CN111096775B - A dual-core MCU intelligent ultrasonic minimally invasive surgical knife control system and control method - Google Patents
A dual-core MCU intelligent ultrasonic minimally invasive surgical knife control system and control method Download PDFInfo
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Abstract
The invention relates to a dual-core MCU intelligent ultrasonic minimally invasive scalpel control system and a control method. The dual-core MCU intelligent ultrasonic minimally invasive scalpel control system comprises: the ultrasonic knife measurer, the controller, the direct digital frequency synthesizer and the digital potentiometer; the controller is respectively connected with the ultrasonic knife measurer, the direct digital frequency synthesizer and the digital potentiometer; the direct digital frequency synthesizer is connected with the digital potentiometer; the digital potentiometer is connected with the ultrasonic knife. The controller is arranged, the direct digital frequency synthesizer and the digital potentiometer are used for adjusting the frequency of the output current by adjusting the frequency of the direct digital frequency synthesizer, and the power of the output current is controlled by adjusting the resistance of the digital potentiometer, so that the output frequency and the power of the cutter are accurately controlled, and the control precision of the minimally invasive surgery is improved.
Description
Technical Field
The invention relates to the field of medicine, in particular to a dual-core MCU intelligent ultrasonic minimally invasive scalpel control system and a control method.
Background
The scalpel, an indispensable tool for surgical operation, plays an extremely important role in the whole surgical procedure. With the continuous progress of medical technology, surgical instruments are also being continuously improved, and steel knives, electric knives, ultrasonic knives, laser knives, radio frequency knives and the like are appeared. The ultrasonic knife converts electric energy into mechanical energy and drives the knife head to vibrate at a certain resonant frequency, so that water in tissues is vaporized, protein hydrogen bonds are broken, denatured and disintegrated, the tissues are cut or coagulated, and coagulation hemostasis is achieved while the tissues are separated and cut. With the rapid development of computer technology and microelectronic technology, various large enterprises and universities accelerate the innovation and research and development of minimally invasive surgical instruments, and new minimally invasive surgical instrument systems and products are successively presented.
Along with the increasing medical level, according to the clinical characteristics of an ultrasonic scalpel system, in an ultrasonic minimally invasive scalpel control system, the cutter frequency and the cutter power are required to be accurately controlled through an external mechanism, the cutter output frequency and the cutter power are accurately controlled, and the control precision of minimally invasive surgery is improved.
Currently, autonomous research and development of modern scalpel control systems in China lacks a certain degree and depth, and proper frequency is adjusted by using a fuzzy algorithm. However, this solution is not practical in practice at present. Since the intelligent algorithm consumes a large amount of resources of the processor, the product cost increases. The accurate control of the operating frequency of the surgical knife is difficult to realize under the condition of low cost, if the operating frequency of the surgical knife cannot be accurately and real-timely controlled, the output power and the efficiency of a power supply can be reduced, the quality of a cutter head can be reduced for a long time, and the surgical effect is influenced. Because the research and development results of the domestic high-precision control power supply are insufficient, the modern surgical knife is slow to develop, most modern surgical instruments can only rely on import, the medical cost is necessarily increased, the required masses are difficult to experience good medical effects, and the wide popularization and application of the modern surgical knife are greatly hindered.
On the other hand, considering the piezoelectric characteristics of the ultrasonic surgical knife, the electrical characteristics of the ultrasonic surgical knife can change along with the cutting or emulsifying tissues, so that the ultrasonic surgical knife must be tracked and controlled to strictly work in a resonance state in order to ensure the surgical quality and the service life of the device, if the frequency of an ultrasonic power supply cannot be adjusted in time, the vibration system can work in a non-resonance state, and the output power and the efficiency of the vibration system can be reduced.
Disclosure of Invention
The invention aims to provide a dual-core MCU intelligent ultrasonic minimally invasive scalpel control system and a control method, which are used for accurately controlling the output frequency and power of a cutter, so that an ultrasonic transducer is maintained in a resonance state, and the control precision of minimally invasive surgery is improved.
