CN115153761A - Ultrasonic cutting hemostatic knife control system and frequency sweeping and automatic tracking control method thereof - Google Patents

Ultrasonic cutting hemostatic knife control system and frequency sweeping and automatic tracking control method thereof Download PDF

Info

Publication number
CN115153761A
CN115153761A CN202210908330.5A CN202210908330A CN115153761A CN 115153761 A CN115153761 A CN 115153761A CN 202210908330 A CN202210908330 A CN 202210908330A CN 115153761 A CN115153761 A CN 115153761A
Authority
CN
China
Prior art keywords
current
voltage
frequency
ultrasonic
ultrasonic transducer
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN202210908330.5A
Other languages
Chinese (zh)
Other versions
CN115153761B (en
Inventor
邓柳健
薛世超
李兴亮
鲍胜文
刘艳斌
钟颖
李龙飞
周剑锋
聂世昂
董金艳
方拥军
王娜
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Henan Tuoren Medical Technology Co ltd
Original Assignee
Henan Tuoren Medical Technology Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Henan Tuoren Medical Technology Co ltd filed Critical Henan Tuoren Medical Technology Co ltd
Priority to CN202210908330.5A priority Critical patent/CN115153761B/en
Publication of CN115153761A publication Critical patent/CN115153761A/en
Application granted granted Critical
Publication of CN115153761B publication Critical patent/CN115153761B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/32Surgical cutting instruments
    • A61B17/320068Surgical cutting instruments using mechanical vibrations, e.g. ultrasonic
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00017Electrical control of surgical instruments
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/32Surgical cutting instruments
    • A61B17/320068Surgical cutting instruments using mechanical vibrations, e.g. ultrasonic
    • A61B2017/320082Surgical cutting instruments using mechanical vibrations, e.g. ultrasonic for incising tissue

Landscapes

  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Mechanical Engineering (AREA)
  • Biomedical Technology (AREA)
  • Dentistry (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Surgical Instruments (AREA)
  • Apparatuses For Generation Of Mechanical Vibrations (AREA)

Abstract

The invention relates to the technical field of surgical cutting instruments, and particularly discloses an ultrasonic cutting hemostatic knife control system which comprises a control processing unit, a DC voltage regulating circuit, an H-bridge inverter amplifier, a transducer matching circuit, a voltage and current signal detection circuit, a phase detection circuit and a touch screen, wherein the control processing unit comprises a processor, a high-precision PWM frequency generator, a high-precision ECAP capturing module and an ADC conversion module; the processor controls the high-precision PWM frequency generator to output a high-precision PWM signal with variable frequency so as to drive the H-bridge inverter amplifier to enable the ultrasonic transducer to work; capturing a voltage and current zero-crossing signal output in the phase detection circuit through the high-precision ECAP capturing unit, and calculating a phase difference value and a lead/lag relation; and detecting effective value signals output by the voltage and current signal detection circuit through the ADC conversion module, and calculating corresponding working voltage, working current and electric parameters of ultrasonic equivalent impedance.

