CN117653283A - Frequency locking method for ultrasonic surgical instrument transducer - Google Patents
Frequency locking method for ultrasonic surgical instrument transducer Download PDFInfo
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- CN117653283A CN117653283A CN202311780143.4A CN202311780143A CN117653283A CN 117653283 A CN117653283 A CN 117653283A CN 202311780143 A CN202311780143 A CN 202311780143A CN 117653283 A CN117653283 A CN 117653283A
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- 238000000034 method Methods 0.000 title claims abstract description 32
- 238000001514 detection method Methods 0.000 claims description 28
- 238000006243 chemical reaction Methods 0.000 claims description 19
- 230000005284 excitation Effects 0.000 claims description 9
- 238000001914 filtration Methods 0.000 claims description 7
- 230000001960 triggered effect Effects 0.000 claims description 2
- 238000003384 imaging method Methods 0.000 description 9
- 230000008859 change Effects 0.000 description 5
- 230000008569 process Effects 0.000 description 4
- 238000002604 ultrasonography Methods 0.000 description 3
- 238000012285 ultrasound imaging Methods 0.000 description 3
- 238000012935 Averaging Methods 0.000 description 1
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000003321 amplification Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 239000003990 capacitor Substances 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000002439 hemostatic effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/08—Accessories or related features not otherwise provided for
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00017—Electrical control of surgical instruments
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00017—Electrical control of surgical instruments
- A61B2017/00137—Details of operation mode
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00017—Electrical control of surgical instruments
- A61B2017/00137—Details of operation mode
- A61B2017/00141—Details of operation mode continuous, e.g. wave
- A61B2017/00146—Details of operation mode continuous, e.g. wave with multiple frequencies
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- 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
- A61B2017/320082—Surgical cutting instruments using mechanical vibrations, e.g. ultrasonic for incising tissue
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- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Heart & Thoracic Surgery (AREA)
- Animal Behavior & Ethology (AREA)
- Veterinary Medicine (AREA)
- Biomedical Technology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Public Health (AREA)
- General Health & Medical Sciences (AREA)
- Pathology (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Dentistry (AREA)
- Mechanical Engineering (AREA)
- Surgical Instruments (AREA)
Abstract
The invention provides a frequency locking method for an ultrasonic surgical instrument transducer, which belongs to the technical field of medical instruments, and comprises the steps of initializing each module unit of the transducer, judging whether current in each circuit is in a normal range or not, and controlling a waveform generator to generate waveforms of control signals; sweep frequency to detect the resonance point of the transducer, determine the empty-load resonance frequency of the transducer, and simultaneously track and control the resonance point; the feedback circuit in the driving circuit is controlled by a control algorithm to filter out high-frequency component signals and output a digital low-frequency direct current component; and fitting impedance by a least square method to obtain resonant frequency, and controlling and adjusting the output of the electric energy control module to lock the output frequency of the transducer on the resonant frequency.
Description
Technical Field
The invention belongs to the technical field of medical instruments, and particularly relates to a frequency locking method for an ultrasonic surgical instrument transducer.
Background
Along with the improvement of the technology level and the medical technology, the medical equipment is endlessly layered, and when the existing ultrasonic hemostatic knife is cut each time, different frequencies are generated through a digital frequency synthesizer DDS to search the resonant frequency of the ultrasonic knife transducer; this approach results in a longer time for each cut to be used for the sweep action, which results in a longer duration and less efficient single procedure.
The main reason for the above operation is that: in the working process of the ultrasonic knife transducer, the temperature rise or the abrupt change of the load characteristic exists, and the impedance parameter of the ultrasonic knife transducer can be changed, so that the resonance frequency is caused to drift.
Ultrasound transducers are an important component of ultrasound equipment, and in particular high frequency ultrasound imaging transducers play an indispensable role in medical ultrasound imaging systems, detection ultrasound imaging systems. Ultrasonic imaging transducers have their highest electromechanical conversion efficiency only when operated at resonant frequencies. However, in the use process of the ultrasonic imaging transducer, the resonance frequency point of the ultrasonic imaging transducer is changed due to the change of external environmental factors such as the change of temperature and the change of parameters caused by long use time, and once the ultrasonic imaging transducer works at a non-resonance frequency point, the output power of the ultrasonic imaging transducer is greatly reduced, so that the ultrasonic signal sent by the transducer is weak, the echo signal is weak, and the imaging requirements of high precision and high quality are hardly met. There is a need for an excitation circuit for an ultrasound imaging transducer that has the ability to track and lock its frequency.
The existing ultrasonic transducer frequency tracking methods are various, but the problems that the frequency tracking is slow, the high-frequency ultrasonic imaging transducer cannot be accurately tracked, or a high-performance processor is required for tracking the high-frequency ultrasonic imaging transducer exist.
Specifically, the frequency range of the ultrasonic knife transducer is 55.4KHz to 55.6KHz, when the ultrasonic knife transducer actually works, the ultrasonic knife transducer has the condition of overhigh temperature or abrupt change of load characteristics, and the impedance parameter of the ultrasonic knife transducer can be changed, so that the resonance frequency is shifted. Because the matching circuit is fixed, the ultrasonic knife transducer can generate frequency detuning phenomenon when working for a long time. It is necessary to perform frequency tracking and adjust the frequency of the sinusoidal signal in real time to be close to the resonance frequency.
Disclosure of Invention
In order to solve the technical problem, the invention provides a frequency locking method for an ultrasonic surgical instrument transducer, which is characterized by comprising the following steps:
s1, initializing each module unit of a transducer, judging whether current in each circuit is in a normal range, and controlling a waveform generator to generate waveforms of control signals;
s2, sweep frequency detects the resonance point of the transducer, determines the no-load resonance frequency of the transducer, and simultaneously carries out tracking control of the resonance point;
s3, controlling a feedback circuit in the driving circuit to filter out high-frequency component signals through a control algorithm, and outputting a digital low-frequency direct current component;
and S4, fitting impedance by a least square method to obtain resonant frequency, and controlling and adjusting the output of the electric energy control module to lock the output frequency of the transducer on the resonant frequency.
Further, in step S1, whether a driving electric signal is generated is determined by detecting the connection state of the transducer, and the current of the transducer interface circuit is collected by a feedback circuit in the driving circuit, if the current is in the normal range, the transducer is connected and the state is good; the electric energy conversion unit converts the mechanical resonance frequency according to the minimum frequency to the maximum frequency of the frequency band of the transducer and controls the waveform generator to generate the waveform of the control signal.
Further, in step S2, capturing of the resonance working point is achieved through frequency sweep operation, the frequency sweep detection circuit is driven to continuously send a frequency sweep instruction, the frequency sweep instruction is made to perform frequency sweep operation with a step length of 0.1Hz in the working frequency range of the transducer, meanwhile, the amplitude and the phase of current and voltage in the transducer interface circuit under each frequency are recorded, and a frequency point with a phase difference of zero and the maximum power of the frequency sweep detection circuit is selected.
Further, in step S3, a feedback circuit is used to collect the voltage and current signals output by the transducer load, the collected voltage and current signals are subjected to mixing processing, the mixing signals are subjected to low-pass filtering, the high-frequency component signals are filtered, and the low-frequency direct current components are left; and carrying out AD conversion on the low-frequency direct current component, and outputting a value of the digitized low-frequency direct current component reflecting the phase difference by adopting a median average filtering method.
In step S4, one path of the digitized low-frequency direct current component signal is sent to the amplitude-phase detection circuit through the scanning detection circuit, the other path is fitted with impedance to obtain resonant frequency, the difference between the currently measured resonant frequency and the initially measured resonant frequency is calculated by comparison, and the output of the electric energy control module is controlled and adjusted by PID calculation to lock the output frequency of the transducer on the resonant frequency.
Further, the minimum impedance point is the resonance frequency center of the ultrasonic knife transducer; collecting phase detection signals through phase detection, calculating the phase difference between the sinusoidal signals of the ultrasonic knife transducer and the current sinusoidal signals in an interruption mode, and adjusting the frequency to lock the frequency; recording the frequency f of the sine signal at the point 0 The point is a resonance frequency point; frequency of use f 0 As the frequency input of the sine signal, the nth excitation is performed when the excitation time does not exceed a specific time threshold, and the resonance frequency f recorded n-1 times is referred to n-1 The method is used for frequency locking; and if the handle key is triggered within a specific time threshold, acquiring the resonance frequency point again.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the description of the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort to a person skilled in the art.