In order to achieve the above object, the present invention provides the following solutions:
A dual-core MCU intelligent ultrasonic minimally invasive scalpel control system, comprising: the ultrasonic knife measurer, the controller, the direct digital frequency synthesizer and the digital potentiometer; the controller is respectively connected with the ultrasonic knife measurer, the direct digital frequency synthesizer and the digital potentiometer; the direct digital frequency synthesizer is connected with the digital potentiometer; the digital potentiometer is connected with the ultrasonic knife;
The ultrasonic knife measurer is used for measuring the actual current and the actual voltage of the ultrasonic knife; the controller is used for adjusting the resistance value of the digital potentiometer according to the input set power range value, the actual current and the actual voltage and controlling the direct digital frequency synthesizer to output the waveform of the target frequency; the digital potentiometer with the adjusted resistance value is used for outputting target voltage according to the waveform of the target frequency and inputting the target voltage to the ultrasonic knife so as to change the working power and the working frequency of the ultrasonic knife.
Optionally, the dual-core MCU intelligent ultrasonic minimally invasive scalpel control system further comprises: a driving circuit and a drain voltage detection circuit;
The driving circuit is respectively connected with the direct digital frequency synthesizer, the digital potentiometer, the drain voltage detection circuit and the ultrasonic knife; the drain voltage detection circuit is connected with the controller; the drain voltage detection circuit is used for detecting the drain voltage of the driving circuit and sending the drain voltage to the controller; the controller is used for controlling the driving circuit to work in a saturation region.
Optionally, the driving circuit is composed of two semiconductor field effect transistors connected in parallel.
Optionally, the dual-core MCU intelligent ultrasonic minimally invasive scalpel control system further comprises: an isolation step-up transformer; the driving circuit is connected with the ultrasonic knife through the isolation step-up transformer.
Optionally, the dual-core MCU intelligent ultrasonic minimally invasive scalpel control system further comprises: and the controller is connected with the ultrasonic knife measurer through the optocoupler isolation communication circuit.
Optionally, the dual-core MCU intelligent ultrasonic minimally invasive scalpel control system further comprises: the power supply is connected with the common mode choke coil and the controller respectively, the common mode choke coil is connected with the driving circuit, and the power supply is used for providing drain voltage for the driving circuit.
Optionally, the drain voltage detection circuit includes: diode clamping circuit, bleeder circuit, voltage follower and valley detection circuitry, diode clamping circuit respectively with bleeder circuit with drive circuit connects, bleeder circuit with voltage follower connects, voltage follower with valley detection circuitry connects, valley detection circuitry with the controller is connected.
Optionally, the controller and the ultrasonic knife measurer are both STM32F407 single-chip computers.
Optionally, the dual-core MCU intelligent ultrasonic minimally invasive scalpel control system further comprises: and the man-machine interaction module is connected with the controller and is used for inputting the set power range value.
The invention also provides a control method of the dual-core MCU intelligent ultrasonic minimally invasive scalpel, which is applied to the dual-core MCU intelligent ultrasonic minimally invasive scalpel control system, and comprises the following steps:
determining a desired current value and a desired phase difference according to the set power range value;
acquiring an actual current measured by an ultrasonic blade measurer and an actual phase difference calculated by the ultrasonic blade measurer; the actual phase difference is determined by the actual current and the actual voltage measured by the ultrasonic blade measurer;
Calculating a current deviation value and a phase difference deviation value; the current bias value is determined from the desired current value and the actual current value; the phase difference deviation value is determined by the desired phase difference value and the actual phase difference value;
Calculating a target current and an output frequency from the current deviation value and the phase difference deviation value;
Adjusting the resistance of the digital potentiometer according to the target current;
According to the output frequency, adjusting the output waveform of the direct digital frequency synthesizer to enable the direct digital frequency synthesizer to output the waveform of the target frequency;
the direct digital frequency synthesizer inputs the waveform of the target frequency into the digital potentiometer with the adjusted resistance value, the digital potentiometer with the adjusted resistance value outputs the target voltage according to the waveform of the target frequency, and the target voltage is input into the ultrasonic knife so as to change the working power and the working frequency of the ultrasonic knife.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects: the controller adjusts the frequency of the output current by adjusting the frequency of the direct digital frequency synthesizer, controls the power of the output current by adjusting the resistance of the digital potentiometer, accurately controls the output frequency and the power of the cutter, and improves the control precision of minimally invasive surgery.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the drawings that are needed in 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 for a person skilled in the art.
