CN110897683A - Multi-output minimally invasive surgical instrument based on active disturbance rejection control and control method thereof - Google Patents
Multi-output minimally invasive surgical instrument based on active disturbance rejection control and control method thereof Download PDFInfo
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Abstract
The invention relates to a multi-output minimally invasive surgical instrument based on active disturbance rejection control and a control method thereof, and provides a multi-output minimally invasive surgical instrument with an ADRC active disturbance rejection frequency controller, which observes the phase change of a cutter at a resonance working point in real time through a tracking differentiator and an extended state observer, realizes instant working frequency control by combining a state error feedback control law with disturbance compensation, realizes instant response, instant compensation control and instant tracking, and ensures the high-precision operation and the reliability of a surgical system; meanwhile, an ADRC active disturbance rejection control algorithm is applied, the final control quantity comprises a feedforward control quantity, a compensation control quantity and a feedback control quantity, the decoupling and internal and external disturbance estimation supplementing capabilities are strong, the response is quick, the error is small, and the high-precision real-time control of the frequency is realized.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a multi-output minimally invasive surgical instrument based on active disturbance rejection control and a control method thereof.
Background
The high and new technology in the field of medical appliances is intensively applied, and has the characteristic of technology cross integration application. The scalpel is an indispensable tool for surgical operation, and plays an extremely important role in the whole operation process. The ultrasonic knife system and the radio frequency knife system are used as two kinds of operation equipment systems with minimum global trauma, and have great reverberation in the medical field due to good medical effects of less bleeding during operation, quick recovery after operation and the like.
The ultrasonic blade system comprises a host machine, a handle, an ultrasonic transducer, an ultrasonic energy amplifier, an ultrasonic energy conduction part and a cutter. The handle controls the ultrasonic transducer to convert the electric energy of the host machine into ultrasonic oscillation, the amplitude of the energy oscillation is amplified by the ultrasonic energy amplifier and is transmitted to the cutter by the ultrasonic energy transmission part, the cutter vibrates at the amplitude of 55.5KHZ to generate instant low pressure, water in the tissue is vaporized under the action of cavitation effect, protein is solidified by breaking protein hydrogen bonds, and the cell rupture tissue is opened or dissociated and seals small vessels; simultaneously, the vibration of the cutter also generates secondary energy to coagulate deep protein to seal large vessels. The ultrasonic scalpel has the advantages that no current passes through the body of a patient in application, tissue eschar and low drying degree in the using process are achieved, accurate cutting under the minimal thermal injury can be achieved, the amount of smoke generated in the cutting process is extremely small, meanwhile, the ultrasonic scalpel has the functions of cutting, dissociating, stopping bleeding and the like, and the clinical advantage is obvious.
The radio frequency knife system adopts radio frequency electric waves with higher working frequency (1.5 MHZ-4.5 MHZ) to carry out high-frequency stable output, emitter cutters with different shapes directionally emit the radio frequency electric waves, after the radio frequency electric waves contact body tissues, the tissues generate impedance, water molecules in target tissues are instantly oscillated and vaporized under the action of the radio frequency electric waves, cells are broken and evaporated, and the functions of cutting, hemostasis, mixed cutting, electrocautery, ablation, electrocoagulation and the like are realized under the low-temperature constant-temperature state of 40 ℃. The emitter electrode has the advantages of high cutting speed, good hemostatic effect, fine incision, small heat injury and no carbonization or smoke at low temperature, and is very suitable for minimally invasive surgery.
With the increasing medical level, the ultrasonic radio frequency knife system is combined and applied in minimally invasive surgery according to the clinical characteristics of the ultrasonic knife system and the radio frequency knife system, so that the ultrasonic radio frequency minimally invasive surgery knife system with double output and even multiple output power is formed. In a double-output and multi-output ultrasonic radio frequency minimally invasive scalpel system, the cutter frequency and the cutter power need to be accurately controlled through an additional mechanism, so that the precise and timely control of the cutter output frequency and power is ensured, and the control precision of minimally invasive surgery is improved.
