the metal knife head to carry out mechanical oscillation at a fixed frequency, so that water in tissue cells in contact with the metal knife head is vaporized, protein hydrogen bonds are broken, the cells are disintegrated, the tissue is cut or solidified, and then blood vessels are sealed, and the purpose of hemostasis is achieved. Compared with the traditional scalpel, the scalpel has the advantages of simple and convenient operation, small wound, high operation quality and the like, and is widely applied. In recent years, many researchers have made some studies on the characteristics of ultrasonic transducers in terms of structures, materials, load characteristics, and the like.
An ultrasonic transducer, also called an ultrasonic vibrator, refers to an energy conversion device for converting alternating electrical signals into acoustic signals or vice versa in an ultrasonic frequency range, and is a main excitation and control element in ultrasonic equipment, and the characteristics of the energy conversion device directly affect the performance of the whole system. When the temperature of the ultrasonic scalpel is increased during working, a temperature drift effect is generated, the resonant frequency of the transducer of the ultrasonic scalpel can be changed along with the change of the temperature or the change of the load, so that the energy is not completely converted into mechanical energy, a large amount of heat is generated by the transducer of the scalpel head, and the ultrasonic transducer can even be burnt in severe cases. Ultrasonic transducer's kind also has a lot of, and in practical application, the supersound sword generally adopts sandwich formula piezoelectric transducer, by piezoceramics piece, front and back metal cover plate, prestressing force bolt, metal electrode piece and prestressing force bolt insulation support etc. constitute, transducer mechanical quality factor is higher, and the bandwidth is narrower, because the transducer work of supersound sword is in resonance state, and the efficiency that the electric energy converts mechanical energy into is the highest, and the life of supersound tool bit also can be more for a long time. Therefore, a novel push-pull excitation transducer is needed, the working bandwidth is expanded, the electroacoustic conversion efficiency is improved, the service life is prolonged, the frequency is effectively tracked, and the output power and the energy efficiency of the transducer are ensured to be maximum.
The automatic frequency tracking problem in the working process of the ultrasonic knife is deeply paid attention by domestic and foreign researches and application persons, and particularly, the automatic frequency tracking problem in the working process of the ultrasonic knife is early started, wide in application and many in forms at home and abroad. The automatic frequency tracking means that when the natural frequency of a vibration system consisting of the transducer, the amplitude transformer and the cutter changes under the influence of external factors in the working process of the ultrasonic scalpel, the control system can immediately find the changed natural frequency and timely adjust the power supply frequency to be the same as the changed natural frequency, so that the vibration system always works in a resonance state to maintain the maximum amplitude of the vibration system. The task of automatic frequency tracking is to extract a signal proportional to the mechanical vibration of the transducer and tune the frequency of the power supply to the natural frequency of the ultrasonic vibration system, and whether accurate extraction of a valid signal is critical to whether automatic frequency tracking can be achieved.
Disclosure of Invention
The invention aims to provide a device and a method for tracking the frequency of an ultrasonic transducer by adopting a push-pull transducer structure.
In order to achieve the above object, according to the technical solution provided by the present invention, the device for tracking the frequency of an ultrasonic transducer includes a DSP processing module, a DDS signal generating module, a push-pull power amplifying module, a phase collecting module, and a CPLD signal processing module.
The DSP processing module is used for driving and configuring the DDS signal generating module, generating a low-power sinusoidal signal, the frequency of which is the same as the natural frequency of the transducer, and simultaneously comparing and operating the signal acquired by the CPLD to adjust the frequency;
the DDS signal generation module is used for generating two paths of original small signals DDS _ IOUT and DDS _ IOUTB for driving the transducer, and the two signals have a phase difference of 180 degrees and are complementary sine wave signals;
the push-pull power amplification module is used for amplifying small signals DDS _ IOUT and DDS _ IOUTB to form a transducer driving signal;
the phase acquisition module acquires current and voltage signals at two ends of the transducer through a current transformer and a voltage acquisition circuit, and then inputs the signals into a CPLD (complex programmable logic device) to perform phase trigger point detection, wherein the current phase trigger time point T0 and the voltage phase trigger time point T1 are respectively arranged on the two ends of the transducer;
the CPLD signal processing module compares the phase relation between the voltage and the current of the phase acquisition module, judges the working state of the CPLD signal processing module, and when the CPLD signal processing module resonates, the loop current and the voltage are in the same phase, the potential difference is 0, namely T0 is equal to T1; when the voltage leads the current, the working power supply frequency is higher than the natural vibration frequency of the transducer, namely T1 is less than T0; conversely, when the voltage lags the current, the operating supply frequency is lower than the natural frequency of vibration of the transducer, i.e., T1 is less than T0; and after the judgment is finished, transmitting the phase relation of the voltage and the current to the DSP processing module in a bus mode, and adjusting the frequency of the original driving signal by the DSP processing module according to the phase relation of the voltage and the current to enable the phases of the voltage and the current to be consistent.