FIG. 1 is an overall schematic diagram of a dual-core MCU intelligent ultrasonic minimally invasive scalpel control system according to an embodiment of the invention;
FIG. 2 is a block diagram of a dual-core MCU intelligent ultrasonic minimally invasive scalpel control system according to an embodiment of the invention;
Fig. 3 is a diagram showing a connection relationship between a controller and an external structure in a dual-core MCU intelligent ultrasonic minimally invasive scalpel control system according to an embodiment of the present invention;
fig. 4 is a connection relation diagram of an ultrasonic scalpel measurer and an external structure in the dual-core MCU intelligent ultrasonic minimally invasive scalpel control system according to the embodiment of the present invention;
FIG. 5 is a schematic diagram of a drain voltage detection circuit according to an embodiment of the invention;
FIG. 6 is a flow chart of providing drain voltage for a driving circuit according to an embodiment of the invention;
FIG. 7 is a flow chart of providing a gate voltage for a driving circuit according to an embodiment of the present invention;
FIG. 8 is a flow chart of a driving circuit for providing voltage to an ultrasonic blade according to an embodiment of the present invention;
FIG. 9 is a flow chart of calculating a phase difference according to an embodiment of the present invention;
FIG. 10 is a flow chart of calculating the target current and the output frequency according to an embodiment of the present invention.
Symbol description: the device comprises a 1-ultrasonic knife measurer, a 2-controller, a 3-direct digital frequency synthesizer, a 4-digital potentiometer, a 5-optocoupler isolation communication circuit, a 6-main board information reading module, a 7-resistor network key state detection module, an 8-ultrasonic knife output module, a 9-LED lamp, a 10-man-machine interaction module, an 11-level conversion circuit, a 12-touch screen, a 13-driving circuit, a 14-drain voltage detection circuit, a 15-isolation step-up transformer, a 16-diode clamp circuit, a 17-voltage division circuit, an 18-voltage follower, a 19-valley value detection circuit, a 20-power supply, a 21-common mode choke coil and a 22-control module.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention aims to provide a dual-core MCU intelligent ultrasonic minimally invasive scalpel control system and a control method, wherein a controller, a direct digital frequency synthesizer and a digital potentiometer are arranged, and the controller accurately controls the output frequency and power of a cutter by adjusting the frequency of an output waveform of the direct digital frequency synthesizer and adjusting the resistance of the digital potentiometer, so that the control precision of minimally invasive surgery is improved.
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
Example 1
As shown in fig. 1-4, a dual-core MCU intelligent ultrasonic minimally invasive scalpel control system includes: an ultrasonic knife measurer 1, a controller 2, a direct digital frequency synthesizer 3 and a digital potentiometer 4; the controller 2, the direct digital frequency synthesizer 3 and the digital potentiometer 4 form a control module 22; the controller 2 is respectively connected with the ultrasonic knife measurer 1, the direct digital frequency synthesizer 3 and the digital potentiometer 4; the direct digital frequency synthesizer 3 is connected with the digital potentiometer 4; the digital potentiometer 4 is connected with an ultrasonic knife.
