WO2021027314A1 - 一种超声刀谐振频率跟踪自动复位方法及其设备 - Google Patents
一种超声刀谐振频率跟踪自动复位方法及其设备 Download PDFInfo
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- WO2021027314A1 WO2021027314A1 PCT/CN2020/086064 CN2020086064W WO2021027314A1 WO 2021027314 A1 WO2021027314 A1 WO 2021027314A1 CN 2020086064 W CN2020086064 W CN 2020086064W WO 2021027314 A1 WO2021027314 A1 WO 2021027314A1
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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
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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
- A61B2017/00017—Electrical control of surgical instruments
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B2560/00—Constructional details of operational features of apparatus; Accessories for medical measuring apparatus
- A61B2560/02—Operational features
- A61B2560/0266—Operational features for monitoring or limiting apparatus function
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- the invention relates to a frequency tracking automatic reset method and its equipment, in particular to an ultrasonic knife resonant frequency tracking automatic reset method and its equipment.
- the force applied by the user is different, and there is a large inconsistency and uncontrollable.
- the vibration damping of the knife head is too large.
- the loading capacity of the ultrasonic knife is exceeded, the output effect becomes worse.
- the vibration damping of the knife head is too large, it is easy to cause the resonance frequency to rise rapidly. Once the resonance frequency exceeds the frequency bandwidth range that the ultrasonic vibration system can track, the machine will alarm and stop working. It is necessary to re-sweep and lock the frequency. If this process is repeated, it will cause difficulty in cutting or low cutting efficiency.
- the operator is prompted that the damping of the ultrasonic knife head is too large, and the ultrasonic knife drive system is given the initial resonance frequency of the ultrasonic knife vibration system again;
- the inverter circuit is a passive voltage type inverter circuit.
- microcontroller is an STM32 type single-chip microcomputer.
- the digital signal processor is a DSP processor.
- the present invention can avoid the operator's instantaneous or continuous application of vertical pressure or excessive longitudinal pressure to the tool head of the ultrasonic knife, so that the vibration damping of the tool head of the ultrasonic knife is too large, causing the working resonance frequency to exceed the set maximum frequency , Leading to the problem of downtime; the present invention can obtain the best resonant frequency or the resonant frequency near the best by sweeping the frequency at the beginning of work, and endow the ultrasonic knife vibration system to continue working without re-scanning and locking.
- the present invention solves the shortcomings that the frequency is lost when the traditional ultrasonic knife works, which causes repeated stoppage of work.
- the present invention can avoid that when the working resonance frequency exceeds the frequency bandwidth range, some devices continue to output energy without stopping work, causing severe heating of the drive module and transducer, and poor output effect, and even damage to the drive module, power amplifier module and replacement The energy device situation appears.
- the initial resonant frequency assigned to the ultrasonic knife vibration system of the ultrasonic knife drive system is specifically:
- the bandwidth range of the ultrasonic knife drive system means that the follow frequency of the ultrasonic knife drive system is limited by the internal oscillation circuit of the ultrasonic knife drive system.
- the follow frequency of the ultrasonic knife drive system cannot increase or decrease indefinitely, making the ultrasonic knife drive system
- the frequency has a maximum value and a minimum value. Between the maximum frequency and the minimum frequency of the ultrasonic knife drive system, it is called the bandwidth of the ultrasonic knife drive system.
- the ultrasonic knife includes an ultrasonic knife drive system and an ultrasonic knife vibration system.
- the ultrasonic knife vibration system is composed of a transducer, an horn and a cutter head.
- the transducer and the horn are collectively referred to as an ultrasonic knife vibrator.
- the ultrasonic knife vibrator consists of a pre-tightening screw. Fixed, the transducer converts the electrical energy of the power supply into mechanical energy of vibration, the horn amplifies the displacement or speed of mechanical vibration by concentrating ultrasonic energy on a small area, and the cutter head radiates sound energy; the shape of the jaw or cutter head is According to the surgical method and surgical requirements.