The invention also provides a method for tracking the frequency of the ultrasonic transducer, which is realized by the following steps:
s1, aiming at the ultrasonic transducer to be processed, establishing an electrical equivalent network of the ultrasonic transducer according to the parameters of the ultrasonic transducer, and setting sweep frequency given output;
s2, outputting and calculating electrical parameters in a finite element post processor according to the electrical equivalent network of the ultrasonic transducer, and reading the phase difference of voltage and current;
s3, the phase difference of the voltage and the current is read by tracking the phase difference of the voltage and the current in real time and calculating according to certain parameters, so that the currently required frequency can be deduced and the frequency difference can be calculated;
s4, the CPLD processor updates the frequency according to the calculated frequency difference, thereby realizing the purpose of real-time tracking of the frequency;
wherein the frequency tracking formula is:
ƒn+1= ƒn+Δƒ
ƒ thereinn+1Represents the current frequency output, and ƒnRepresenting the last frequency output. Wherein:
Δƒ=kΔθ
whereinkRepresents a frequency conversion system, andΔθ represents a phase difference of the voltage and the current currently applied to the ultrasonic transducer.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention adopts a DSP + CPLD mode, ensures the operation speed and the sampling time, is convenient to control, can eliminate the defects of temperature drift and the like which are difficult to overcome by a conventional analog regulator, can realize various parameter control modes through program software, simplifies the hardware structure and can improve the reliability of the system.
2. The frequency tracking method can well realize automatic frequency tracking under different loads and has reliable operation.
Drawings
Fig. 1 is a block diagram of an apparatus for frequency tracking of an ultrasonic transducer according to the present invention.
Fig. 2 is a logic control block diagram of a method for frequency tracking of an ultrasonic transducer according to the present invention.
Fig. 3 is a diagram of the effect of automatic tracking without using frequency.
Fig. 4 is a graph of the effect of the present invention using frequency tracking.
Detailed Description
For the purpose of better explaining the present invention and to facilitate understanding, the present invention will be described in detail by way of specific embodiments with reference to the accompanying drawings.
Example one
The embodiment of the invention provides a device for tracking the frequency of an ultrasonic transducer, which comprises a DSP (digital signal processor) processing module, a DDS (direct digital synthesis) signal generating module, a push-pull power amplifying module, a phase acquisition module and a CPLD (complex programmable logic device) signal processing module, as shown in figure 1.
The DSP processing module is used for driving and configuring the DDS signal generating module, generating a low-power sinusoidal signal, the frequency of which is the same as the natural frequency of the transducer, and simultaneously comparing and operating the signal acquired by the CPLD to adjust the frequency;
during the working period of the ultrasonic knife, according to the changes of current and voltage at two ends of the transducer under the conditions of different frequency points, finding out the resonance point frequency of the transducer by using an extreme value judgment method, and then controlling a DDS signal generation module to adjust the frequency of the signal;
the DDS signal generation module is used for generating two paths of original small signals DDS _ IOUT and DDS _ IOUTB for driving the transducer, and the two signals have a phase difference of 180 degrees and are complementary sine wave signals;
the push-pull power amplification module is used for amplifying small signals DDS _ IOUT and DDS _ IOUTB to form a transducer driving signal;
the phase acquisition module acquires current and voltage signals at two ends of the transducer through a current transformer and a voltage acquisition circuit, and then inputs the signals into a CPLD (complex programmable logic device) to perform phase trigger point detection, wherein the current phase trigger time point T0 and the voltage phase trigger time point T1 are respectively arranged on the two ends of the transducer;
the CPLD signal processing module compares the phase relation between the voltage and the current of the phase acquisition module, judges the working state of the CPLD signal processing module, and when the CPLD signal processing module resonates, the loop current and the voltage are in the same phase, the potential difference is 0, namely T0 is equal to T1; when the voltage leads the current, the working power supply frequency is higher than the natural vibration frequency of the transducer, namely T1 is less than T0; conversely, when the voltage lags the current, the operating supply frequency is lower than the natural frequency of vibration of the transducer, i.e., T1 is less than T0; and after the judgment is finished, transmitting the phase relation of the voltage and the current to the DSP processing module in a bus mode, and adjusting the frequency of the original driving signal by the DSP processing module according to the phase relation of the voltage and the current to enable the phases of the voltage and the current to be consistent.