However, in the traditional method for tracking the working frequency and power of the cutter of the ultrasonic radio frequency minimally invasive surgery system, the accurate tracking control of the output power is generally realized by a PID control algorithm, the reference power is used as the input of the control system, the power is calculated by using the amplitude values of the acquired voltage and current as feedback information, and the accurate control of the power is realized by reducing the deviation value after being compared with the reference input; because the response speed of the PID control algorithm to the system input interference is low and the compensation control cannot be achieved in time, the real-time tracking of the working frequency has obvious defects, and the surgical system generally has the defects of low precision and low reliability, and further improvement and perfection are urgently needed.
Disclosure of Invention
The invention provides a multi-output minimally invasive surgical instrument based on active disturbance rejection control and a control method thereof, and further realizes the real-time control of the working frequency of the multi-output minimally invasive surgical instrument, in order to solve the technical problems that the response speed of the PID control algorithm applied to the input disturbance variable of the system in the traditional ultrasonic radio frequency minimally invasive surgical system cutter working frequency and power tracking is slow, the compensation control cannot be carried out in time, and the real-time performance of the working frequency tracking is insufficient, namely the precision and the reliability of a surgical system are low.
In order to solve the technical problems, the invention provides the following technical scheme:
a multi-output minimally invasive surgical tool based on active disturbance rejection control comprises a cutter and an ADRC controller; the cutter is an ultrasonic cutter or a radio frequency cutter;
the ultrasonic cutter is connected with the ultrasonic transducer to convert electric power input through the connecting handle into mechanical power, namely ultrasonic waves are transmitted through the cutter head;
the radio frequency cutter is a bipolar output radio frequency cutter or a monopolar output radio frequency cutter; the bipolar output radio frequency cutter is in a clip shape, and two end faces of the clip are respectively used as an output positive electrode and an output negative electrode so as to realize bipolar output; the single-pole output radio frequency cutter is a rod-shaped output anode, and simultaneously forms a loop by taking an externally-connected neutral polar plate as an output cathode;
the cutter is electrically connected with the ADRC controller through a cutter interface; according to the different types of the connecting cutters, the cutter interfaces have different shapes, the degree of matching of the connecting cutters is improved, and the use safety and the service life are guaranteed.
The ADRC controller includes:
the tracking differentiator is used for receiving the target phase difference of the cutter at the resonance working point and outputting a tracking signal, wherein the tracking signal is the change speed of the phase difference and the change rate of the phase difference;
the extended state observer is used for receiving the actual phase difference of the cutter at the resonance working point and outputting an extended signal, observing the real-time disturbance of the cutter at the resonance working point and outputting disturbance compensation, wherein the extended signal is the change speed of the phase and the change rate of the phase;
a state error feedback control law which receives the contrast variable of the tracking signal and the expansion signal and outputs a state signal;
and the direct digital frequency synthesizer is used for receiving the mixed phase value of the state signal after the disturbance compensation, outputting a digital sine wave amplitude to a connecting circuit of the cutter interface, and outputting the actual phase difference of the cutter at the resonance working point to the extended state observer.
Further, the cutter is also provided with an ID chip. By setting the ID mutual authentication process, the connected cutter type is immediately confirmed in the process of connecting the cutter with the handle, so that the use accident is avoided, and the encryption performance and the use safety performance of the instrument are improved.
The control method of the multi-output minimally invasive surgical instrument comprises the following steps of S1-S7:
s1: the cutter is connected with the handle through a cutter interface, and the cutter is one of an ultrasonic cutter, a bipolar output radio frequency cutter or a monopolar output radio frequency cutter;
s2: the comparator collects and compares voltage and current waves generated when the cutter works and outputs a voltage square wave signal and a current square wave signal, and the microcontroller captures the voltage square wave signal and the current square wave signal to calculate and outputs the rising edge time t of the voltage square wave signal1And the rising edge time t of the current square wave signal2Outputting a target phase value delta t and an actual phase difference y when the cutter works after the calculation of the formula (1) and the formula (2)r；
Δt＝t1-t2(1)
Δt＝yr(2)
S3: the tracking differentiator operates on the actual phase difference y through the formula (3)rSmoothing, outputting tracking signal and feedforward control amount r3The tracking signal includes the speed of change r of the phase difference1Rate of change of sum phase difference r2，
Wherein R is an adjustable parameter, and the value of R represents yrThe tracking speed of (2) is high and low; the tracking differentiator is a nonlinear tracking differentiator and is insensitive to the value of R;
s4: b, the control process input value u of the extended state observer is calculated by the formula (4)0Amplified output value b0u and the actual output value y are processed to output an expansion signal and a total system disturbance z equivalent to the input side3Said expansion signal comprising a speed of change z of phase1And rate of change z of phase2，
In order to simplify the calculation, the extended state observer 3 is a linear extended state observer 3; and z1And z2For seeking trackingError and derivative thereof, z3For compensating directly for disturbances β1、β2And β3Is an adjustable parameter;
s5: the state error feedback control law outputs a state signal u after the operation of formula (5)0，
u0＝k1(r1-z1)+k2(r2-z2) (5)
Wherein k is1And k2Is an adjustable parameter;
s6: the state signal is input into a direct digital frequency synthesizer after being disturbed and compensated by the extended state observer, and the final control input process of the system is a formula (6);
s7: and the direct digital frequency synthesizer is connected with a cutter interface circuit, and the actual output value y of the cutter is directly input into the extended state observer to carry out real-time feedback annular control on the working frequency of the cutter.