The ultrasonic knife measurer 1 is used for measuring the actual current and the actual voltage of the ultrasonic knife, and the ultrasonic knife measurer 1 is used for measuring and sampling a plurality of electric signals at the same time, so that the time is saved; the controller 2 is configured to adjust a resistance value of the digital potentiometer 4 according to an input set power range value, the actual current and the actual voltage, and communicate with the direct digital frequency synthesizer 3 through an SPI communication protocol, so as to control the direct digital frequency synthesizer 3 to output a waveform of a target frequency; the digital potentiometer 4 with the adjusted resistance is used for outputting a target voltage according to the waveform of the target frequency and inputting the target voltage to the ultrasonic blade so as to change the working power and the working frequency of the ultrasonic blade.
As an optional implementation manner, the dual-core MCU intelligent ultrasonic minimally invasive scalpel control system further comprises: the controller 2 is connected with the ultrasonic blade measurer 1 through the optocoupler isolation communication circuit, the optocoupler isolation communication circuit isolates the controller 2 from the ultrasonic blade measurer 1 by using a multi-stage high-precision operational amplifier, signal interference caused by electrical connection is prevented, interference between a voltage control circuit and an external high-voltage circuit is reduced, and influence of a measurement loop on an electrical signal is reduced.
As an optional implementation mode, the controller 2 and the ultrasonic knife measurer 1 are STM32F407 single-chip microcomputer, and the single-chip microcomputer has low power consumption, high performance, high speed and large storage capacity.
As an optional implementation manner, the dual-core MCU intelligent ultrasonic minimally invasive scalpel control system further comprises: and the main board information reading module 6 is connected with the controller 2, and the main board information reading module 6 is used for acquiring the ID and other setting parameters of the ultrasonic knife power generator.
As an optional implementation manner, the dual-core MCU intelligent ultrasonic minimally invasive scalpel control system further comprises: the resistance network key state detection module 7, the resistance network key state detection module 7 is connected with the ultrasonic knife measurer 1, and the resistance network key state detection module 7 is used for reading the ID of the ultrasonic knife device and judging the key state of the ultrasonic knife.
As an optional implementation manner, the dual-core MCU intelligent ultrasonic minimally invasive scalpel control system further comprises: the digital potentiometer 4 is connected with the ultrasonic knife through the ultrasonic knife output module 8, and the ultrasonic knife output module 8 is used for providing an interface for ultrasonic transducer equipment.
As an alternative embodiment, the ultrasonic blade output module 8 includes a filter circuit and an interface circuit, the filter circuit connects the digital potentiometer 4 and the interface circuit, and the interface circuit connects the ultrasonic blade.
As an optional implementation manner, the dual-core MCU intelligent ultrasonic minimally invasive scalpel control system further comprises: the LED lamp 9, the LED lamp 9 with ultrasonic knife caliber 1 is connected, the LED lamp 9 is used for instructing ultrasonic knife caliber 1 whether work is normal.
As an optional implementation manner, the dual-core MCU intelligent ultrasonic minimally invasive scalpel control system further comprises: the human-computer interaction module 10, the human-computer interaction module 10 is connected with the controller 2, and the human-computer interaction module 10 is used for inputting the set power range value.
The man-machine interaction module 10 comprises a level conversion circuit 11 and a touch screen 12, and the level conversion circuit 11 is respectively connected with the touch screen 12 and the controller 2. The level conversion circuit 11 is configured to convert the TTL level signal generated by the controller 2 into an RS232 level signal identifiable by the touch screen 12, and convert the RS232 level signal generated by the touch screen 12 into a TTL level signal identifiable by the controller 2. The touch screen 12 is used for implementing a visual graphical interface and further implementing a man-machine interaction function, and the main implementation functions of the touch screen 12 include: displaying the name of the cutter handle, displaying and adjusting the power level of the ultrasonic cutter, adjusting the volume, adjusting the brightness of the touch screen 12, selecting the excitation mode of ultrasonic cutter equipment, selecting system language, testing the handle, displaying system information, displaying the working parameters of the ultrasonic cutter during operation and reading and writing logs.