- the following frequency of the ultrasonic knife drive system cannot be increased indefinitely.
- the working resonance frequency of the knife vibration system 5 exceeds the maximum frequency value of the internal oscillation circuit of the ultrasonic knife drive system
- the follow frequency of the ultrasonic knife drive system cannot reach the working resonance frequency of the ultrasonic knife vibration system 5, which will greatly reduce the working efficiency of the ultrasonic knife. In severe cases, the ultrasonic knife vibration system and oscillation circuit will be damaged.
- an ultrasonic knife device includes a microcontroller 2, a digital signal processor 3, a touch screen 1, and an inverter circuit 4.
- the microcontroller 2 implements a serial port with the digital signal processor 3 and the touch screen 1 respectively Communication
- the digital signal processor 3 is connected with the ultrasonic knife vibration system 5 through the inverter circuit 4
- the ultrasonic knife vibration system 5 is connected with the ultrasonic knife current sensor 6, the ultrasonic knife voltage sensor 7 and the current voltage phase difference sensor 8 for monitoring the ultrasonic The current, power supply, and the phase difference between the current and the voltage of the knife vibration system 5.
- the touch screen 1 controls the microcontroller 2 to send a start-up command to the digital signal processor 3, and the digital signal processor 3 outputs a PWM signal corresponding to the initial resonance frequency to the inverter circuit 4;
- the inverter circuit 4 outputs an excitation drive signal of a corresponding frequency to drive the ultrasonic knife vibration system 5 to work;
- the working resonance frequency of the ultrasonic knife vibration system is consistent with the follow frequency of the ultrasonic knife drive system. If the working resonance frequency of the ultrasonic knife vibration system 5 exceeds the maximum frequency of the ultrasonic knife drive system, the digital signal processor 3 The controller sends information, and the microcontroller 2 prompts an alarm through the touch screen 1, prompting the operator to reduce the pressure on the ultrasonic knife head or cancel the pressure on the ultrasonic knife head, and the digital signal processor 3 accepts the current of the ultrasonic knife vibration system 5, The phase difference between voltage and current and voltage to obtain the working resonance frequency of the ultrasonic knife vibration system;
- the microcontroller 2 controls the digital signal processor 3 to re-endow the initial resonance frequency of the ultrasonic knife drive system;
- the working resonance frequency of the ultrasonic knife vibration system 5 is within the frequency bandwidth of the ultrasonic knife drive system, generally within ⁇ 500HZ of the center frequency of the internal oscillation circuit of the ultrasonic knife drive system, to ensure the maximum working efficiency of the ultrasonic knife;
- the working resonance frequency of the ultrasonic knife vibration system 5 will rise. If excessive pressure is continuously applied to the ultrasonic knife head, the working resonance frequency of the ultrasonic knife vibration system 5 will exceed that of the ultrasonic knife drive system.
- the frequency range that is, beyond the upper limit frequency of the ultrasonic knife drive system, the traditional ultrasonic knife equipment will cause the frequency of the ultrasonic knife drive system to be lost, and the ultrasonic knife vibration system 5 cannot work normally; in this application, when the ultrasonic knife vibration system 5 works
- the microcontroller 2 sends an alarm through the touch screen 1 to remind the operator to reduce the pressure on the ultrasonic knife head or cancel the pressure on the ultrasonic knife head to make the ultrasonic knife head
- the damping is reduced or zero;
- the digital signal processor 3 is controlled to re-assign the ultrasonic knife drive system to the initial resonance frequency of the ultrasonic knife vibration system 5, or the frequency near the initial resonance frequency of the ultrasonic knife vibration system 5; when the operator starts to reduce the When the pressure of the ultrasonic knife head or the pressure of the ultrasonic knife head is canceled, the frequency of the ultrasonic knife drive system is already inconsistent with the working resonance frequency of the ultra
- the current and voltage phases of the ultrasonic knife vibration system 5 are adjusted so that the follow frequency of the ultrasonic knife drive system is consistent with the working resonance frequency of the vibration system 5, and the energy output is not stopped.