Description

Ultrasonic cutting hemostatic knife control system and frequency sweeping and automatic tracking control method thereof
Technical Field
The invention relates to the technical field of surgical cutting instruments, in particular to an ultrasonic cutting hemostatic knife control system and a frequency sweeping and automatic tracking control method thereof.
Background
Similar to other power ultrasonic equipment, the transducer generates high-frequency mechanical vibration under the drive of an ultrasonic power supply when the ultrasonic knife works, the high-frequency alternating current electric energy is converted into mechanical energy, the mechanical energy is amplified through the amplitude of the amplitude transformer, the ultrasonic energy is transmitted to the knife head part, and then the ultrasonic energy acts on biological tissues through contact to realize the functions of tissue excision, blood vessel hemostasis and the like. Before the cutting signal is added to the transducer, the ultrasonic system is subjected to frequency sweeping treatment to determine a resonant frequency point, and when the frequency of the power supply voltage is consistent with the natural frequency of the scalpel vibration system, the ultrasonic scalpel works at the resonant frequency, and the vibration effect generated at the moment is optimal.
When the existing ultrasonic knife host starts to search for resonant frequency in a cutting starting stage, namely a resonant point is about to be reached, if the frequency sweeping speed is high, frequency sweeping failure can be caused with a certain probability, or the resonant point is not easy to be searched due to overlarge jaw pressure of the ultrasonic knife, and overlarge output voltage is caused, so that an alarm of overlarge pressure occurs. Therefore, the normal operation process of a doctor can be influenced, the operation time can be prolonged, the operation efficiency is reduced, and certain influence is caused on the postoperative rehabilitation of a patient. Meanwhile, the power of the ultrasonic transducer can rise rapidly after the ultrasonic transducer reaches a resonance state too fast, and the ultrasonic transducer can cause certain damage to the cutter core and the transducer, so that the service life of the transducer is shortened. In addition, in the automatic tracking stage after the resonance point is swept, the clamping force of the user to the cutter head is changed continuously, so that the equivalent impedance is changed, and the resonance frequency is likely to change continuously along with the continuous change of the impedance. If the frequency tracking of the ultrasonic scalpel system is not timely, the situation that the scalpel head cannot keep a resonance state and working current is unstable can occur, and then the scalpel head shakes or the output amplitude is unstable, so that safe and effective operation cannot be guaranteed.
The conventional ultrasonic knife main machine cannot adjust an ultrasonic inversion primary side bus power supply according to equivalent impedance in the cutting process of the ultrasonic knife, and only can fix the primary side bus voltage according to a cutting gear, so that the resonance frequency point of the ultrasonic knife can not be well tracked and the working current of a transducer can not be kept constant for the characteristic of large impedance change range during cutting of the ultrasonic knife, and the stability of the amplitude of the ultrasonic knife can not be guaranteed.
Meanwhile, most of the existing ultrasonic knife hosts are analog signal driven push-pull inverter power amplifiers or adopt analog signals to be converted into PWM signals to drive half-bridge inverter power amplifiers, the drift of the analog signals can cause poor working consistency of the system, control precision deviation can be caused, the push-pull inverter power amplifiers are low in efficiency and large in heat generation, a linear power amplifier tube needs to be selected for the power tube, the requirement on the withstand voltage value is high, and the cost is increased. The half-bridge inverting power amplifier scheme has low utilization rate of a power supply, and the ultrasonic transducers with the same power need higher primary side bus voltage.
Disclosure of Invention
Based on this, the invention aims to provide an ultrasonic cutting hemostatic knife control system and a frequency sweeping and automatic tracking control method thereof aiming at the defects of the prior art.
In order to achieve the purpose, the invention adopts the following technical scheme:
a control system of an ultrasonic cutting hemostatic knife comprises a control processing unit, a DC voltage regulating circuit, an H-bridge inverter amplifier, a transducer matching circuit, an ultrasonic transducer, a voltage and current signal detection circuit, a phase detection circuit, a touch screen, a DAC chip and an ultrasonic knife head;
the control processing unit comprises a processor, a high-precision PWM frequency generator, an ADC detection module, a high-precision ECAP capturing module and a touch display screen data transceiving module;
the processor controls the high-precision PWM frequency generator to output a high-precision PWM signal with variable frequency so as to drive the H-bridge inverter amplifier to enable the ultrasonic transducer to work; capturing a voltage and current zero-crossing signal output in the phase detection circuit through the high-precision ECAP capturing unit, and calculating a phase difference value and a lead/lag relation; detecting effective value signals output by the voltage and current signal detection circuit through the ADC conversion module, and calculating corresponding working voltage, working current and electric parameters of ultrasonic equivalent impedance;
the processor comprises automatic tracking control, wherein the automatic tracking control comprises a direct current driving voltage control method, a current control PID control algorithm and a phase control PID control algorithm, and the current control PID control algorithm and the phase control PID control algorithm form a double closed loop negative feedback control flow, so that the working current and the current voltage phase angle of the energy converter are in a set range.
As a further improvement of the invention, the processor is a DSP processor, and the high-precision PWM frequency generator is an HRPWM module or an FPGA programmable logic controller inside the DSP processor; the high-precision PWM signal can be directly generated by configuring an HRPWM module register in the DSP processor through software programming or by building a DDS direct digital frequency synthesis module in the FPGA programmable logic controller.
As a further improvement of the invention, the inverter further comprises an external DAC chip, and the driving voltage output by the DC voltage regulating circuit is controlled by controlling an analog voltage signal output by the external DAC chip so as to be required by the inverter amplifier.
As a further improvement of the invention, the voltage and current signal detection circuit detects and conditions the working current and voltage of the ultrasonic transducer, converts the working current and voltage into effective value voltage signals, collects and operates the effective value voltage signals by a processor, and obtains the numerical values of the working current and voltage of the ultrasonic transducer through smooth filtering operation.
As a further improvement of the present invention, the phase detection circuit performs zero-crossing detection on the voltage and current signals output by the operational amplifier circuit in the voltage and current signal detection circuit, and outputs two paths of zero-crossing square wave signals, which are provided to the high-precision ECAP capture module for capture and operation, so as to obtain a phase difference value between the working current and the voltage of the ultrasonic transducer.