The controller 2 reads historical data such as system language, volume, display brightness and the like stored in the memory of the touch screen 12 through the level conversion circuit 11, and then sends an instruction to the touch screen 12 through the serial port to finish the initialization of the touch screen 12. During use, the touch screen 12 sends the use state of the touch screen 12 to the controller 2 in real time, and the controller 2 realizes the operation expected by the user according to the use state of the touch screen 12. The man-machine interaction module 10 adopts a visual graphical interface to realize man-machine interaction function, so that the practicability and operability of the whole equipment system are greatly improved, a user can select different working modes through the graphical interface according to different operation requirements, the functions of equipment can be further enriched, the working state of the system can be monitored in real time better in the operation process, and the safety and reliability of the operation are greatly improved.
As an alternative embodiment, the power source is connected to the touch screen 12.
As an alternative embodiment, the level shifter 11 is a til_rs232 level shifter.
As an alternative embodiment, the TTL-RS232 level shifter circuit uses an SP3232 chip.
As an optional implementation manner, the dual-core MCU intelligent ultrasonic minimally invasive scalpel control system further comprises: a drive circuit 13 and a drain voltage detection circuit 14; in order to better control the current output by the driving circuit 13, the invention adopts a mode of adjusting the gate voltage of the driving circuit 13 to adjust the current output by the driving circuit 13.
The driving circuit 13 is respectively connected with the direct digital frequency synthesizer, the digital potentiometer 4, the drain voltage detection circuit 14 and the ultrasonic knife; the drain voltage detection circuit 14 is connected with the controller 2; the drain voltage detection circuit 14 is configured to detect a drain voltage of the driving circuit 13 and send the drain voltage to the controller 2; the controller 2 is configured to control the driving circuit 13 to operate in a saturation region. A part of the voltage in the direct digital frequency synthesizer is divided into a gate voltage for the digital potentiometer 4 to provide a driving circuit 13, and the other part of the voltage is directly used as the driving voltage of the driving circuit to drive the driving circuit to work.
As an alternative embodiment, the drive circuit 13 is composed of two semiconductor field effect transistors connected in parallel.
As an optional implementation manner, the dual-core MCU intelligent ultrasonic minimally invasive scalpel control system further comprises: an isolation step-up transformer 15; the driving circuit 13 is connected with the ultrasonic knife through the isolation step-up transformer 15, the isolation step-up transformer 15 effectively isolates an electric signal applied to the surgical knife from the end of the driving circuit 13, so that current and energy in a patient contact area are prevented from directly flowing to an external non-isolated electric area, ground faults caused by unordered flowing of current information and the like generated by accidents are avoided, and a current grounding loop is cut off, so that the safety and stability of the circuit work are ensured.
As an alternative embodiment, as shown in fig. 5, the drain voltage detection circuit 14 includes: the diode clamp circuit 16, the voltage dividing circuit 17, the voltage follower 18 and the valley detection circuit 19, the diode clamp circuit 16 is respectively connected with the voltage dividing circuit 17 and the driving circuit 13, the voltage dividing circuit 17 is connected with the voltage follower 18, the voltage follower 18 is connected with the valley detection circuit 19, the valley detection circuit 19 is connected with the controller 2, the voltage is more stable by using the voltage follower 18 and the voltage dividing circuit 17, and the input voltage of the valley detection circuit 19 is reduced by using the voltage dividing circuit 17.
As an optional implementation manner, the dual-core MCU intelligent ultrasonic minimally invasive scalpel control system further comprises: the power supply 20 and the common mode choke coil 21, the power supply 20 is connected with the common mode choke coil 21 and the controller 2, the common mode choke coil 21 is connected with the driving circuit 13, the common mode choke coil 21 filters electromagnetic interference signals of a common mode, the power supply 20 is used for providing drain voltage for the driving circuit 13, and in order to reduce the influence of the drain voltage of the driving circuit 13 on the current output by the driving circuit 13, the driving circuit 13 needs to be always operated in a saturation region. The driving circuit 13 is required to satisfy the condition in the saturation region: v dsat≥Vgs-Vth, where V dsat represents the drain voltage of the driving circuit 13 operating in the saturation region, V gs represents the drain voltage, and V th represents the threshold voltage of the driving circuit 13.