When the transducer of the ultrasonic scalpel works in a detuned state, namely T0 is not equal to T1, the transducer can present inductive reactance or capacitive reactance characteristics, a certain phase difference can be generated between a voltage signal and a current signal, and real-time tracking of the resonant frequency is realized by real-time tracking of the phase difference. According to the principle, the invention mainly acquires the current signal and the voltage signal, then sends the signals to the CPLD for signal processing calculation to obtain the phase difference, and controls the frequency of the input signal of the transducer by calculating the phase difference, thereby achieving the purpose of automatic frequency tracking.
Example two
The invention also provides a method for tracking the frequency of the ultrasonic transducer, which is realized by the following steps as shown in fig. 2:
s1, aiming at the ultrasonic transducer to be processed, establishing an electrical equivalent network of the ultrasonic transducer according to the parameters of the ultrasonic transducer, and setting sweep frequency given output;
s2, outputting and calculating electrical parameters in a finite element post processor according to the electrical equivalent network of the ultrasonic transducer, and reading the phase difference of voltage and current;
s3, the phase difference of the voltage and the current is read by tracking the phase difference of the voltage and the current in real time and calculating according to certain parameters, so that the currently required frequency can be deduced and the frequency difference can be calculated;
s4, the CPLD processor updates the frequency according to the calculated frequency difference, thereby realizing the purpose of real-time tracking of the frequency;
wherein the frequency tracking formula is:
ƒn+1= ƒn+Δƒ
ƒ thereinn+1Represents the current frequency output, and ƒnRepresenting the last frequency output.
It can be seen in fig. 3 that without frequency auto-tracking, the amplitude is significantly reduced when the load changes.
The frequency tracking method in fig. 4 is adopted, and it can be found that the amplitude can be kept substantially constant when the load impedance changes, so that the frequency tracking method designed by the invention can be adapted to an ultrasonic scalpel surgical system.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Various modifications and alterations to this invention will become apparent to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention. The protection scope of the patent of the invention is subject to the appended claims.
Claims (2)
1. An apparatus for frequency tracking of an ultrasonic transducer, comprising: the device comprises a DSP processing module, a DDS signal generating module, a push-pull power amplifying module, a phase acquisition module and a CPLD signal processing module;
the DSP processing module is used for driving and configuring the DDS signal generating module, generating a low-power sinusoidal signal, the frequency of which is the same as the natural frequency of the transducer, and simultaneously comparing and operating the signal acquired by the CPLD to adjust the frequency;
the DDS signal generation module is used for generating two paths of original small signals DDS _ IOUT and DDS _ IOUTB for driving the transducer, and the two signals have a phase difference of 180 degrees and are complementary sine wave signals;
the push-pull power amplification module is used for amplifying small signals DDS _ IOUT and DDS _ IOUTB to form a transducer driving signal;
the phase acquisition module acquires current and voltage signals at two ends of the transducer through a current transformer and a voltage acquisition circuit, and then inputs the signals into a CPLD (complex programmable logic device) to perform phase trigger point detection, wherein the current phase trigger time point T0 and the voltage phase trigger time point T1 are respectively arranged on the two ends of the transducer;
the CPLD signal processing module compares the phase relation between the voltage and the current of the phase acquisition module, judges the working state of the CPLD signal processing module, and when the CPLD signal processing module resonates, the loop current and the voltage are in the same phase, the potential difference is 0, namely T0 is equal to T1; when the voltage leads the current, the working power supply frequency is higher than the natural vibration frequency of the transducer, namely T1 is less than T0; conversely, when the voltage lags the current, the operating supply frequency is lower than the natural frequency of vibration of the transducer, i.e., T1 is less than T0; and after the judgment is finished, transmitting the phase relation of the voltage and the current to the DSP processing module in a bus mode, and adjusting the frequency of the original driving signal by the DSP processing module according to the phase relation of the voltage and the current to enable the phases of the voltage and the current to be consistent.