Fig. 1 is a frequency locking method for an ultrasonic surgical instrument transducer of the present invention.
Detailed Description
For the purposes of making the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.
In the drawings of the specific embodiments of the present invention, in order to better and more clearly describe the working principle of each element in the system, the connection relationship of each part in the device is represented, but only the relative positional relationship between each element is clearly distinguished, and the limitations on the signal transmission direction, connection sequence and the structure size, dimension and shape of each part in the element or structure cannot be constructed.
The ultrasonic surgical instrument transducer comprises an electric energy conversion unit, a micro control unit and an electric energy control module. The electric energy control module comprises a waveform generator, an amplifying circuit, a sweep frequency detection circuit and a driving circuit.
The electric energy conversion unit is used for converting electric energy into mechanical energy. For example, when an AC voltage is input, the power conversion unit may convert the input AC voltage into an ultrasonic mechanical signal.
The waveform generator is used for generating a waveform of the electronic signal. In particular, the waveform generator may generate a particular frequency with a continuous arbitrary voltage waveform on the graph over time.
The driving circuit controls the overall operation of the waveform generator. In particular, the drive circuit may control the operation of the waveform generator and the sweep detection circuit. The driving circuit changes the output frequency of the power control module to the mechanical resonance frequency of the power conversion unit.
When the driving circuit detects the mechanical resonance frequency of the power conversion unit using the impedance value according to the frequency, the output frequency of the power control module may be changed to the mechanical resonance frequency. Therefore, by changing the output frequency of the power control module to the mechanical resonance frequency of the power conversion unit without manipulation by a user, and according to the fluctuation energy of the mechanical resonance frequency of the power conversion unit, the maximum efficiency can be obtained.
As shown in fig. 1, the frequency locking method for the ultrasonic surgical instrument transducer of the present invention specifically comprises the following steps:
s1, initializing each module unit, judging whether the current in various circuits is in a normal range, and controlling a waveform generator to generate waveforms of control signals.
Initializing each module unit: after the switch power supply of the ultrasonic surgical instrument is connected with alternating current, the electric energy control module is electrified for each module unit, and the driving circuit changes the output frequency of the electric energy control module into the mechanical resonance frequency of the electric energy conversion unit.
Detecting the access and state of the transducer: judging whether a driving electric signal is generated or not by detecting the connection state of the transducer, collecting the current of the transducer interface circuit by a feedback circuit in the driving circuit, and if the current is in a normal range, the transducer is connected and has good state.
The electric energy conversion unit converts the mechanical resonance frequency from the minimum frequency to the maximum frequency of the frequency band of the transducer and controls the waveform generator to generate the waveform of the control signal.
S2, sweep frequency detects the resonance point of the transducer, determines the no-load resonance frequency of the transducer, and simultaneously carries out tracking control of the resonance point.
The sweep frequency detection circuit carries out sweep frequency detection of the resonance point of the transducer; if the current is not in the normal working range, the system is not connected to the transducer, the state is abnormal, corresponding information is prompted, and the transducer is waited to be inserted or replaced.
The process of scanning the resonance point of the detection transducer is as follows: the method comprises the steps of capturing a resonance working point through frequency sweep operation, driving a frequency sweep detection circuit to continuously send a frequency sweep instruction, enabling the frequency sweep instruction to be used as frequency sweep operation with a step length of 0.1Hz in the working frequency range of a transducer, simultaneously recording the amplitude and the phase of current and voltage in an interface circuit of the transducer under each frequency, selecting a frequency point with a phase difference of zero and the maximum power of the frequency sweep detection circuit, namely the no-load resonance frequency of the current transducer, enabling the transducer to work at the no-load resonance frequency after the frequency sweep detection is finished, and carrying out tracking control on the resonance point when the transducer is connected with a load.
And S3, controlling a feedback circuit in the driving circuit to filter the high-frequency component signal through a control algorithm, and outputting a digital low-frequency direct current component.
The feedback circuit is composed of a power matching inductance and a matching capacitance, and is sent to the electric energy conversion unit of the energy converter, and the electric energy conversion unit of the energy converter converts excitation electric energy into mechanical energy. Preferably, the resistor-capacitor circuit divided voltage signal and the current signal flowing through the transducer are sampled by hall sensors, respectively.
The driving circuit is used for driving the sweep frequency detection circuit to generate a high-frequency continuous sine wave signal with variable frequency, one bit of data information is input into the chip through a D7 pin when the rising edge of the W_CLK signal arrives, and when the 40 bits of control information is transmitted, a pulse is generated through the FQ_UD pin to update the output frequency and the phase, and the frequency-adjustable sine wave signal is generated and filtered through the passive low-pass filter network and then output.
And the amplifying circuit is used for carrying out adjustable power amplification on the high-frequency sine wave signal. The power amplified high frequency continuous sine wave signal drives the transducer to operate in continuous wave mode.
The method comprises the steps of utilizing a feedback circuit to collect voltage and current signals output by a transducer load, carrying out partial pressure collection processing on the voltage signals, converting the current signals into voltage signals through I/V (input/output) conversion to collect the voltage and current signals, carrying out frequency mixing processing on the collected voltage and current signals, carrying out low-pass filtering on the output obtained frequency mixing signals, filtering out high-frequency component signals, and remaining low-frequency direct current components.
And sending the low-frequency direct current component into an electric energy conversion unit for AD conversion, adopting a median average filtering method, removing m1 minimum values and m2 maximum values from the acquired N data, and finally averaging the intermediate N-m1-m2 values to output the value of the digital low-frequency direct current component with the reactive phase difference.
And S4, fitting impedance by a least square method to obtain resonant frequency, and controlling and adjusting the output of the electric energy control module to lock the output frequency of the transducer on the resonant frequency.
One path of the digitized low-frequency direct current component signal passes through a scanning detection circuit, and whether the ultrasonic transducer is connected and damaged is judged by scanning the maximum value of the resonant current.
The other path of the digital low-frequency direct current component signal is sent to an amplitude-phase detection circuit and is converted into an amplitude ratio and a phase difference signal of voltage and current signals, the amplitude ratio and the phase difference signal are converted by an analog/digital converter and then enter a micro-control unit, impedance is fitted by a least square method in a coordinate system, and then resonant frequency f is obtained s 。
Comparing the currently measured resonant frequency with the initially measured f s0 And (3) calculating a control output quantity through PID, and controlling and adjusting the output of the electric energy control module to lock the output frequency on the resonant frequency.
The specific process is that an ultrasonic surgical instrument is started, a handle key is pressed, and the first excitation of an ultrasonic knife transducer is realized; the micro control unit is used for controlling and generating a sine signal in a specific frequency range and stepping the frequency of the sine signal in unit time; the micro-control unit collects the voltage sine signal peak value and the current sine signal peak value of the ultrasonic knife transducer output by the voltage detection circuit; when the minimum impedance point is calculated, the minimum impedance point is the resonance frequency center of the ultrasonic knife transducer; the micro control unit acquires phase detection signals through phase detection, calculates the phase difference between the sinusoidal signals of the ultrasonic knife transducer and the current sinusoidal signals in an interruption mode, and adjusts the frequency to lock the frequency; recording the frequency f of the sine signal at the point 0 I.e. the resonance frequency point; triggering a handle key in a specific time threshold; frequency of use f 0 As the frequency input of the sine signal, the frequency input is made to be close to the resonance frequency rapidly, and the nth excitation is performed when the excitation time does not exceed a specific time threshold value by analogy, and the resonance frequency f recorded n-1 times is referred to n-1 The method is used for frequency locking; triggering a handle key if the specific time threshold is exceeded; the resonance frequency point is retrieved from the memory.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present disclosure describes embodiments, not every embodiment is provided with a separate embodiment, and that this description is provided for clarity only, and that the disclosure is not limited to the embodiments described in detail below, and that the embodiments described in the examples may be combined as appropriate to form other embodiments that will be apparent to those skilled in the art.
Claims (6)
1. A method of frequency locking for an ultrasonic surgical instrument transducer, comprising the steps of:
s1, initializing each module unit of a transducer, judging whether current in each circuit is in a normal range, and controlling a waveform generator to generate waveforms of control signals;
s2, sweep frequency detects the resonance point of the transducer, determines the no-load resonance frequency of the transducer, and simultaneously carries out tracking control of the resonance point;
s3, controlling a feedback circuit in the driving circuit to filter out high-frequency component signals through a control algorithm, and outputting a digital low-frequency direct current component;
and S4, fitting impedance by a least square method to obtain resonant frequency, and controlling and adjusting the output of the electric energy control module to lock the output frequency of the transducer on the resonant frequency.
2. The frequency locking method according to claim 1, wherein in step S1, whether a driving electric signal is generated is determined by detecting the switch-on state of the transducer, and the current of the transducer interface circuit is collected by a feedback circuit in the driving circuit, and if the current is in a normal range, the transducer is switched on and the state is good; the electric energy conversion unit converts the mechanical resonance frequency according to the minimum frequency to the maximum frequency of the frequency band of the transducer and controls the waveform generator to generate the waveform of the control signal.
3. The method according to claim 1, wherein in step S2, capturing of the resonance operating point is achieved through a sweep operation, the sweep frequency detection circuit is driven to continuously send a sweep frequency command, the sweep frequency command is made to perform a sweep frequency operation with a step length of 0.1Hz in the working frequency range of the transducer, the amplitude and the phase of the current and the voltage in the transducer interface circuit are recorded at each frequency, and the frequency point with a zero phase difference and the maximum power of the sweep frequency detection circuit is selected.
4. The frequency locking method according to claim 1, wherein in step S3, the feedback circuit is used to collect the output voltage and current signals of the transducer load, the collected voltage and current signals are subjected to mixing processing, the mixing signals are subjected to low-pass filtering, the high-frequency component signals are filtered, and the low-frequency direct current components are left; and carrying out AD conversion on the low-frequency direct current component, and outputting a value of the digitized low-frequency direct current component reflecting the phase difference by adopting a median average filtering method.
5. The frequency locking method according to claim 1, wherein in step S4, one path of the digitized low-frequency direct current component signal is sent to the amplitude-phase detection circuit through the scanning detection circuit, the other path is sent to the amplitude-phase detection circuit, impedance is fitted to obtain a resonant frequency, a difference value between the currently measured resonant frequency and the initially measured resonant frequency is calculated by comparing, a control output quantity is calculated by PID, and the output of the electric energy control module is controlled and adjusted to lock the output frequency of the transducer on the resonant frequency.
6. The method of claim 5, wherein the minimum impedance point is the center of the resonant frequency of the ultrasonic blade transducer; collecting phase detection signals through phase detection, calculating the phase difference between the sinusoidal signals of the ultrasonic knife transducer and the current sinusoidal signals in an interruption mode, and adjusting the frequency to lock the frequency; recording the frequency f of the sine signal at the point 0 The point is a resonance frequency point; frequency of use f 0 As the frequency input of the sine signal, the nth excitation is performed when the excitation time does not exceed a specific time threshold, and the resonance frequency f recorded n-1 times is referred to n-1 The method is used for frequency locking; and if the handle key is triggered within a specific time threshold, acquiring the resonance frequency point again.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311780143.4A CN117653283A (en) | 2023-12-22 | 2023-12-22 | Frequency locking method for ultrasonic surgical instrument transducer |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311780143.4A CN117653283A (en) | 2023-12-22 | 2023-12-22 | Frequency locking method for ultrasonic surgical instrument transducer |
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| CN117653283A true CN117653283A (en) | 2024-03-08 |
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| CN202311780143.4A Pending CN117653283A (en) | 2023-12-22 | 2023-12-22 | Frequency locking method for ultrasonic surgical instrument transducer |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117982204A (en) * | 2024-04-02 | 2024-05-07 | 北京速迈医疗科技有限公司 | Method, device, equipment and medium for determining control parameters of ultrasonic surgical system |
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2023
- 2023-12-22 CN CN202311780143.4A patent/CN117653283A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117982204A (en) * | 2024-04-02 | 2024-05-07 | 北京速迈医疗科技有限公司 | Method, device, equipment and medium for determining control parameters of ultrasonic surgical system |
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