A frequency sweep control method of an ultrasonic cutting hemostatic knife control system comprises the following steps:
s101: starting frequency sweeping, wherein when the ultrasonic knife excites cutting, the ultrasonic cutting hemostatic knife control system firstly controls the high-precision PWM frequency generator to output PWM ultrasonic signals by the processor so that the H-bridge inverter amplifier drives the ultrasonic transducer 5 and the ultrasonic knife head, and the PWM initial frequency is set to be the designed resonant frequency of the ultrasonic transducer plus 2KHz;
s102, because the initial frequency is far away from the resonance frequency, in order to accelerate the frequency sweeping speed, the frequency is swept from the high frequency to the low frequency direction in a larger step length;
s103: collecting the working current of the ultrasonic transducer while scanning the frequency, and calculating the phase difference between the current and the voltage in real time;
s104, according to the impedance characteristic and the frequency characteristic of the ultrasonic transducer, scanning and driving the ultrasonic transducer from high frequency to low frequency near a resonance point, wherein the current is changed from small to large and then from small to large, and the current is larger at the resonance point, and whether the current is in a descending trend is judged by detecting the current size and the change state by utilizing the characteristic; if the frequency is in a descending trend, performing the next link, otherwise, continuously performing frequency sweeping according to the original step length;
s105: after the ultrasonic transducer gradually approaches to the resonant frequency, the PWM ultrasonic frequency retrieval step length is reduced, so that the frequency of the retrieval frequency is increased, on one hand, the success rate of retrieving the resonant frequency of the ultrasonic transducer is improved, and the success rate is obvious when the pressure of the ultrasonic knife head is larger and the equivalent impedance is larger; on the other hand, the risk that the piezoelectric ceramic in the ultrasonic transducer is vibrated and cracked because the working current/power of the ultrasonic transducer is increased too fast is avoided;
s106: judging whether the current of the ultrasonic transducer reaches a set value or not and whether the phase difference value between the current and the voltage is within a set value range or not; if the current time reaches the set range, the next link is carried out; otherwise, continuing to sweep frequency;
s107: scanning to the resonance point of the transducer, switching to the automatic tracking control of the ultrasonic knife, and starting to cut the tissue.
An automatic tracking control method of an ultrasonic cutting hemostatic knife control system comprises the following steps:
s201: after the sweep frequency is finished, entering an automatic tracking control stage;
s202: the controller outputs a PWM frequency signal to drive the ultrasonic inverter power supply;
s203: the controller obtains count values of current and voltage zero crossing point pulse signals;
s204: calculating the phase difference between the current and the voltage and the lead/lag relation through the counting value of S203;
s205: the phase control PID control algorithm takes the target phase difference value calculated by the processes of S211 and S212 as a target quantity, takes the phase difference value and the lead/lag relation between the current working current and the current working voltage as input quantities, adopts a PID incremental control algorithm to calculate a new frequency control increment, and reduces the frequency value to increase the current and voltage phase angles when the target phase difference value is increased or the current phase difference value is smaller, otherwise increases the frequency value; furthermore, the new frequency controller needs to be adjusted within a limited range to ensure that the frequency tracking is performed within a normal operating frequency range;
s206: judging whether the new frequency control word exceeds a limited range, wherein the limited range is the resonance frequency width of the ultrasonic transducer; if the frequency tracking failure is judged to be failed, the fault type is identified according to parameters such as impedance, current, voltage, frequency and phase, and the like, and an alarm is prompted, otherwise, the frequency tracking is continued;
s207, when the fault type exceeds the range specified in S206, distinguishing the fault type according to parameters such as impedance, voltage, current, phase and the like of the current system, outputting an alarm prompt and stopping ultrasonic energy output;
s208: collecting real-time values of current and voltage through an ADC (analog-to-digital converter), and obtaining RMS (effective value) values of the current and the voltage through a smoothing filtering algorithm;
s209: calculating active current and equivalent impedance of the ultrasonic transducer according to the voltage, the current effective value, a phase difference value between working current and working voltage and a lead/lag relation, wherein the active current is calculated by adopting a formula I = IRMS (international red ms) cos phi, the IRMS value is a working current value acquired by a DSP (digital signal processor), and the phase angle phi is converted by the phase difference value between the working current and the voltage; meanwhile, the active power P of the ultrasonic transducer is calculated, and the active power of the ultrasonic transducer is calculated by a formula P = URMS IRMS cos phi;
s210: judging whether the active power and the effective voltage value are in a limited range; if the current is within the limited range, performing the next link, otherwise, reducing the current set value;
s211: the current control PID control algorithm takes the set current as a target value, takes the active current of the current transducer as an input quantity, adopts a PID incremental control algorithm to calculate a new target phase difference value, increases the demand of the target phase difference value when the demanded current increases/the current active current is smaller, and otherwise reduces the demand of the target phase difference value; furthermore, the target phase difference value needs to be limited in a set range to ensure normal frequency tracking and improve the driving efficiency of the ultrasonic transducer;
s212: and judging whether the target phase difference exceeds a limited range. If the fault type exceeds the preset fault threshold, judging that the frequency tracking fails, identifying the fault type according to parameters such as impedance, current, voltage, frequency, phase and the like, and prompting to give an alarm, otherwise, continuing to perform the frequency tracking;
s213: according to the equivalent impedance of the ultrasonic transducer, the output voltage of the DC voltage regulating circuit is dynamically regulated, and the driving voltage of the H-bridge direct-current power supply is dynamically regulated, so that the on-load current/power of the ultrasonic transducer can be effectively improved when the impedance/pressure of the ultrasonic cutter head is increased, the working current and voltage phase difference are controlled within a set range in the process of the change of the impedance and the resonant frequency of the ultrasonic cutter during cutting, and the cutting effect of the ultrasonic cutter is improved;
s214: and comparing and judging whether the effective values of the active power and the working voltage are greater than the rated power and the highest limiting voltage, and if the effective values of the active power and the working voltage exceed the limiting values, reducing the set current to enable the power and the voltage to be in a limiting range.
The beneficial effects of the invention are:
1. the frequency sweep of the ultrasonic blade is controlled in different frequency stages, different retrieval step lengths are adopted, the success rate of retrieving the resonant frequency of the ultrasonic transducer is improved on one hand, the success rate is obvious when the pressure of a tool bit of the ultrasonic blade is larger and the equivalent impedance is larger, on the other hand, the risk that piezoelectric ceramics in the ultrasonic transducer are vibrated and cracked due to the fact that the working current/power of the ultrasonic transducer is increased too fast is avoided, and the service life of the ultrasonic transducer is prolonged.
2. Through the automatic tracking control of the ultrasonic knife, a double-closed-loop PID control algorithm is adopted, when the ultrasonic knife is subjected to factor changes such as impedance and temperature in the cutting process and the resonant frequency changes, the frequency can be tracked more quickly and effectively, the problems of tool bit shaking and the like caused by untimely frequency tracking are prevented, and the normal operation is further influenced. And the current control precision is high, the current control device can adapt to the change of different loads, and the amplitude output is stable. Meanwhile, a direct current driving voltage control algorithm can be introduced according to the ultrasonic equivalent impedance and the current-voltage phase difference value to dynamically adjust the driving voltage of the H-bridge direct current power supply, so that the working impedance range of the ultrasonic knife is widened, and the cutting capability and the cutting effect of the heavy-load biological tissue can be improved compared with the conventional product.
3. A DSP processor/FPGA programmable logic controller is adopted; and the high-precision PWM signals can be directly generated by configuring an HRPWM module register of the DSP processor through software programming and building a DDS direct digital frequency synthesis module in the FPGA programmable logic controller. Compared with the scheme that a single chip microcomputer is adopted to control a DDS chip and a circuit to generate high-precision PWM signals in the prior art, the scheme of the patent application is more convenient and reliable, and a signal conversion circuit does not need to be additionally established.
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 some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a control system diagram of an ultrasonic cutting hemostatic knife.
Fig. 2 is a control processing unit diagram of the control system of the ultrasonic cutting hemostatic knife.
FIG. 3 is a flow chart of a method for controlling the sweep frequency of an ultrasonic blade.
Fig. 4 is a flow chart of an ultrasonic knife automatic tracking control method.
In the figure: the device comprises a control processing unit 1, an H-bridge inverter amplifier 2, a DC voltage regulating circuit 3, a transducer matching circuit 4, an ultrasonic transducer 5, a voltage and current signal detection circuit 6, a phase detection circuit 7, a touch display screen 8, a DAC chip 9, an ultrasonic tool bit 10, a processor 1-1, a high-precision PWM frequency generator 1-2, an ADC detection module 1-3, a high-precision ECAP capturing module 1-4 and a touch display screen data receiving and transmitting module 1-5.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the 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.
1. As shown in fig. 1 and fig. 2, the ultrasonic cutting hemostatic scalpel control system comprises an ultrasonic cutting hemostatic scalpel control system, and is characterized by comprising a control processing unit 1, a DC voltage regulating circuit 3, an H-bridge inverter amplifier 2, a transducer matching circuit 4, an ultrasonic transducer 5, a voltage and current signal detection circuit 6, a phase detection circuit 7, a touch screen 8, a DAC chip 9, and an ultrasonic scalpel head 10.
The control processing unit 1 comprises a processor 1-1, a high-precision PWM frequency generator 1-2, an ADC detection module 1-3, a high-precision ECAP capturing module 1-4 and a touch display screen data receiving and transmitting module 1-5.
The processor 1-1 controls the high-precision PWM frequency generator 1-2 to output a high-precision PWM signal with variable frequency so as to drive the H-bridge inverter amplifier 2 to enable the ultrasonic transducer to work; capturing a voltage and current zero-crossing signal output from the phase detection circuit 7 through the high-precision ECAP capturing unit 1-4, and calculating a phase difference value and a lead/lag relation; the ADC detection module 1-3 is used for detecting effective value signals output by the voltage and current signal detection circuit and calculating corresponding working voltage, working current and electric parameters of ultrasonic equivalent impedance;
the processor 1-1 comprises automatic tracking control and comprises a direct current driving voltage control method, a current control PID control algorithm and a phase control PID control algorithm, wherein the current control PID control algorithm and the phase control PID control algorithm form a double closed loop negative feedback control flow, so that the working current and the current voltage phase angle of the energy converter are in a set range.
In a specific embodiment, further, the processor 1-1 is a DSP processor or an FPGA programmable logic controller; the high-precision PWM signal can be directly generated by configuring an HRPWM module register of the DSP processor through software programming and building a DDS direct digital frequency synthesis module in the FPGA programmable logic controller.
In a specific embodiment, further, the inverter further comprises an external DAC chip 9, and the external DAC chip 9 is used for controlling the driving voltage output by the DC voltage regulating circuit 3 by controlling the analog voltage signal output by the external DAC chip 9, so as to be required by the inverter amplifier.
In a specific embodiment, further, the voltage and current signal detection circuit 6 uses a current transformer, a high-speed operational amplifier circuit and an effective value detection chip AD637 to detect and condition the operating current of the ultrasonic transducer, and uses a capacitor voltage divider, a high-frequency transformer, an operational amplifier circuit and an effective value detection chip AD637 to detect and condition the operating voltage of the ultrasonic transducer; and converting the detection signal into an effective value voltage signal, collecting and operating the effective value voltage signal by a processor, and obtaining the numerical values of the working current and the working voltage of the transducer through smooth filtering operation.
In a specific embodiment, further, the phase detection circuit 7 uses a high-speed differential comparator LM361 to perform zero-crossing detection on the voltage and current signals output by the operational amplifier circuit in the voltage and current signal detection circuit 6, and outputs two zero-crossing square wave signals, which are provided to the high-precision ECAP capture module 12 for capture and operation, so as to obtain a phase difference value between the working current and the voltage of the ultrasonic transducer.
As shown in fig. 3, a frequency sweep control method of an ultrasonic cutting hemostatic knife control system includes the following steps:
s101: starting frequency sweeping, wherein when the ultrasonic cutting hemostatic knife control system excites cutting by an ultrasonic knife, firstly, a processor 1-1 controls a high-precision PWM frequency generator 1-2 to output a PWM ultrasonic signal so that an H-bridge inverter amplifier 2 drives an ultrasonic transducer 5 and an ultrasonic knife head 10, and the PWM initial frequency is set to be the designed resonant frequency +2KHz of the ultrasonic transducer;