Further, the method also includes step S8: and when the use requirement is changed and a cutter with a new specification needs to be replaced, removing the connection relation between the cutter used before the requirement is changed and the cutter interface, repeating the steps S1-S7, and carrying out real-time feedback annular control on the working frequency of the cutter again. The cutter is directly connected, assembled, disassembled and replaced through the cutter interface, the cutter which is detachable and convenient to replace is convenient to replace according to different use requirements in the use process, and meanwhile, the real-time feedback control of the working frequency of the used cutter can be rapidly realized; the multifunctional multi-output operation of the surgical system is realized by replacing the type cutter, and meanwhile, the operation precision and the operation stability of the surgical system are reliably improved conveniently and quickly.
Further, when the cutter is connected with the system control mainboard through the cutter interface, the cutter is electrically connected with the system control mainboard through an ID connecting line, and an ID reading and writing circuit on the system control mainboard identifies an ID chip on the cutter and judges the type of the connected cutter. By setting the ID mutual authentication process, the connected cutter type is immediately confirmed in the process of connecting the cutter with the handle, so that the use accident is avoided, and the encryption performance and the use safety performance of the instrument are improved.
Compared with the prior art, the invention has the following beneficial effects:
1. compared with the traditional working frequency and frequency tracking method, namely a PID control algorithm takes the reference power as an input value of a control system, utilizes the power calculated by amplitude values of acquired voltage and current as feedback information, and realizes accurate control of the power of the cutter by reducing the deviation value between the feedback information and the reference power value of the input system;
2. the multi-output minimally invasive surgical instrument with the ADRC active disturbance rejection frequency controller is provided, the phase change of a cutter at a resonance working point is observed in real time through a tracking differentiator and an extended state observer, the real-time working frequency control is realized by combining a state error feedback control law with disturbance compensation, the real-time response, the real-time compensation control and the real-time tracking are realized, and the high-precision operation and the reliability of a surgical system are ensured;
3. the ultrasonic cutters and the radio frequency cutters of different types are separately connected through the cutter interfaces, cutter frequency confusion caused by cutter mixing in the actual use process due to the mixed use of the interfaces is avoided, and meanwhile, the low controllable production price and the safety degree in the use process are ensured; the special cutter working environment aiming at different requirements is realized, and the humanization and the reliability of the system are improved;
4. the multifunctional operation is realized in the same instrument by connecting different types of cutters.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts. The shapes of various parts or structures in the drawings are not intended to represent the actual conditions under which the parts or structures actually operate, but are merely schematic illustrations provided for explaining the present invention.
FIG. 1 is a schematic diagram of the operation of the ADRC controller of the present invention;
FIG. 2 is a schematic diagram of the present invention applied to an ultrasonic RF minimally invasive surgery system;
in the figure: 1-a tracking differentiator; 2-state error feedback control law; 3-extended state observer; 4-direct digital frequency synthesizer; 5-cutting tools; 6-a system control main board; 61-a switching power supply; 62-foot switch.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The embodiment of the invention comprises the following steps:
as shown in fig. 1-2, a multi-output minimally invasive surgery system comprises a multi-output minimally invasive surgery tool based on active disturbance rejection control, a system control mainboard 6, a switching power supply 61 and a foot switch 62; the system control main board 6 is respectively connected with the switch power supply 61, the foot switch 62 and the multi-output minimally invasive surgery tool through power supply connecting wires; the switching power supply 61 comprises a single output power supply and three output power supplies, the foot switch 62 comprises a left foot pedal and a right foot pedal, and the system control main judges three conditions of foot pedal access, left foot pedal pressing and right foot pedal pressing through a connected resistance state.