In order to keep V dsat≥Vgs-Vth constant without excessive loss of the driving circuit 13 due to excessive V dsat, the output voltage of the power supply 20 needs to be continuously adjusted to change the magnitude of V dsat.
As shown in fig. 6 to 8, the adjustment of the drain voltage of the driving circuit 13 specifically includes:
The diode clamp circuit 16 is used for measuring drain voltages of two groups of MOSFETs (metal-oxide semiconductor field effect transistors) in the driving circuit 13, filtering the minimum drain voltage, transmitting the minimum drain voltage in sequence of the voltage dividing resistor, the voltage follower 18 and the valley detecting circuit 19, and measuring the value of the minimum drain voltage by the valley detecting circuit 19; the controller 2 controls the duty ratio of the PWM wave of the voltage outputted from the power supply 20 based on the measured value of the minimum drain voltage, and supplies the drain voltage to the driving circuit 13 after passing through the common mode choke coil 21.
The adjustment of the gate voltage of the driving circuit 13 specifically includes:
the voltage detection circuit and the current detection circuit in the ultrasonic blade measurer 1 respectively measure the actual voltage and the actual current, the measured actual voltage and the actual current are processed and then transmitted to the controller 2 through the optocoupler isolation circuit 5, the controller 2 adjusts the output waveform of the direct digital frequency synthesizer 3 and inputs the output waveform to the digital potentiometer 4, the digital potentiometer 4 outputs the gate voltage to the driving circuit 13, the driving circuit 13 generates the drain current, and the drain current generates the voltage required by the ultrasonic blade through the isolation step-up transformer 15 and the ultrasonic blade output module 8.
The specific application method of the dual-core MCU intelligent ultrasonic minimally invasive scalpel control system is as follows:
The first step: initializing an ultrasonic knife measurer, which specifically comprises the following steps:
after the ultrasonic knife measurer is electrified, initializing a serial port and a subsystem hardware platform. The ultrasonic blade measurer uses an external crystal oscillator as a clock source of the ultrasonic blade measurer. And initializing the serial port 1 and the serial port 5 respectively, wherein the serial port 1 is used for connecting a USB-to-UART serial port module to carry out computer debugging or data reading, the serial port 5 is used for realizing communication with a controller, and finally, the serial ports and the timers are initialized respectively.
And a second step of: the controller initialization specifically comprises the following steps:
and initializing the serial port and the subsystem hardware platform after the controller is powered on. The controller uses an external crystal oscillator. Serial ports 1, 2, 3,4 and 5 are respectively initialized, the serial port 1 is used for controlling the output of an internal digital-to-analog converter, the serial port 2 is used for communicating with a digital potentiometer, the serial port 3 is used for communicating with a direct digital frequency synthesizer, the serial port 4 is used for communicating with a touch screen, the serial port 5 is used for communicating with an ultrasonic knife measurer, and finally the initialization of an SPI port, the digital-to-analog converter, the digital potentiometer, the direct digital frequency synthesizer, a timer and a switching power supply voltage is respectively carried out.
And a third step of: the controller initializes the touch screen, specifically including:
step 1: dividing 512 byte buffer area, using circular queue to store the instruction sent by touch screen, reading instruction of instruction buffer area every 5ms, if buffer area is not empty, processing buffer area.
Step 2: reading a real-time clock instruction from the touch screen, judging a variable address in the real-time clock instruction after receiving the real-time clock instruction returned by the touch screen, and recording data such as year, month, day, time, minute, second and the like in the instruction if the variable address is 0x0010 (the variable address for storing real-time).
Step 3: and sending an instruction for reading the Nor Flash to the touch screen, and respectively configuring the historical values read from the Nor Flash after receiving the instruction returned by the touch screen. The historical values stored in the touch screen Norflash include log content, display brightness, system volume, log bar number, system language, and power generator excitation mode.
Step 4: after the system language is read from the Nor Flash, the text information displayed on the touch screen is reconfigured according to the system language. The text encoding format used in the development software Keil MDK is UTF-8 and the text encoding format used in the touch screen is Unicode, so the text conversion bit Unicode encoding format of the UTF-8 encoding format is required before sending the text information to the touch screen.
Step 5: the MIN rating of the ultrasonic blade was set to 3.
Step 6: the watchdog is turned on.
Fourth step: the target current and output frequency are controlled every 5ms using a timer interrupt.
Fifth step: entering into a working state, and pressing a start button or a foot switch on the ultrasonic knife equipment.
Sixth step: closing the system: when the equipment system is turned off, the medical power switch is turned off to turn off the system.
And finally, if the equipment system is restarted, repeating the first step to the fourth step, and enabling the system to enter a normal working state again.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects: the controller adjusts the frequency of the output current by adjusting the frequency of the direct digital frequency synthesizer, controls the power of the output current by adjusting the resistance of the digital potentiometer, accurately controls the output frequency and the power of the cutter, and improves the control precision of minimally invasive surgery.
Example 2
The embodiment provides a dual-core MCU intelligent ultrasonic minimally invasive scalpel control method, which specifically comprises the following steps:
step 101: the desired current value and the desired phase difference are determined from the set power range value.
Step 102: acquiring an actual current measured by an ultrasonic blade measurer 1 and an actual phase difference calculated by the ultrasonic blade measurer 1; the actual phase difference is determined from the actual current and the actual voltage measured by the ultrasonic blade measurer 1.
The step of obtaining the actual current measured by the ultrasonic blade measurer 1 and the actual phase difference calculated by the ultrasonic blade measurer 1 specifically includes: the actual current value is measured and the actual phase difference value is calculated by using the voltage acquisition function, the current acquisition function and the timer timing detection function of the analog-digital converter in the ultrasonic blade measurer 1 for the amplitude and phase of the current and the amplitude and phase of the voltage of the ultrasonic blade interface circuit.
As shown in fig. 9, the actual phase difference calculation process in step 102 is as follows:
s1: capture channel CH2 is enabled and CH2 is initialized.
S2: judging whether CH2 captures the first rising edge, if not, the CH2 continues to capture the first rising edge; if so, tim6 starts timing, tim8 counts zero out and starts timing and enables the acquisition channel CH3.
S3: judging whether the CH3 captures the first rising edge, if not, continuing to capture the first rising edge by the CH3, if so, stopping timing by Tim6 and acquiring the value of Tim 6.
S4: judging whether CH2 captures the rising edge of the second time, if not, the CH2 continues to capture the rising edge of the second time, if so, tim8 stops timing, the value of Tim8 is obtained, and Tim8 and Tim6 are reset.
S5: judging whether CH3 captures the second rising edge, if not, the CH3 continues to capture the second rising edge, if so, tim8 and Tim6 are reset, S2 is carried out subsequently, and the next cycle is carried out.
If the rising edge of the current captured by the capture channel CH2 is enabled, the rising edge of the voltage captured by the capture channel CH3 is enabled. If the rising edge of the current captured by the capture channel CH3 is enabled, the rising edge of the voltage captured by the capture channel CH2 is enabled.
S6: calculating an actual phase difference according to Tim6 obtained in the step S3 and Tim8 obtained in the step S4; the formula for calculating the actual phase difference is specifically:
step 103: calculating a current deviation value and a phase difference deviation value; the current bias value is determined from the desired current value and the actual current value; the phase difference deviation value is determined from the desired phase difference value and the actual phase difference value.
Step 104: and calculating a target current and an output frequency from the current deviation value and the phase difference deviation value.
As shown in fig. 10, the PID algorithm specifically includes: obtaining the last deviation value, the last deviation value and the current deviation value, inputting the obtained deviation value into a formula E=K P*(Err-Err_last)+Ki ×Err+Kd (Err-2×Err_last+Err_last_last) +E' to obtain a target value, judging whether the limiting value is exceeded, outputting the limiting value as the target value if the limiting value is exceeded, and directly outputting the obtained target value if the limiting value is not exceeded. The meaning of E is the target value, the meaning of Err is the current deviation value, the meaning of Err_last is the last deviation value, the meaning of Err_last_last is the last deviation value, the meaning of E' is the last target value, and K P、KI、KD is the parameter of the PID controller.
In step 104, the target current is calculated according to a PID algorithm, which specifically includes:
The target current is determined using I＝KP*(ΔI(K)-ΔI(K-1))+Ki*ΔI(K)+Kd*(ΔI(K)-2*ΔI(K-1)+ΔI(K-2))+I′. Wherein I is the target current, deltaI (K) is the current deviation value, deltaI (K-1) is the last current deviation value, deltaI (K-2) is the last current deviation value, K P、Ki、Kd is the parameter of the PID controller, and I' is the last target current.
In step 104, the output frequency is calculated according to a PID algorithm, which specifically includes:
According to Solving output frequency, wherein f is the output frequency,Is the phase difference deviation value,Is the previous phase difference deviation value,The previous phase difference deviation value is K P、Ki、Kd, the parameter of the PID controller is K P、Ki、Kd, and f' is the previous output frequency.
Step 105: according to the target current, the resistance of the digital potentiometer 4 is adjusted, and the larger the target current is, the smaller the set working resistance of the digital potentiometer 4 is, and the larger the set working resistance of the digital potentiometer 4 is.
Step 106: and adjusting the output waveform of the direct digital frequency synthesizer 3 according to the output frequency, so that the direct digital frequency synthesizer 3 outputs the waveform of the target frequency.
Step 107: the direct digital frequency synthesizer 3 inputs the waveform of the target frequency into the digital potentiometer 4 with the adjusted resistance, the digital potentiometer 4 with the adjusted resistance outputs the target voltage according to the waveform of the target frequency, and the target voltage is input into the ultrasonic blade to change the working power and the working frequency of the ultrasonic blade.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects: the controller adjusts the frequency of the output current by adjusting the frequency of the direct digital frequency synthesizer, controls the power of the output current by adjusting the resistance of the digital potentiometer, accurately controls the output frequency and the power of the cutter, and improves the control precision of minimally invasive surgery.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other.
The principles and embodiments of the present invention have been described herein with reference to specific examples, the description of which is intended only to assist in understanding the methods of the present invention and the core ideas thereof; also, it is within the scope of the present invention to be modified by those of ordinary skill in the art in light of the present teachings. In view of the foregoing, this description should not be construed as limiting the invention.
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| CN115177326B (en) * | 2021-04-01 | 2025-05-02 | 深圳开立生物医疗科技股份有限公司 | Ultrasonic knife system and constant current driving method, device and host thereof |
| CN114371646B (en) * | 2021-12-23 | 2023-08-22 | 华南理工大学 | Automatic high-frequency voltage amplitude and frequency adjusting system and method |
| CN115153761B (en) * | 2022-07-29 | 2023-12-12 | 河南省驼人医疗科技有限公司 | Ultrasonic cutting hemostatic cutter control system and frequency sweeping and automatic tracking control method thereof |
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| CN211243606U (en) * | 2020-01-03 | 2020-08-14 | 华南理工大学 | Dual-core MCU intelligent ultrasonic minimally invasive scalpel control device |
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| CN103977508A (en) * | 2014-04-28 | 2014-08-13 | 中国科学院苏州生物医学工程技术研究所 | Smart ultrasonic physical therapy instrument |
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