s102, because the initial frequency is far away from the resonance frequency, in order to accelerate the frequency sweeping speed, the frequency is swept from the high frequency to the low frequency direction in a larger step length;
s103: collecting the working current of the ultrasonic transducer while scanning the frequency, and calculating the phase difference between the current and the voltage in real time;
s104, according to the impedance characteristic and the frequency characteristic of the ultrasonic transducer, scanning and driving the ultrasonic transducer from high frequency to low frequency near a resonance point, wherein the current is changed from small to large and then from small to large, and the current is larger at the resonance point, and whether the current is in a descending trend is judged by detecting the current size and the change state by utilizing the characteristic; if the frequency is in a descending trend, performing the next link, otherwise, continuously performing frequency sweeping according to the original step length;
s105: after the ultrasonic transducer gradually approaches to the resonant frequency, the PWM ultrasonic frequency retrieval step length is reduced, so that the frequency of the retrieval frequency is increased, on one hand, the success rate of retrieving the resonant frequency of the ultrasonic transducer is improved, and the success rate is obvious when the pressure of the ultrasonic knife head is larger and the equivalent impedance is larger; on the other hand, the risk that the piezoelectric ceramic in the ultrasonic transducer is cracked due to the fact that the working current/power of the ultrasonic transducer rises too fast is avoided;
s106: judging whether the current of the ultrasonic transducer reaches a set value or not and whether the phase difference value between the current and the voltage is within a set value range or not; if the current time reaches the set range, the next link is carried out; otherwise, continuing to sweep frequency;
s107: scanning to the resonance point of the transducer, switching to the automatic tracking control of the ultrasonic knife, and starting to cut the tissue.
As shown in fig. 4, an automatic tracking control method of an ultrasonic cutting hemostatic knife control system includes the following steps:
s201: after the sweep frequency is finished, entering an automatic tracking control stage;
s202: the controller outputs a PWM frequency signal to drive the ultrasonic inverter power supply;
s203: the controller obtains count values of current and voltage zero crossing point pulse signals;
s204: calculating the phase difference between the current and the voltage and the lead/lag relation through the counting value of S203;
s205: the phase control PID control algorithm takes the target phase difference value calculated in the processes of S211 and S212 as a target quantity, takes the phase difference value and the lead/lag relation between the current working current and the voltage as input quantities, adopts a PID incremental control algorithm to calculate a new frequency control increment, and reduces the frequency value to increase the current and voltage phase angles when the target phase difference value is increased or the current phase difference value is smaller, otherwise increases the frequency value; furthermore, the new frequency controller needs to be adjusted within a limited range to ensure that the frequency tracking is performed within a normal operating frequency range;
s206: judging whether the new frequency control word exceeds a limited range, wherein the limited range is the resonance frequency width of the ultrasonic transducer; if the frequency tracking failure is judged to be caused by exceeding the limited range, identifying the fault type according to parameters such as impedance, current, voltage, frequency and phase and prompting to alarm, otherwise, continuing frequency tracking;
s207, when the fault type exceeds the range specified in S206, distinguishing the fault type according to parameters such as impedance, voltage, current, phase and the like of the current system, outputting an alarm prompt and stopping ultrasonic energy output;
s208: collecting real-time values of current and voltage through an ADC (analog to digital converter), and obtaining RMS (effective value) values of the current and the voltage through a smoothing filtering algorithm;
s209: according to the voltage, the current effective value, the phase difference value between the working current and the working voltage and the lead/lag relation, the active current and the equivalent impedance of the ultrasonic transducer are calculated, the active current adopts the formula I = IRMS cos phi to calculate, the IRMS value is the working current value collected by the DSP processor, and the phase angle phi is converted by the phase difference value between the working current and the voltage. Meanwhile, the active power P of the ultrasonic transducer is calculated, and the active power of the ultrasonic transducer is calculated by a formula P = URMS IRMS cos phi;
s210: judging whether the active power and the effective voltage value are in a limited range; if the current is within the limited range, the next link is carried out, otherwise, the current set value is reduced;
s211: the current control PID control algorithm takes the set current as a target value, takes the active current of the current energy converter as an input quantity, adopts a PID incremental control algorithm to calculate a new target phase difference value, and increases the demand of the target phase difference value when the demanded current increases/the current active current is smaller, otherwise reduces the demand of the target phase difference value. Furthermore, the target phase difference value needs to be limited in a set range to ensure normal frequency tracking and improve the driving efficiency of the ultrasonic transducer;
s212: and judging whether the target phase difference exceeds a limited range. If the fault type exceeds the preset fault threshold, judging that the frequency tracking fails, identifying the fault type according to parameters such as impedance, current, voltage, frequency, phase and the like, and prompting to give an alarm, otherwise, continuing to perform the frequency tracking;
s213: according to the equivalent impedance of the ultrasonic transducer, the output voltage of the DC voltage regulating circuit is dynamically regulated, and the driving voltage of the H-bridge direct-current power supply is dynamically regulated, so that the on-load current/power of the ultrasonic transducer can be effectively improved when the impedance/pressure of the ultrasonic cutter head is increased, the working current and voltage phase difference are controlled within a set range in the process of the change of the impedance and the resonant frequency of the ultrasonic cutter during cutting, and the cutting effect of the ultrasonic cutter is improved;
s214: and comparing and judging whether the effective values of the active power and the working voltage are greater than the rated power and the highest limiting voltage, and if the effective values of the active power and the working voltage exceed the limiting values, reducing the set current to enable the power and the voltage to be in a limiting range.
Further, the steps of the frequency sweep control method and the automatic tracking control method are performed according to the sequence of arrows indicated by the flow of fig. 3 and fig. 4.
It should be understood that the detailed description and specific examples, while indicating preferred embodiments of the invention, are given by way of illustration only, not limitation, and it will be understood by those skilled in the art that various changes and modifications may be made therein without departing from the spirit and scope of the invention; as long as the use requirements are met, the method is within the protection scope of the invention.