A multi-output minimally invasive surgical tool based on active disturbance rejection control comprises a cutter 5 and an ADRC controller; the cutter 5 is an ultrasonic cutter or a radio frequency cutter; an ID reading and writing circuit is arranged on the system control main board 6 and is connected with the cutter 5 through an ID connecting line;
the ultrasonic cutter is an ultrasonic cutter with ultrasonic output of 55.5KHZ, and the ultrasonic cutter is connected with an ultrasonic transducer to convert electric power input by a connecting handle into mechanical power, namely ultrasonic waves are transmitted by a cutter head;
the radio frequency cutter is a 1.8MHZ bipolar output radio frequency cutter or a 4MHZ unipolar output radio frequency cutter; the bipolar output radio frequency cutter is in a clip shape, and two end faces of the clip are respectively used as an output positive electrode and an output negative electrode so as to realize bipolar output; the single-pole output radio frequency cutter is rod-shaped and serves as an output anode, and meanwhile, an external neutral polar plate serves as an output cathode to form a loop;
the cutter 5 is electrically connected with the ADRC controller through a cutter interface; according to the different types of the connecting cutters 5, the interfaces of the cutters 5 have different shapes, so that the degree of matching of the connecting cutters 5 is improved, and the use safety and the service life are ensured.
The ADRC controller includes:
the tracking differentiator 1 is used for receiving the target phase difference of the cutter 5 at the resonance working point and outputting a tracking signal, wherein the tracking signal is the change speed of the phase difference and the change rate of the phase difference;
the extended state observer 3 is used for receiving the actual phase difference of the cutter 5 at the resonance working point and outputting an extended signal, observing the real-time disturbance of the cutter 5 at the resonance working point and outputting disturbance compensation, wherein the extended signal is the change speed of the phase and the change rate of the phase;
a state error feedback control law 2 for receiving the contrast variable of the tracking signal and the expansion signal and outputting a state signal;
and the direct digital frequency synthesizer 4 is used for receiving the mixed phase value of the state signal after the disturbance compensation, outputting a digital sine wave amplitude to a connecting circuit of the cutter 5 interface, and outputting the actual phase difference of the cutter 5 at the resonance working point to the extended state observer 3.
The multi-output minimally invasive surgical instrument further comprises a handle with an ID read-write circuit, the cutter 5 is further provided with an ID chip, an ID connecting line is arranged between the handle and the mainboard, and the type of the connected cutter 5 is immediately confirmed in the process of connecting the cutter 5 with the handle by setting an ID mutual authentication process, so that use accidents are avoided, and the encryption performance and the use safety performance of the instrument are improved.
The control method of the multi-output minimally invasive surgical instrument comprises the following steps of S1-S8:
s1: the cutter 5 is connected with the handle through a cutter interface, the cutter 5 is one of an ultrasonic cutter, a bipolar output radio frequency cutter or a monopolar output radio frequency cutter,
when the cutter 5 is connected with the system control mainboard 6 through the cutter interface, the cutter 5 is electrically connected with the system control mainboard 6 through the ID connecting line, and the ID reading and writing circuit on the system control mainboard 6 identifies the ID chip on the cutter 5 and judges the type of the connected cutter 5. By setting an ID mutual authentication process, the type of the connected cutter 5 is confirmed in the process of connecting the cutter 5 with the handle, so that use accidents are avoided, and the encryption performance and the use safety performance of the instrument are improved;
s2: the comparator collects and compares voltage and current waves generated when the cutter 5 works and outputs a voltage square wave signal and a current square wave signal, and the microcontroller captures the voltage square wave signal and the current square wave signal to calculate and outputs the rising edge time t of the voltage square wave signal1And the rising edge time t of the current square wave signal2Outputting the target phase value delta t and the actual phase difference y when the cutter 5 works after the calculation of the formula (1) and the formula (2)r；
Δt＝t1-t2(1)
Δt＝yr(2)
S3: the tracking differentiator 1 operates on the actual phase difference y through the formula (3)rSmoothing, outputting tracking signal and feedforward control amount r3The tracking signal includes the speed of change r of the phase difference1Rate of change of sum phase difference r2，
Wherein R is an adjustable parameter, and the value of R represents yrThe tracking speed of (2) is high and low; the tracking differentiator 1 is a nonlinear tracking differentiator 1 and is insensitive to the value of R;
s4: the extended state observer 3 processes the output value b0u and the actual output value y of the control process input value u amplified by b0 through the operation of formula (4), and outputs an extended signal and the total system disturbance z equivalent to the input side3Said expansion signal comprising a speed of change z of phase1And rate of change z of phase2，
In order to simplify the calculation, the extended state observer 3 is a linear extended state observer 3; and z1And z2For determining the tracking error and its derivative, z3For compensating directly for disturbances β1、β2And β3Is an adjustable parameter;
s5: the state error feedback control law 2 outputs a state signal u after the operation of formula (5)0，
u0＝k1(r1-z1)+k2(r2-z2) (5)
Wherein k is1And k2Is an adjustable parameter;
s6: the state signal is input into a direct digital frequency synthesizer 4 after being disturbed and compensated by the extended state observer 3, and the final control input process of the system is a formula (6);
s7: the direct digital frequency synthesizer 4 is connected with an interface circuit of the cutter 5, and the actual output value y of the cutter 5 is directly input into the extended state observer 3 to perform real-time feedback annular control on the working frequency of the cutter 5.
S8: and when the use requirement is changed and the cutter 5 with the new specification needs to be replaced, the connection relation between the cutter 5 used before the requirement is changed and the cutter interface is removed, the steps S1-S7 are repeated, and the real-time feedback annular control is carried out on the working frequency of the cutter 5 again. The cutter 5 is directly connected, assembled, disassembled and replaced through the cutter interface, the cutter 5 which is detachable and convenient to replace is convenient to replace the cutter 5 according to different use requirements in the use process, and meanwhile, the real-time feedback control of the working frequency of the used cutter 5 can be rapidly realized; the multifunctional multi-output operation of the surgical system is realized by replacing the type cutter 5, and meanwhile, the operation precision and the operation stability of the surgical system are reliably improved conveniently and rapidly.
Compared with the prior art, the invention has the following beneficial effects:
1. compared with the traditional working frequency and frequency tracking method, namely a PID control algorithm takes the reference power as an input value of a control system, utilizes the power calculated by amplitude values of acquired voltage and current as feedback information, and realizes accurate control of the power of the cutter 5 by reducing the deviation value between the feedback information and the reference power value of the input system;
2. the multi-output minimally invasive surgical instrument with the ADRC active disturbance rejection frequency controller is provided, the phase change of a cutter 5 at a resonance working point is observed in real time through a tracking differentiator 1 and an extended state observer 3, a state error feedback control law 2 is combined with disturbance compensation to realize real-time working frequency control, real-time response, real-time compensation control and real-time tracking are realized, and the high-precision operation and the reliability of a surgical system are ensured;
3. the ultrasonic cutters and the radio frequency cutters of different types are separately connected through the cutter interfaces, the frequency disorder of the cutters 5 generated in the actual use process of the cutter 5 mixed connection caused by the mixed use of the interfaces is avoided, and meanwhile, the controllable production price and the safety degree in the use process are ensured; the special cutter working environment aiming at different requirements is realized, and the humanization and the reliability of the system are improved;
4. the types of the cutter 5 comprise a 55.5KHZ ultrasonic output ultrasonic cutter, a unipolar 4MHZ output radio-frequency cutter and a bipolar 1.8MHZ output radio-frequency cutter, and multifunctional application is realized in the same instrument by connecting different types of cutters 5.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by the present specification, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (5)
1. A multi-output minimally invasive surgical tool based on active disturbance rejection control, characterized in that the multi-output minimally invasive surgical tool comprises a cutter and an ADRC controller;
the cutter is an ultrasonic cutter or a radio frequency cutter, and the radio frequency cutter is a bipolar output radio frequency cutter or a monopolar output radio frequency cutter;
the cutter is electrically connected with the ADRC controller through a cutter interface;
the ADRC controller includes:
the tracking differentiator is used for receiving the target phase difference of the cutter at the resonance working point and outputting a tracking signal, wherein the tracking signal is the change speed of the phase difference and the change rate of the phase difference;
the extended state observer is used for receiving the actual phase difference of the cutter at the resonance working point and outputting an extended signal, observing the real-time disturbance of the cutter at the resonance working point and outputting disturbance compensation, wherein the extended signal is the change speed of the phase and the change rate of the phase;
a state error feedback control law which receives the contrast variable of the tracking signal and the expansion signal and outputs a state signal;
and the direct digital frequency synthesizer is used for receiving the mixed phase value of the state signal after the disturbance compensation, outputting a digital sine wave amplitude to a connecting circuit of the cutter interface, and outputting the actual phase difference of the cutter at the resonance working point to the extended state observer.
2. The active-disturbance-rejection-control-based multi-output minimally invasive surgical instrument according to claim 1, wherein the cutter is further provided with an ID chip.
3. The method for controlling the minimal invasive surgical instrument with multiple outputs based on the active disturbance rejection control as claimed in any one of claims 1 to 4, comprising steps S1 to S7:
s1: the cutter is connected with the handle through a cutter interface, and the cutter is one of an ultrasonic cutter, a bipolar output radio frequency cutter or a monopolar output radio frequency cutter;
s2: the comparator collects and compares voltage and current waves generated when the cutter works and outputs a voltage square wave signal and a current square wave signal, and the microcontroller captures the voltage square wave signal and the current square wave signal to calculate and outputs the rising edge time t of the voltage square wave signal1And the rising edge time t of the current square wave signal2Outputting a target phase value delta t and an actual phase difference y when the cutter works after the calculation of the formula (1) and the formula (2)r；
Δt＝t1-t2(1)
Δt＝yr(2)
S3: the tracking differentiator operates on the actual phase difference y through the formula (3)rTo carry outSmoothing, outputting tracking signal and feedforward control quantity r3The tracking signal includes the speed of change r of the phase difference1Rate of change of sum phase difference r2，
Wherein R is an adjustable parameter;
s4: b, the control process input value u of the extended state observer is calculated by the formula (4)0Amplified output value b0u and the actual output value y are processed to output an expansion signal and a total system disturbance z equivalent to the input side3Said expansion signal comprising a speed of change z of phase1And rate of change z of phase2，
Wherein, β1、β2And β3Is an adjustable parameter;
s5: the state error feedback control law outputs a state signal u after the operation of formula (5)0，
u0＝k1(r1-z1)+k2(r2-z2) (5)
Wherein k is1And k2Is an adjustable parameter;
s6: the state signal u0After disturbance compensation is carried out by the extended state observer, the disturbance compensated signal is input into a direct digital frequency synthesizer, and the control input process of the final system is a formula (6);
s7: and the direct digital frequency synthesizer is connected with a cutter interface circuit, and the actual output value y of the cutter is directly input into the extended state observer to carry out real-time feedback annular control on the working frequency of the cutter.
4. The method for controlling an active disturbance rejection control-based multi-output minimally invasive surgical instrument according to claim 3, further comprising the step S8: and when the use requirement is changed and a cutter with a new specification needs to be replaced, removing the connection relation between the cutter used before the requirement is changed and the cutter interface, repeating the steps S1-S8, and carrying out real-time feedback annular control on the working frequency of the cutter again.
5. The method for controlling an active-disturbance-rejection-control-based multi-output minimally invasive surgical instrument according to claim 3, wherein the step S1 further comprises: when the cutter is connected with the system control mainboard through the cutter interface, the cutter is electrically connected with the system control mainboard through the ID connecting wire, and the ID reading and writing circuit on the system control mainboard identifies the ID chip on the cutter and judges the type of the connected cutter.
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| CN201910583568.3A CN110897683A (en) | 2019-07-01 | 2019-07-01 | Multi-output minimally invasive surgical instrument based on active disturbance rejection control and control method thereof |
| PCT/CN2019/127083 WO2021000537A1 (en) | 2019-07-01 | 2019-12-20 | Multi-output minimally invasive surgery tool based on auto-disturbance rejection control and control method therefor |
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| CN201910583568.3A CN110897683A (en) | 2019-07-01 | 2019-07-01 | Multi-output minimally invasive surgical instrument based on active disturbance rejection control and control method thereof |
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