- the working resonance frequency of the ultrasonic knife vibration system 5 can quickly return to the frequency bandwidth of the ultrasonic knife driving system, and it will hardly affect the operation of the operator.
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- Life Sciences & Earth Sciences (AREA)
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- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
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Abstract
本发明公开了一种超声刀谐振频率跟踪自动复位方法及其设备,具体步骤为:通过扫频获取超声刀振动***的起始谐振频率;实时监控超声刀振动***的工作谐振频率;若超声刀振动***的工作谐振频率超出超声刀驱动***跟随频率的最大值,提示操作者超声刀的刀头阻尼过大,重新赋予超声刀驱动***起始谐振频率或超声刀振动***起始谐振频率的附近频率;减小刀头阻尼,使工作谐振频率重新回到超声刀驱动***的频宽范围内;调整超声刀振动***的电压和电流,使得超声刀驱动***的跟随频率与超声刀振动***的工作谐振频率重新保持一致。并公开了一种超声刀设备,主要用于防止超声刀设备的谐振频率过大造成超声刀设备反复停止工作,保证超声刀的工作效率。
Description
本发明涉及一种频率跟踪自动复位方法及其设备,具体涉及一种超声刀谐振频率跟踪自动复位方法及其设备。
使用超声刀设备时,使用者施加的力度都不一样,且存在较大的不一致性且不可控。当使用者对超声刀的钳口施加的垂直压力或对骨性刀头施加的纵向压力过大,导致刀头振动阻尼过大,当超出超声刀带载能力时,输出效果变差。传统带有频率跟踪的超声刀在使用过程中,如果刀头振动阻尼过大,容易导致谐振频率迅速上升,一旦谐振频率超出超声振动***能够跟踪的频宽范围后,机器会报警并停止工作,需要重新进行扫频和锁定频率,这一过程如果反复,就会造成切入困难,或者切入效率低下。
发明内容
针对现有技术的不足,本发明的目的旨在提供一种超声刀谐振频率跟踪自动复位方法及其设备,避免由于操作者的瞬时或持续对钳口施加的垂直压力或对骨性刀头施加的纵向压力过大,从而使刀头振动阻尼过大,造成频率超过跟踪范围,导致停机的问题,解决了传统超声刀工作时频率丢失,反复停止工作的缺点。
为实现上述目的,本发明采用如下技术方案:
一种超声刀谐振频率跟踪自动复位方法,具体步骤为:
获取超声刀振动***的起始谐振频率;
实时监控超声刀振动***的工作谐振频率,并判断超声刀振动***的工作谐 振频率与超声刀驱动***的跟随频率是否一致;
若超声刀振动***的工作谐振频率超出超声刀驱动***跟随频率的最大值,提示操作者超声刀的刀头阻尼过大,重新赋予超声刀驱动***超声刀振动***的起始谐振频率;
减小刀头阻尼,超声刀振动***的工作谐振频率回到超声刀驱动***的频宽范围;
调整超声刀振动***的电流和电压的相位,使得超声刀驱动***的跟随频率与超声刀振动***的工作谐振频率重新保持一致。
进一步地,所述实时监控超声刀振动***的工作谐振频率,并判断超声刀振动***的工作谐振频率与超声刀驱动***的跟随频率是否一致,具体为:超声刀工作时,超声刀驱动***的跟随频率一直与超声刀振动***的工作谐振频率保持一致,使得超声刀的工作效率达到最大。