Claims (7)

1. A control system of an ultrasonic cutting hemostatic knife is characterized by comprising a control processing unit, a DC voltage regulating circuit, an H-bridge inverter amplifier, a transducer matching circuit, an ultrasonic transducer, a voltage and current signal detection circuit, a phase detection circuit, a touch screen, a DAC chip and an ultrasonic knife head;
the control processing unit comprises a processor, a high-precision PWM frequency generator, an ADC detection module, a high-precision ECAP capturing module and a touch display screen data transceiving module;
the processor controls the high-precision PWM frequency generator to output a high-precision PWM signal with variable frequency so as to drive the H-bridge inverter amplifier to enable the ultrasonic transducer to work; capturing a voltage and current zero-crossing signal output in the phase detection circuit through the high-precision ECAP capturing unit, and calculating a phase difference value and a lead/lag relation; detecting effective value signals output by the voltage and current signal detection circuit through the ADC conversion module, and calculating corresponding working voltage, working current and electric parameters of ultrasonic equivalent impedance;
the processor comprises automatic tracking control, wherein the automatic tracking control comprises a direct current driving voltage control method, a current control PID control algorithm and a phase control PID control algorithm, and the current control PID control algorithm and the phase control PID control algorithm form a double closed loop negative feedback control flow, so that the working current and the current voltage phase angle of the energy converter are in a set range.
2. The ultrasonic cutting hemostatic knife control system of claim 1, wherein the processor is a DSP processor, and the high-precision PWM frequency generator is a DSP processor internal HRPWM module or an FPGA programmable logic controller; the high-precision PWM signal can be directly generated by configuring an HRPWM module register in the DSP processor through software programming or by building a DDS direct digital frequency synthesis module in the FPGA programmable logic controller.
3. The ultrasonic cutting hemostatic knife control system according to claim 1, further comprising an external DAC chip for controlling the driving voltage output by the DC voltage regulating circuit by controlling the analog voltage signal output by the external DAC chip, so as to be required by the inverter amplifier.
4. The ultrasonic cutting hemostatic knife control system according to claim 1, wherein the voltage and current signal detection circuit detects and conditions the working current and voltage of the ultrasonic transducer, converts the working current and voltage into effective value voltage signals, collects and operates the effective value voltage signals by a processor, and obtains the values of the working current and voltage of the ultrasonic transducer through smoothing and filtering operation.
5. The ultrasonic cutting hemostatic knife control system according to claim 1, wherein the phase detection circuit performs zero-crossing detection on the voltage and current signals output by the operational amplifier circuit in the voltage and current signal detection circuit, respectively, and outputs two zero-crossing square wave signals, which are provided to the high-precision ECAP capture module for capture and operation, so as to obtain the phase difference between the working current and the voltage of the ultrasonic transducer.
6. A frequency sweep control method for an ultrasonic cutting hemostasis blade control system as in claim 1, comprising the steps of:
s101: starting frequency sweeping, wherein when the ultrasonic knife excites cutting, the ultrasonic cutting hemostatic knife control system firstly controls the high-precision PWM frequency generator to output PWM ultrasonic signals by the processor so that the H-bridge inverter amplifier drives the ultrasonic transducer 5 and the ultrasonic knife head, and the PWM initial frequency is set to be the designed resonant frequency of the ultrasonic transducer plus 2KHz;
s102, because the initial frequency is far away from the resonance frequency, in order to accelerate the frequency sweeping speed, the frequency is swept from the high frequency to the low frequency direction in a larger step length;
s103: collecting the working current of the ultrasonic transducer while scanning the frequency, and calculating the phase difference between the current and the voltage in real time;
s104, according to the impedance characteristic and the frequency characteristic of the ultrasonic transducer, scanning and driving the ultrasonic transducer from high frequency to low frequency near a resonance point, wherein the current is changed from small to large and then from small to large, and the current is larger at the resonance point, and whether the current is in a descending trend is judged by detecting the current size and the change state by utilizing the characteristic; if the frequency is in a descending trend, performing the next link, otherwise, continuously performing frequency sweeping according to the original step length;
s105: after the ultrasonic transducer gradually approaches to the resonant frequency, the PWM ultrasonic frequency retrieval step length is reduced, so that the frequency of the retrieval frequency is increased, on one hand, the success rate of retrieving the resonant frequency of the ultrasonic transducer is improved, and the success rate is obvious when the pressure of the ultrasonic knife head is larger and the equivalent impedance is larger; on the other hand, the risk that the piezoelectric ceramic in the ultrasonic transducer is cracked due to the fact that the working current/power of the ultrasonic transducer rises too fast is avoided;