2. The invention also provides a method for tracking the frequency of the ultrasonic transducer, which is characterized by comprising the following steps: the method is realized by the following steps:
s1, aiming at the ultrasonic transducer to be processed, establishing an electrical equivalent network of the ultrasonic transducer according to the parameters of the ultrasonic transducer, and setting sweep frequency given output;
s2, outputting and calculating electrical parameters in a finite element post processor according to the electrical equivalent network of the ultrasonic transducer, and reading the phase difference of voltage and current;
s3, the phase difference of the voltage and the current is read by tracking the phase difference of the voltage and the current in real time and calculating according to certain parameters, so that the currently required frequency can be deduced and the frequency difference can be calculated;
s4, the CPLD processor updates the frequency according to the calculated frequency difference, thereby realizing the purpose of real-time tracking of the frequency;
wherein the frequency tracking formula is:
ƒn+1= ƒn+Δƒ
ƒ thereinn+1Represents the current frequency output, and ƒnRepresenting the last frequency output; wherein:
Δƒ=kΔθ
whereinkRepresents a frequency conversion system, andΔθ represents a phase difference of the voltage and the current currently applied to the ultrasonic transducer.
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Cited By (9)
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| CN113252977A (en) * | 2021-06-25 | 2021-08-13 | 武汉半边天医疗技术发展有限公司 | Frequency searching circuit and frequency searching method of ultrasonic transducer |
| CN114129920A (en) * | 2021-11-29 | 2022-03-04 | 中国医学科学院生物医学工程研究所 | Phased array ultrasonic transducer excitation system for improving accurate frequency |
| CN114305600A (en) * | 2022-03-15 | 2022-04-12 | 厚凯(北京)医疗科技有限公司 | Control method and device of ultrasonic surgical instrument, surgical equipment and storage medium |
| CN114469269A (en) * | 2022-04-01 | 2022-05-13 | 厚凯(北京)医疗科技有限公司 | Ultrasonic knife transducer overheating protection method and device and ultrasonic knife equipment |
| CN114515184A (en) * | 2020-11-20 | 2022-05-20 | 深圳开立生物医疗科技股份有限公司 | Ultrasonic knife system, power driving method and device thereof, and host |
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| US20240053390A1 (en) * | 2021-10-13 | 2024-02-15 | Hangzhou Dianzi University | Multiband resonance frequency tracking circuit and method applied to ultrasonic machining |
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| US20240053390A1 (en) * | 2021-10-13 | 2024-02-15 | Hangzhou Dianzi University | Multiband resonance frequency tracking circuit and method applied to ultrasonic machining |
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| CN114305600A (en) * | 2022-03-15 | 2022-04-12 | 厚凯(北京)医疗科技有限公司 | Control method and device of ultrasonic surgical instrument, surgical equipment and storage medium |
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| CN114469269A (en) * | 2022-04-01 | 2022-05-13 | 厚凯(北京)医疗科技有限公司 | Ultrasonic knife transducer overheating protection method and device and ultrasonic knife equipment |
| CN115350892A (en) * | 2022-07-22 | 2022-11-18 | 东北大学 | Frequency-conversion amplitude-variation ultrasonic transducer, driving circuit thereof and using method thereof |
| CN115350892B (en) * | 2022-07-22 | 2023-10-20 | 东北大学 | Variable-frequency and variable-amplitude ultrasonic transducer, driving circuit thereof and use method |
| CN115153761B (en) * | 2022-07-29 | 2023-12-12 | 河南省驼人医疗科技有限公司 | Ultrasonic cutting hemostatic cutter control system and frequency sweeping and automatic tracking control method thereof |
| CN115153761A (en) * | 2022-07-29 | 2022-10-11 | 河南省驼人医疗科技有限公司 | Ultrasonic cutting hemostatic knife control system and frequency sweeping and automatic tracking control method thereof |
| CN116725630A (en) * | 2022-10-28 | 2023-09-12 | 江西远赛医疗科技有限公司 | Initial resonant frequency determining method and device, electronic equipment and storage medium |
| CN116725630B (en) * | 2022-10-28 | 2024-04-19 | 江西远赛医疗科技有限公司 | Initial resonant frequency determining method and device, electronic equipment and storage medium |
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| CP01 | Change in the name or title of a patent holder |
Address after: 3 / F and 4 / F, J5 science and Technology Industrial Park, Nanjing University of technology, No.15 Wanshou Road, economic development zone, Pukou District, Nanjing, Jiangsu Province, 211800 Patentee after: Nanjing Yigao Medical Technology Co.,Ltd. Address before: 3 / F and 4 / F, J5 science and Technology Industrial Park, Nanjing University of technology, No.15 Wanshou Road, economic development zone, Pukou District, Nanjing, Jiangsu Province, 211800 Patentee before: NANJING ECO MICROWAVE SYSTEM Co.,Ltd. |