进一步地,所述重新赋予超声刀驱动***超声刀振动***的起始谐振频率具体为:当超声刀振动***的工作谐振频率超出超声刀驱动***跟随频率的最大值时,重新赋予超声刀驱动***超声刀振动***的起始谐振频率,即超声刀驱动***按照超声刀振动***的起始谐振频率或超声刀振动***起始谐振频率的附近频率输出。
一种超声刀设备,使用上述频率自动复位方法,包括微控制器、数字信号处理器、触摸屏和无源电压型逆变电路,所述微控制器分别与所述数字信号处理器和所述触摸屏实现串口通讯,所述数字信号处理器通过逆变电路与超声刀振动***连接,所述超声刀振动***与超声刀电流传感器、超声刀电压传感器和电流电压相位差传感器连接,用于监控超声刀振动***的电流、电源及其相位差。
进一步地,所述逆变电路为无源电压型逆变电路。
进一步地,所述微控制器为STM32型单片机。
进一步地,所述数字信号处理器为DSP处理器。
本发明的有益效果在于:
1.本发明能够避免由于操作者的瞬时或持续对超声刀的刀头施加垂直压力或纵向压力过大,从而使超声刀的刀头振动阻尼过大,造成工作谐振频率超过设定的最大频率,导致停机的问题;本发明能够从开始工作时扫频获得的最佳谐振频率或最佳附近的谐振频率,赋予超声刀振动***继续工作,而无需重新扫频锁定。
2.本发明解决了传统超声刀工作时频率丢失,导致反复停止工作的缺点。
3.本发明解决了刀头振动阻尼过大,超声刀振动***的工作谐振频率超出超声刀驱动***的频宽范围,当减小刀头振动阻尼后,超声刀振动***回到超声刀驱动***的频宽范围后,而超声刀驱动***无法跟随回到频宽范围的缺点。
4.本发明能够避免工作谐振频率超出频宽范围时,部分设备采用不停止工作继续输出能量,引起驱动模块和换能器严重发热,且输出效果变差,甚至损害驱动模块、功放模块和换能器的情况出现。
5.本发明能够保证超声刀在设定的最佳频宽范围内,连续高效工作,最大限度避免机器超范围工作,而损坏换能器、驱动模块和超声刀杆。
图1为本发明的超声刀设备的结构框图;
图2为本发明的方法流程图.。
图标记:1.触摸屏;2.微控制器;3.数字信号处理器;4.逆变电路;5.超声刀振动***;6.超声刀电流传感器;7.超声刀电压传感器;8.电路电压相位差传感器。
下面,结合附图以及具体实施方式,对本发明做进一步描述:
实施例一
如图2所示,一种超声刀谐振频率跟踪自动复位方法及,具体步骤为:
S1:扫频获取超声刀振动***的起始谐振频率;
S2:实时监控超声刀振动***的工作谐振频率,并判断超声刀振动***的工作谐振频率与超声刀驱动***的跟随频率是否一致;超声刀工作时,超声刀驱动***的跟随频率一直与超声刀振动***的工作谐振频率保持一致,使得超声刀的工作效率达到最大;
S3:若超声刀振动***的工作谐振频率超出超声刀驱动***跟随频率的最大值,提示操作者超声刀的刀头阻尼过大,重新赋予超声刀驱动***超声刀振动***的起始谐振频率;
S4:超声刀刀头阻尼减小或超声刀刀头阻尼为零,超声刀振动***的工作谐振频率回到超声刀驱动***的频宽范围;
S5:调整超声刀振动***的电流和电压的相位,使得超声刀驱动***的跟随频率,当检测到超声刀振动***的工作谐振频率位于超声刀驱动***的频宽范围内时与超声刀振动***的工作谐振频率重新保持一致。
所述重新赋予超声刀驱动***超声刀振动***的起始谐振频率具体为:
当超声刀振动***的工作谐振频率回到超声刀驱动***的频宽范围时,超声刀驱动***按照超声刀振动***的起始谐振频率或超声刀振动***起始谐振频率的附近频率输出。
超声刀驱动***的频宽范围是指超声刀驱动***的跟随频率受到超声刀驱 动***内部振荡电路的局限性,超声刀驱动***的跟随频率无法无限往上提升或无限下降,使得超声刀驱动***的频率具有一个最大值和一个最小值,在超声刀驱动***的最大频率和最小频率之间,称为超声刀驱动***的频宽。
实施例二
超声刀包括超声刀驱动***和超声刀振动***,超声刀振动***由换能器、变幅杆和刀头组成,换能器和变幅杆统称为超声刀振子,超声刀振子由预紧螺钉固定,换能器将电源的电能转换为振动的机械能,变幅杆通过将超声能量聚集到较小面积上来放大机械振动的位移或速度,刀头辐射声能;钳口或者刀头的形状是根据手术方法和手术需求制定。
超声刀在工作时,超声刀振动***5有一个属性是工作谐振频率,但该属性不是一个固定值,当温度发生变化,或者刀杆发生形变时,超声刀振动***5的工作谐振频率都将发生变化;当对超声刀的刀头施加压力时,超声刀振动***5的工作谐振频率上升,超声刀驱动***将跟随超声刀振动***5的工作谐振频率自动提升跟随频率,使得超声刀驱动***的跟随频率与超声刀振动***5的工作谐振频率一致;但超声刀驱动***的跟随频率受到超声刀驱动***内部振荡电路的局限性,超声刀驱动***的跟随频率无法无限往上提升,如果超声刀振动***5的工作谐振频率超出超声刀驱动***内部振荡电路的最大频率值时,超声刀驱动***的跟随频率无法达到超声刀振动***5的工作谐振频率,使得超声刀工作效率将大大降低,严重时将损坏超声刀振动***和振荡电路。
如图1所示,一种超声刀设备,包括微控制器2、数字信号处理器3、触摸屏1和逆变电路4,所述微控制器2分别与数字信号处理器3和触摸屏1实现串口通讯,数字信号处理器3通过逆变电路4与超声刀振动***5连接,超声刀振 动***5与超声刀电流传感器6、超声刀电压传感器7和电流电压相位差传感器8连接,用于监控超声刀振动***5的电流、电源及电流与电压的相位差。
使用上述频率自动复位方法的超声刀设备,具体工作过程为:
启动超声刀设备,通过触摸屏1控制微控制器2给数字信号处理器3发送扫频命令,数字信号处理器3对超声刀振动***进行扫频,获得超声刀振动***5的起始谐振频率;
通过触摸屏1控制微控制器2给数字信号处理器3发送启动工作命令,数字信号处理器3输出与起始谐振频率相应的PWM信号至逆变电路4;
逆变电路4输出相应频率的激励驱动信号驱动超声刀振动***5工作;
超声刀电流传感器6、超声刀电压传感器7和电流电压相位差传感器8实时监控超声刀振动***5的电流、电压和电流电压相位差上传给数字信号处理器3;数字信号处理器3经过分析超声刀振动***的电流、电压和电流电压相位差获得超声刀振动***的工作谐振频率,并进行监控;
超声刀工作时,超声刀振动***的工作谐振频率与超声刀驱动***的跟随频率保持一致,若超声刀振动***5的工作谐振频率超出超声刀驱动***的最大频率,数字信号处理器3向微控制器发送信息,微控制器2通过触摸屏1提示报警,提示操作者减轻超声刀刀头的压力或取消对超声刀刀头施加压力,数字信号处理器3绩效接受超声刀振动***5的电流、电压和电流电压相位差,获得超声刀振动***的工作谐振频率;
微控制器2控制数字信号处理器3重新赋予超声刀驱动***起始谐振频率;
减轻超声刀刀头的压力或取消对超声刀刀头施加压力,使得超声刀振动***的工作谐振频率回到超声刀驱动***的频宽范围内,通过调整超声刀振动***的 电流和电压相位,使超声刀驱动***的跟随频率与超声刀振动***5的工作谐振频率保持一致。
超声刀振动***5的工作谐振频率在超声刀驱动***的频宽范围内,一般处于超声刀驱动***内部振荡电路中心频率的±500HZ,才能保证超声刀的工作效率最大;当操作者对超声刀刀头施加的压力过大时,超声刀振动***5的工作谐振频率就会上升,若一直持续给超声刀刀头施加过大压力,超声刀振动***5的工作谐振频率超出超声刀驱动***的频宽范围,即超出超声刀驱动***的上限频率,传统的超声刀设备会造成超声刀驱动***的频率丢失,超声刀振动***5无法正常工作;本申请中,当超声刀振动***5的工作谐振频率上升到超声刀驱动***的上限频率时,微控制器2通过触摸屏1发出报警提示,提示操作者减轻对超声刀刀头施加压力或取消掉超声刀刀头的压力,使超声刀刀头阻尼减小或为0;控制数字信号处理器3重新赋予超声刀驱动***超声刀振动***5的起始谐振频率,或超声刀振动***5起始谐振频率的附近频率;当操作者开始减轻对超声刀刀头的压力或取消掉超声刀刀头的压力时,超声刀驱动***的频率已经与超声刀振动***5的工作谐振频率不一致,无法对超声刀振动***5的工作谐振频率进行跟随;当提示操作者减轻对超声刀刀头施加压力或取消掉超声刀刀头的压力,从而超声刀的刀头阻尼减小或为零,超声刀振动***的工作谐振频率回到超声刀驱动***的频宽范围内,调整超声刀振动***5的电流和电压相位使得超声刀驱动***的跟随频率与振动***5的工作谐振频率一致,不停止能量的输出。如此反复上述过程,超声刀振动***5的工作谐振频率能够快速回到超声刀驱动***的频宽范围内,几乎不会影响操作者的操作。
对本领域的技术人员来说,可根据以上描述的技术方案以及构思,做出其它 各种相应的改变以及形变,而所有的这些改变以及形变都应该属于本发明权利要求的保护范围之内。
Claims (6)
- 一种超声刀谐振频率跟踪自动复位方法,其特征在于,具体步骤为:获取超声刀振动***的起始谐振频率;实时监控超声刀振动***的工作谐振频率,并判断超声刀振动***的工作谐振频率与超声刀驱动***的跟随频率是否一致;若超声刀振动***的工作谐振频率超出超声刀驱动***跟随频率的最大值,提示操作者超声刀的刀头阻尼过大,重新将超声刀振动***的起始谐振频率赋予超声刀驱动***;减小刀头阻尼,使超声刀振动***的工作谐振频率回到超声刀驱动***的频宽范围;调整超声刀振动***的电流和电压的相位,使得超声刀驱动***的跟随频率与超声刀振动***的工作谐振频率重新保持一致。
- 如权利要求1所述的一种超声刀谐振频率跟踪自动复位方法,其特征在于,所述实时监控超声刀振动***的工作谐振频率,并判断超声刀振动***的工作谐振频率与超声刀驱动***的跟随频率是否一致,具体为:超声刀工作时,超声刀驱动***的跟随频率一直与超声刀振动***的工作谐振频率保持一致,使得超声刀的工作效率达到最大。
- 如权利要求1所述的一种超声刀谐振频率跟踪自动复位方法,其特征在于,所述重新赋予超声刀驱动***超声刀振动***的起始谐振频率具体为:当超声刀振动***的工作谐振频率超出超声刀驱动***跟随频率的最大值,重新将超声刀振动***的起始谐振频率赋予超 声刀驱动***,即超声刀驱动***按照超声刀振动***的起始谐振频率或超声刀振动***起始谐振频率的附近频率输出。
- 一种超声刀设备,其特征在于,使用权利要求1或2或3所述的一种超声刀谐振频率跟踪自动复位方法,包括微控制器、数字信号处理器、触摸屏和无源电压型逆变电路,所述微控制器分别与所述数字信号处理器和所述触摸屏实现串口通讯,所述数字信号处理器通过逆变电路与超声刀振动***连接,所述超声刀振动***与超声刀电流传感器、超声刀电压传感器和电流电压相位差传感器连接,用于监控超声刀振动***的电流、电源及其相位差。
- 如权利要求4所述的一种超声刀设备,其特征在于,所述微控制器为STM32型单片机。
- 如权利要求4所述的一种超声刀设备,其特征在于,所述数字信号处理器为DSP处理器。
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