s106: judging whether the current of the ultrasonic transducer reaches a set value or not and whether the phase difference value between the current and the voltage is within a set value range or not; if the current time reaches the set range, the next link is carried out; otherwise, continuing to sweep frequency;
s107: scanning to the resonance point of the transducer, switching to the automatic tracking control of the ultrasonic knife, and starting to cut the tissue.
7. The automatic tracking control method of the ultrasonic cutting hemostatic knife control system of claim 1, comprising the steps of:
s201: after the sweep frequency is finished, entering an automatic tracking control stage;
s202: the controller outputs a PWM frequency signal to drive the ultrasonic inverter power supply;
s203: the controller obtains count values of current and voltage zero crossing point pulse signals;
s204: calculating the phase difference between the current and the voltage and the lead/lag relation through the counting value of S203;
s205: the phase control PID control algorithm takes the target phase difference value calculated by the processes of S211 and S212 as a target quantity, takes the phase difference value and the lead/lag relation between the current working current and the current working voltage as input quantities, adopts a PID incremental control algorithm to calculate a new frequency control increment, and reduces the frequency value to increase the current and voltage phase angles when the target phase difference value is increased or the current phase difference value is smaller, otherwise increases the frequency value; the new frequency controller needs to be adjusted within a limited range to ensure that the frequency tracking is carried out within a normal working frequency range;
s206: judging whether the new frequency control word exceeds a limited range, wherein the limited range is the resonance frequency width of the ultrasonic transducer; if the frequency tracking failure is judged to be failed, the fault type is identified according to parameters such as impedance, current, voltage, frequency and phase, and the like, and an alarm is prompted, otherwise, the frequency tracking is continued;
s207, when the fault type exceeds the range specified in S206, distinguishing the fault type according to parameters such as impedance, voltage, current, phase and the like of the current system, outputting an alarm prompt and stopping ultrasonic energy output;
s208: collecting real-time values of current and voltage through an ADC (analog-to-digital converter), and obtaining RMS (effective value) values of the current and the voltage through a smoothing filtering algorithm;
s209: calculating active current and equivalent impedance of the ultrasonic transducer according to the voltage, the current effective value, a phase difference value between working current and working voltage and a lead/lag relation, wherein the active current is calculated by adopting a formula I = IRMS (international red ms) cos phi, the IRMS value is a working current value acquired by a DSP (digital signal processor), and the phase angle phi is converted by the phase difference value between the working current and the voltage; meanwhile, the active power P of the ultrasonic transducer is calculated, and the active power of the ultrasonic transducer is calculated by a formula P = URMS IRMS cos phi;
s210: judging whether the active power and the effective voltage value are in a limited range; if the current is within the limited range, the next link is carried out, otherwise, the current set value is reduced;
s211: the current control PID control algorithm takes the set current as a target value, takes the active current of the current transducer as an input quantity, adopts a PID incremental control algorithm to calculate a new target phase difference value, increases the demand of the target phase difference value when the demanded current increases/the current active current is smaller, and otherwise reduces the demand of the target phase difference value; the target phase difference value needs to be limited in a set range so as to ensure normal frequency tracking and improve the driving efficiency of the ultrasonic transducer;
s212: judging whether the target phase difference exceeds a limited range; if the fault type exceeds the preset fault type, judging that the frequency tracking fails, identifying the fault type according to parameters such as impedance, current, voltage, frequency, phase and the like, and prompting to alarm, otherwise, continuing to perform frequency tracking;
s213: according to the equivalent impedance of the ultrasonic transducer, the output voltage of the DC voltage regulating circuit is dynamically regulated, and the driving voltage of the H-bridge direct-current power supply is dynamically regulated, so that the on-load current/power of the ultrasonic transducer can be effectively improved when the impedance/pressure of the ultrasonic cutter head is increased, the working current and voltage phase difference are controlled within a set range in the process of the change of the impedance and the resonant frequency of the ultrasonic cutter during cutting, and the cutting effect of the ultrasonic cutter is improved;
s214: and comparing and judging whether the effective values of the active power and the working voltage are greater than the rated power and the highest limiting voltage, and if the effective values of the active power and the working voltage exceed the limiting values, reducing the set current to enable the power and the voltage to be in a limiting range.
CN202210908330.5A 2022-07-29 2022-07-29 Ultrasonic cutting hemostatic cutter control system and frequency sweeping and automatic tracking control method thereof Active CN115153761B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202210908330.5A CN115153761B (en) 2022-07-29 2022-07-29 Ultrasonic cutting hemostatic cutter control system and frequency sweeping and automatic tracking control method thereof

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210908330.5A CN115153761B (en) 2022-07-29 2022-07-29 Ultrasonic cutting hemostatic cutter control system and frequency sweeping and automatic tracking control method thereof

Publications (2)

Publication Number Publication Date
CN115153761A true CN115153761A (en) 2022-10-11
CN115153761B CN115153761B (en) 2023-12-12

Family

ID=83477357

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202210908330.5A Active CN115153761B (en) 2022-07-29 2022-07-29 Ultrasonic cutting hemostatic cutter control system and frequency sweeping and automatic tracking control method thereof

Country Status (1)

Country Link
CN (1) CN115153761B (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116430139A (en) * 2023-03-29 2023-07-14 河南省驼人医疗科技有限公司 Ultrasonic cutting hemostatic cutter fault detection system and detection method thereof

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN206097107U (en) * 2016-07-08 2017-04-12 山东威瑞外科医用制品有限公司 Ultrasonic knife frequency tracking device
US20190274709A1 (en) * 2018-03-08 2019-09-12 Ethicon Llc Adaptive advanced tissue treatment pad saver mode
CN111096775A (en) * 2020-01-03 2020-05-05 华南理工大学 Dual-core MCU intelligent ultrasonic minimally invasive scalpel control system and control method
CN210990592U (en) * 2019-11-05 2020-07-14 重庆迈科唯医疗科技有限公司 Ultrasonic knife host and ultrasonic knife system
CN111609921A (en) * 2020-05-29 2020-09-01 南京亿高微波***工程有限公司 Ultrasonic transducer frequency tracking device and method
CN112075973A (en) * 2020-08-08 2020-12-15 双典医疗科技(深圳)有限公司 Ultrasonic osteotome dynamic impedance feedback method
CN114098908A (en) * 2020-08-28 2022-03-01 深圳开立生物医疗科技股份有限公司 Ultrasonic knife system, fault detection method and device thereof, and host

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN206097107U (en) * 2016-07-08 2017-04-12 山东威瑞外科医用制品有限公司 Ultrasonic knife frequency tracking device
US20190274709A1 (en) * 2018-03-08 2019-09-12 Ethicon Llc Adaptive advanced tissue treatment pad saver mode
CN210990592U (en) * 2019-11-05 2020-07-14 重庆迈科唯医疗科技有限公司 Ultrasonic knife host and ultrasonic knife system
CN111096775A (en) * 2020-01-03 2020-05-05 华南理工大学 Dual-core MCU intelligent ultrasonic minimally invasive scalpel control system and control method
CN111609921A (en) * 2020-05-29 2020-09-01 南京亿高微波***工程有限公司 Ultrasonic transducer frequency tracking device and method
CN112075973A (en) * 2020-08-08 2020-12-15 双典医疗科技(深圳)有限公司 Ultrasonic osteotome dynamic impedance feedback method
CN114098908A (en) * 2020-08-28 2022-03-01 深圳开立生物医疗科技股份有限公司 Ultrasonic knife system, fault detection method and device thereof, and host

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
苏文虎 等: "基于FPGA的宽频超声波电源频率跟踪***设计", 电子技术应用, vol. 43, no. 03, pages 60 *

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116430139A (en) * 2023-03-29 2023-07-14 河南省驼人医疗科技有限公司 Ultrasonic cutting hemostatic cutter fault detection system and detection method thereof
CN116430139B (en) * 2023-03-29 2023-12-05 河南省驼人医疗科技有限公司 Ultrasonic cutting hemostatic cutter fault detection system and detection method thereof

Also Published As

Publication number Publication date
CN115153761B (en) 2023-12-12

Similar Documents

Publication Publication Date Title
EP1199047B1 (en) Ultrasonic surgical system
CN112754604B (en) Ultrasonic knife host, ultrasonic knife system and automatic matching method for impedance of transducer of ultrasonic knife system
CN111609921B (en) Ultrasonic transducer frequency tracking device and method
WO1984003828A1 (en) Ultrasonic oscillator
CN105943126B (en) Ultrasound knife exciting bank and motivational techniques
CN115153761B (en) Ultrasonic cutting hemostatic cutter control system and frequency sweeping and automatic tracking control method thereof
CN110448355B (en) Ultrasonic knife resonant frequency tracking automatic reset method and equipment thereof
CN210170159U (en) Variable frequency output electrosurgical generator and electrosurgical system
WO2020114341A1 (en) Electrosurgical generator and electrosurgical system with variable frequency output
CN115102425B (en) Control method of dynamic branch current of ultrasonic transducer and ultrasonic surgical system
JP2001212514A (en) Drive device for ultrasonic transducer
CN212515446U (en) Ultrasonic transducer control device
WO2023174136A1 (en) Control method and apparatus for ultrasonic surgical instrument, surgical device, and storage medium
CN210990592U (en) Ultrasonic knife host and ultrasonic knife system
CN113633351A (en) Constant-current type power self-adaptive drive control circuit and method and ultrasonic cutting hemostatic knife system
CN117653283A (en) Frequency locking method for ultrasonic surgical instrument transducer
CN114098910A (en) Cutting control method and device applied to ultrasonic knife and storage medium
US20110112446A1 (en) Ultrasonic treatment apparatus and ultrasonic treatment method
CN114515184B (en) Ultrasonic knife system, power driving method and device thereof and host
CN108471243A (en) A kind of PID variable step frequency sweep control methods of ultrasonic power frequency
CN206761739U (en) A kind of directly excitation formula ultrasonic power drive system
CN109528271B (en) Ultrasonic knife with double-horizontal pulse output mode
CN106344119A (en) Direct excitation type ultrasonic power driving system
CN218247317U (en) Ultrasonic cutting hemostatic knife gear control circuit
CN117481750A (en) Energy equipment and control method thereof

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant