CN101467910A - In vivo ultrasound lithotripter - Google Patents
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- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/22—Implements for squeezing-off ulcers or the like on the inside of inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; Calculus removers; Calculus smashing apparatus; Apparatus for removing obstructions in blood vessels, not otherwise provided for
- A61B17/22004—Implements for squeezing-off ulcers or the like on the inside of inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; Calculus removers; Calculus smashing apparatus; Apparatus for removing obstructions in blood vessels, not otherwise provided for using mechanical vibrations, e.g. ultrasonic shock waves
- A61B17/22012—Implements for squeezing-off ulcers or the like on the inside of inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; Calculus removers; Calculus smashing apparatus; Apparatus for removing obstructions in blood vessels, not otherwise provided for using mechanical vibrations, e.g. ultrasonic shock waves in direct contact with, or very close to, the obstruction or concrement
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Abstract
The invention relates to an intracorporal ultrasonic lithotripter consisting of an ultrasonic transducer and an automatic frequency tracking system, wherein, the ultrasonic transducer comprises more than two groups of piezoelectric ceramic pieces, a counterweight, the piezoelectric ceramic pieces and an amplitude transformer are connected together through hollow bolts, and the ultrasonic transducer is installed in the housing handle made of fire-resistant resin materials. A broken stone probe is connected with the front end of the amplitude transformer, a back cover is connected with the back end of the housing handle by screw threads, a pneumatic stone breaking device or a laser stone breaking device can be connected after the back cover is took down, an air regulation device which can regulate the adsorptive pressure in the operation process conveniently is installed on the side of the back end of the housing handle. The whole transducer can be fumigated in 125 DEG C. The automatic frequency tracking system adopts DDS and large-scale programmable devices, a direct digital frequency synthesizer to generate driving signals of the ultrasonic transducer and a strategy of autotracking after scanning search, thus, the automatic frequency tracking system adapts to the discreteness of the transducer and overcomes effects of a variety of causes on the resonance points.
Description
Technical Field
The invention relates to a medical instrument for minimally invasive treatment of urinary system calculus, in particular to an in-vivo ultrasonic lithotripter.
Background
For general kidney stones, ureteral stones and bladder stones, the method of crushing stones by using external shock wave or the method of crushing stones by using medical holmium laser, medical neodymium laser, air pressure trajectory crushing stones and the like can be adopted. In vitro shock wave lithotripsy and ultrasonic lithotripsy are only effective on about 15% of fragile small stones. The treatment difficulty of about 80% of stone patients can be solved by medical holmium laser, medical neodymium laser and air pressure ballistic lithotripsy. The treatment method is carried out by means of a cystoscope and a ureter soft lens, a treatment end of a laser fiber or equipment reaches a calculus part through a urethra, and then calculus is smashed by laser energy or air pressure ballistic calculus smashing energy. The methods do not need to be operated, have no damage or little damage to the human body, and are the treatment methods which are accepted by most patients with stones such as kidney stones, ureteral stones and vesical stones. The defects are that the treatment method often has no effect on partial kidney stones, particularly stubborn and hard kidney inferior marigold stones and bladder stones, and the treatment method can only break stones and cannot clear the stones on the spot, thereby leaving the hidden troubles of stone relapse and urinary tract blockage caused by broken stones. Ultrasonic in vivo lithotripsy is a better minimally invasive calculus treatment technology, generally adopts a hollow lithotripsy probe and is matched with vacuum negative pressure suction equipment, when the lithotripsy is carried out by ultrasonic waves, the lithotripsy is sucked out of a body by utilizing negative pressure, and the purpose of lithotripsy and calculus removal treatment is achieved. At present, a few companies are used for producing the ultrasonic lithotripsy equipment, mainly including Germany R-Wolf company and Switzerland EMS company, and the lithotripsy equipment of the two companies has defects.
Wherein Wolf's device is generally configured as shown in fig. 1, the intracorporeal ultrasonic lithotripsy transducer comprising: the device comprises a stainless steel needle tube 1, a connector 2, a connector O-shaped sealing ring 3, an elastic tube 4, an amplitude transformer 5, an amplitude transformer O-shaped sealing ring 6, a piezoelectric ceramic piece 7, a balance weight 9, a compression bolt 10, a shell 11, a sleeve O-shaped sealing ring 12, a trachea joint O-shaped sealing ring 16, a trachea joint 17, a compression bolt O-shaped sealing ring 19, a stone suction catheter 20, an insulating sleeve 21, an electrode plate 22, a cone cap 23, a lead 24, a lead interface cap 25 and a lead interface seat 26. Because the shell is only simply pressed and connected with the balance weight, the amplitude transformer and the like through the O-shaped ring, and the amplitude transformer is also a copper alloy material with general performance, the mechanical quality factor is low, the amplitude magnification is small, and the ultrasonic lithotripsy capability is obviously weakened; and an interface which is not provided with a gas pressure trajectory and stone breaking equipment such as holmium laser, neodymium laser and the like is added, so that the stone breaking device is useless when encountering stones with large volume and hard texture.
Although the EMS device is improved for several generations, the combination of ultrasound and pneumatic trajectory is realized, the operation in the operation is not very convenient, the intensity of negative pressure can only be adjusted on the negative pressure suction device, the operator can not control the suction force at will, and when the probe accidentally touches soft tissues, the pressure can not be released in time, which can not only cause the blockage of a needle tube and the heating of a transducer, but also easily cause the injury to the body tissues.
On the other hand, the performance of the ultrasonic transducer is a key factor for determining the lithotripsy capability of the ultrasonic lithotripter, and a typical ultrasonic transducer has a very high quality factor (Q value), a steep resonance curve, a large mechanical amplitude and high motor conversion efficiency only when working at the resonance frequency point. Therefore, the drive circuit of the ultrasonic transducer should be excited with its resonant frequency signal.
However, the resonant frequency of an actual transducer tends to be discrete and variable. This is because: (1) differences in piezoelectric ceramic materials and manufacturing processes in the manufacturing process of the transducer; (2) a change in load characteristics matched by the transducer; (3) the parameters of the transducer change with time, temperature, etc. during use. Therefore, the transducer's drive circuit should have the ability to automatically track its resonant frequency change and always remain driven with the instantaneous resonant frequency signal.
A typical conventional automatic frequency tracking scheme is implemented by using a phase-locked loop circuit, and generally includes: a phase comparator (analog or digital) and a voltage controlled oscillator (analog) or a digital controlled oscillator (digital). The traditional scheme has been developed from an early full analog circuit to an analog and digital mixed circuit, and a full digital implementation mode is provided nowadays. The references are: the patented person is a phase-locked frequency tracking ultrasonic polishing machine which is publicity and has a patent publication number of CN 2248118Y; and patentee as a transducer with automatic frequency tracking of Wenzhizi under patent publication No. CN 2160473Y. The CN2248118Y patent adopts a voltage controlled oscillator to generate an excitation signal of a transducer, samples a current feedback signal of the transducer, compares the phase of the current feedback signal with the excitation signal generated by the voltage controlled oscillator, detects the phase difference between the two signals, and feeds the phase difference back to the voltage controlled oscillator through a control circuit to achieve the purpose of frequency tracking.
This solution has four significant drawbacks: firstly, the voltage-frequency curve of the voltage-controlled oscillator is not completely linearly changed, and the frequency of the sinusoidal signal is completely calculated according to a linear relation, so that the frequency of the sinusoidal signal output by the voltage-controlled oscillator and the resonant frequency of the transducer have errors; the phase comparator adopts an exclusive-or gate, the phase comparator has higher requirement on the duty ratio of two input signals, and accurate frequency tracking can be realized only by ensuring that the duty ratios of a current feedback signal used for phase comparison and a voltage-controlled oscillator excitation signal are strictly equal, which is usually difficult to realize; thirdly, the phase-locked loop is controlled by analog quantity, so that the phase difference signal is not favorably processed in a digital mode, and automatic frequency tracking is facilitated; fourthly, when the individual difference of the transducers is large, the phase-locked loop with the same electrical parameter is difficult to realize the automatic frequency tracking of different transducers with large individual difference, which is very unfavorable for large-scale industrial production.
In addition, in the past, the control of the DDS (direct Digital Synthesizer) is mainly realized through a serial port of a single chip microcomputer, and because the rate of the serial port of the single chip microcomputer is low, the DDS controlled by the direct Digital Synthesizer is used for automatic frequency tracking, so that a communication bottleneck exists, and the effect is poor.
Disclosure of Invention
The invention aims to: in order to overcome the difficulty of simultaneously operating a pressure regulating needle valve and an exhaust valve by a single hand, the ultrasonic lithotripter of the existing in-vivo ultrasonic lithotripter has poor lithotripter breaking capability, is not easy to operate when the lithotripter is attracted and broken to stones with different sizes, and solves the problems that the precision of frequency tracking existing in the automatic frequency tracking scheme by adopting a phase-locked loop circuit is not high, so that the transducer cannot fully release power, and the duty ratio requirement of a phase comparator on two input signals is higher, thereby providing the in-vivo ultrasonic lithotripter.
In order to achieve the above object, the invention provides an in vivo ultrasonic lithotripter, which comprises an ultrasonic transducer and an automatic frequency tracking system of the ultrasonic transducer, and is characterized in that,
the transducer comprises: the device comprises a stainless steel needle tube 1, a connector 2, a connector O-shaped sealing ring 3, an elastic tube 4, an amplitude transformer 5, an amplitude transformer O-shaped sealing ring 6, a piezoelectric ceramic piece 7, a balance weight 9, a compression bolt 10, a shell 11, an air pipe connector O-shaped sealing ring 16, an air pipe connector 17, a compression bolt O-shaped sealing ring 19, a stone suction catheter 20, an insulating sleeve 21, an electrode plate 22, a cone cap 23, a lead 24, a lead interface cap 25 and a lead interface seat 26; the connector is characterized in that the wire interface seat 26 on the upper part of the shell 11 and the wire interface cap 25 on the wire interface seat are arranged at the position deviated from the axis; the shell 11 is also provided with an adapter 18 above the hold-down bolt 10, the adapter 18 is of a four-way structure, the front end of an axial central through hole of the adapter 18 is communicated with a stone suction catheter 20, and the rear end of the central through hole is fixedly connected to the top end of the shell 111; the converter 18 is provided with a peripheral through hole along the axial direction at a position deviating from the axial line corresponding to the wire interface seat 26 and the wire interface cap 25 thereon, and the upper end of the peripheral through hole is communicated with the wire interface seat 26 and is used for accommodating wires; the converter 18 is deviated from the peripheral through hole and is provided with two radial through holes along the radial direction, the two radial through holes are respectively used for communicating the pressure regulating exhaust valve 13 with the air pipe joint 17, and the air pipe joint O-shaped sealing ring 16 is pressed at the joint of the air pipe joint 17 and the converter 18;
the automatic frequency tracking system of the ultrasonic transducer adopts a direct digital frequency synthesizer as a signal source and adopts a frequency sweep-tracking strategy to realize full-digital automatic frequency tracking, and comprises the following steps:
the direct digital synthesizer is used for generating a sine wave signal with adjustable frequency, and the sine wave signal is amplified by the power amplifier and then drives the ultrasonic transducer by a matching network;
the sampling loop is used for acquiring a group of voltage and current feedback signals of the ultrasonic transducer from the power output end of the ultrasonic transducer, and the group of signals are respectively sent to the phase comparison circuit through the filter shaping circuit and the master control singlechip through the amplitude adjusting circuit;
the main control single chip controls the trigger signal and the frequency word of the DDS controller according to the preset working frequency range of the transducer, and sends a continuous frequency scanning instruction to the DDS controller, so that the DDS controller outputs sine waves with continuously changed frequency; meanwhile, the master control single chip microcomputer also monitors the amplitude of a sampling current feedback signal of the transducer in real time, and when the amplitude of the current feedback signal is larger than half of the current amplitude of the transducer during resonance, the frequency word of the master controller is basically near the resonance frequency point of the transducer, the master controller enables the DDS controller to stop sweeping frequency and sends an automatic tracking instruction; when the transducer does not work at the resonance point, no current signal exists, the current amplitude is zero, only when the transducer works near the resonance point, a current feedback signal exists, the current amplitude is not zero, and the closer the working frequency is to the resonance point, the larger the current amplitude is;
and the phase comparison circuit is used for carrying out phase comparison on the voltage and current feedback signals processed by the filtering and shaping circuit, inputting the phase difference signals into the phase difference accumulation circuit to generate frequency words of the DDS chip, and transmitting the frequency words to the DDS chip by the DDS controller to automatically change the frequency of an output signal of the DDS chip, so that the ultrasonic transducer always works near a resonance point to realize automatic frequency tracking.
As an improvement of the invention, the rear end of the central through hole can be connected with a corresponding air pressure ballistic trajectory or laser stone breaking device; or a rear cover 15 is screw-coupled and a gasket 14 is pressed between the rear end and the rear cover.
As another improvement of the invention, the pressure-regulating exhaust valve 13 comprises a needle valve body, a needle valve core, an exhaust valve rod, an exhaust valve cap, a compression spring and an O-shaped rubber ring which are coaxially arranged; the needle valve body is in a circular tube shape, and the outer surface of the needle valve body is provided with threads for connecting with a three-way pipe on an external gas pipeline; the lower end of the needle valve body is sleeved with an O-shaped rubber ring, and the O-shaped rubber ring is tightly pressed to ensure the sealing between the needle valve body and the three-way pipe; the valve core of the needle valve is approximately T-shaped and is sleeved in the valve body of the needle valve from top to bottom; the outer surface of the upper part of the needle valve core is in threaded connection with the inner surface of the upper part of the needle valve body, a gap is reserved between the outer surface of the lower part of the needle valve core and the inner surface of the lower part of the needle valve body, and the matching part of the needle valve core and the lower port of the needle valve body is a conical surface; the needle valve core is hollow, and the inner surface of the lower part of the needle valve core is provided with a flange which is used for sliding fit with the exhaust valve rod; the lower part of the valve core of the needle valve is also provided with two radial holes which are respectively positioned at the upper side and the lower side of the flange; the exhaust valve rod is in an inverted T shape and is sleeved in the needle valve core from bottom to top, a compression spring is sleeved at a gap between the needle valve core and the upper part of the exhaust valve rod, and the lower end of the compression spring is abutted against a stepped hole formed by a flange; an O-shaped rubber ring is arranged between a flange at the lower end of the exhaust valve rod and a limiting end face contacted with the lower end of the needle valve core; the exhaust valve cap is connected to the top end of the exhaust valve rod through threads, a circular groove used for sleeving a compression spring is formed in the center of the lower end face of the exhaust valve cap, and a groove and the circular groove are formed in the lower end face of the exhaust valve cap in the radial direction and communicated.
As another improvement of the invention, the longitudinal section of the upper end part of the valve core of the needle valve is H-shaped, and the upper end surface of the valve core of the needle valve is used as a step limit of an exhaust valve cap. The radial recess of lower terminal surface of exhaust valve cap is the cross.
As another improvement of the invention, the diameter of the counterweight 9 is 1-3 mm larger than that of the piezoelectric ceramic piece. The length of the stainless steel needle tube 1 is 380-440 mm.
As another improvement of the present invention, the piezoelectric ceramic plates 7 may be two or more, and an electrode plate 22 is sandwiched between each two adjacent piezoelectric ceramic plates.
As another improvement of the invention, a sleeve 8 is further sleeved between the shell 11 and the counterweight 9, the sleeve is made of polytetrafluoroethylene resin material, and two ends of the sleeve are connected with O-shaped sealing rings.
As another improvement of the invention, the amplitude transformer is made of titanium alloy material; the shape of the amplitude transformer is an exponential curve, and y is a multiplied by ebx(0≤x≤20)。
As a further improvement of the present invention, the direct digital synthesizer may be a separate integrated chip; the digital part of the DDS can also be integrated in a field programmable logic device FPGA and then realized by adding a digital-to-analog converter. The DDS controller mainly aims to change the signal frequency output by the DDS at a high communication rate, the control of the DDS (direct Digital Synthesizer) in the past is mainly realized through a serial port of a single chip microcomputer, and because the serial port rate of the single chip microcomputer is low, the DDS controlled by the DDS controller is used for automatic frequency tracking, a communication bottleneck exists, and the effect is poor.
As a further improvement of the present invention, the phase comparator uses a flip-flop to give the time difference of arrival of the rising edge signals of the two input signals I _ ph and V _ ph according to the sensitivity characteristic of the rising edge signal, and gives the sequence of arrival of the rising edges of the two input signals I _ ph and V _ ph through a dirlect pin, as shown in fig. 5.
As another improvement of the present invention, the input signal of the DDS controller is a 1-bit trigger start signal, a 32-bit frequency word signal, and a 16-bit control word signal, the content of serial communication is mainly sent in three times, the first 16 bits send the control word of the DDS, the second 16 bits and the third 16 bits send the frequency word of the DDS, and the 48-bit frequency word is loaded into the DDS to automatically change the output frequency thereof; the output signal of the DDS controller adopts high-speed three-wire serial port communication, the serial port of the DDS controller consists of a data wire, a clock wire and a synchronous wire, and the data wire, the synchronous wire and the clock wire are all high level when the DDS controller is idle; during communication, the synchronization line is set to low level, the valid data is aligned with the clock falling edge of the clock line, and the synchronization line, the data line and the clock line are all set to high level after transmitting 16-bit data.
The serial communication starting mode is that the falling edge is triggered but can not be triggered again, when the system is idle, the serial communication is started when the trigger input end of the DDS controller meets the falling edge of the pulse, the serial communication can be restarted when the system is idle after the serial communication is finished and the pulse falling edge is met again, and the serial communication can not be restarted when the pulse falling edge is met during the serial communication.
The phase difference signal output by the phase comparator is used for controlling a trigger start signal of the DDS controller, and an error integrator (i.e., the phase difference accumulation module shown in fig. 3) of the phase comparator is used for outputting a frequency word signal for controlling the DDS controller.
The ultrasonic transducer provided by the invention effectively reduces the impedance of the transducer due to the adoption of the high-performance piezoelectric ceramic material and the reasonable assembly process, so that the heat productivity of the transducer is obviously reduced, and the heat produced by the piezoelectric ceramic can be taken away more by adopting the metal stone absorbing guide pipe inside, so that the consistency of parameters such as the frequency impedance of the transducer in the use process is ensured. Wherein,
the amplitude transformer of the invention adopts titanium alloy material, which has far higher ultrasonic conduction and amplitude amplification effects than other metal materials such as copper alloy and the like. The amplitude transformer in the invention is in an exponential curve shape processed by a precise numerical control machine tool, and the amplitude transformer in the shape not only has good mechanical fatigue resistance, but also can effectively improve the amplification factor of the amplitude.
According to the invention, the sleeve made of the polytetrafluoroethylene material is added between the shell and the core body consisting of the balance weight, the ceramic and the amplitude transformer, and the O-rings are pressed at two ends of the sleeve, so that the structure can effectively reduce the conduction of ultrasound to the shell and can obviously reduce the low-frequency vibration generated along with the internal vibration. The contact parts of the rest core bodies and the surgical and connecting parts are also made of O-shaped rings made of silicon rubber, so that the whole transducer has higher mechanical quality factor and can effectively break harder stones.
Meanwhile, the transducer is also provided with a ballistic lithotripsy interface, ultra-large superhard stones can be treated by combining ultrasound and ballistic methods, and the interface is also suitable for laser lithotripsy equipment such as holmium laser and neodymium laser.
In addition, the invention has another innovation point that the rear end of the transducer handle is provided with the pressure regulating exhaust valve, so that the problems of regulating the adsorption pressure in the operation and easily sucking soft tissues to block the needle tube and hurt human organs are solved, and the lithotripsy operation is more convenient and easier and is safer and more reliable.
The automatic frequency tracking system of the ultrasonic transducer provided by the invention adopts DDS and a large-scale programmable device, and is characterized in that an excitation signal of the ultrasonic transducer is generated by a direct digital synthesizer; the direct digital synthesizer can be an independent integrated chip, or can be realized by integrating the digital part of the DDS with a field programmable logic device FPGA and then adding a digital-to-analog converter. A phase comparator is designed for large-scale programmable devices, which is sensitive only to the leading edge of the signal, regardless of the duty cycle of the signal, and which generates an output signal indicating the phase difference and its direction when two signals of the same frequency but with a time delay at the leading edge are input to the phase comparator.
The invention adopts the strategy of automatic frequency tracking of searching first and tracking second, and the scanning searching first and the automatic tracking second are carried out. Before the transducer starts excitation each time, the main controller instructs DDS to sweep frequency in a preset range through the DDS controller, and simultaneously monitors the amplitude of current feedback of the transducer in real time to search a resonance point. When the vicinity of the resonance point is searched, the frequency search is stopped and the DDS is switched to an automatic tracking state, and then the DDS controller automatically adjusts the frequency of the DDS output signal according to the output result of the phase comparator so as to realize automatic dynamic tracking.
Compared with the prior art, the novel full-digital automatic frequency tracking method and the system for driving the ultrasonic transducer have the following characteristics:
1. and (3) designing an automatic frequency tracking system by adopting the DDS and a large-scale programmable device.
(1) The excitation signal of the transducer is generated by a direct digital synthesizer, which is different from the scheme of adopting the traditional phase-locked loop and voltage-controlled oscillator in the prior design; the Direct Digital Synthesizer (DDS) can be an independent chip, or the digital part of the DDS can be integrated in a field programmable logic device FPGA, and then a digital-to-analog converter is added to form the functional Direct Digital Synthesizer (DDS). Such an implementation may be found in fig. 4.
(2) A special phase comparator is designed by a large-scale programmable device, and phase difference signals are processed digitally. A phase comparator is characterised by being sensitive only to the leading edge of a signal, irrespective of the duty cycle of the signal, and by generating an output signal indicative of the phase difference and its direction when two signals of the same frequency but with a time delay at the leading edge are supplied to the phase comparator.
(3) A special high-speed DDS controller is designed by a large-scale programmable device, and the controller controls the output frequency of the DDS at any time according to the output result of the phase comparator, so that the real-time automatic tracking of the resonance point of the transducer is realized.
2. And designing an automatic frequency tracking system with searching and tracking.
The initial resonance point of the transducer has a certain dispersion due to the difference in manufacturing process and the influence of various internal and external factors. In order to ensure reliable and rapid tracking in the starting process, the system is designed to adopt a strategy of scanning and searching firstly and then automatically tracking.
(1) Before the transducer starts excitation every time, the main controller instructs DDS to sweep frequency in a preset range through the DDS controller, simultaneously monitors the amplitude of current feedback of the transducer in real time and searches a resonance point;
(2) when the vicinity of the resonance point is searched, the frequency search is stopped and the DDS is switched to an automatic tracking state, and at the moment, the DDS controller automatically adjusts the frequency of a DDS output signal according to the output result of the phase comparator so as to realize automatic dynamic tracking.
The invention has the advantages that:
the ultrasonic transducer provided by the invention effectively reduces the impedance of the transducer due to the adoption of the high-performance piezoelectric ceramic material and the reasonable assembly process, so that the heat productivity of the transducer is obviously reduced, and the heat produced by the piezoelectric ceramic can be taken away more by adopting the metal stone absorbing guide pipe inside, so that the consistency of parameters such as the frequency impedance of the transducer in the use process is ensured. Meanwhile, the amplitude transformer with the shape of the index curve processed by the precise numerical control machine tool is adopted, the amplification factor of the amplitude is effectively improved, and the joints and the contact parts are connected by the O-shaped rings made of silicon rubber, so that the whole transducer has higher mechanical quality factor and can effectively break harder stones.
Meanwhile, the transducer is also provided with a ballistic lithotripsy interface, ultra-large superhard stones can be treated by combining ultrasound and ballistic methods, and the interface is also suitable for laser lithotripsy equipment such as holmium laser and neodymium laser. In addition, the pressure regulating exhaust valve is arranged at the rear end of the transducer handle, so that the problems of adsorbing stones with different sizes and easily adsorbing soft tissues to block the needle tube are solved, and the operation of the stone breaking operation is more convenient and easier, and is safer and more reliable.
The automatic frequency tracking system of the ultrasonic transducer provided by the invention takes the direct digital frequency synthesizer as a signal source, replaces a common analog voltage-controlled oscillator and realizes digital control. The special phase comparator and DDS controller designed and realized by adopting large-scale programmable devices have high integration, high working speed, stability and reliability. The system has high control precision and high tracking speed, and the frequency resolution and the control precision of the system can be changed through programming adjustment under the condition that the resolution of the DDS and the dynamic characteristics of the adopted programmable device are fixed. The tracking response speed depends on the system operating clock, and its upper limit depends on the maximum operating speed (clock) of the DDS and programmable device. Meanwhile, the sweep frequency-tracking strategy is adopted, so that the system can adapt to the condition with larger difference of the transducer, the load of the transducer and the like, and can automatically recover once tracking error is found, so that the whole system has good adaptability and reliable tracking.
In conclusion, the output frequency and the frequency word of the full-digital automatic frequency tracking solution of the invention strictly present a linear change relationship, the tracking precision can be completely set according to the actual requirement, and a special high-speed DDS controller and a brand-new phase comparator are designed. In the past, the DDS is controlled mainly through a serial port of a single chip microcomputer, because the rate of the serial port of the single chip microcomputer is low, the DDS is controlled to be subjected to automatic frequency tracking, a communication bottleneck exists, the effect is poor, the serial port communication rate of a high-speed DDS controller designed by people can reach 40M at most, the problem of the communication bottleneck is completely and thoroughly solved, and the requirement of automatic frequency tracking can be met. In addition, the new phase comparator we have designed is sensitive only to the rising edges of the two input signals, independent of the duty cycle. In addition, the phase difference signal output by the phase comparator is processed digitally, so that the frequency tracking precision is improved fundamentally, and the motor conversion efficiency of the transducer is improved greatly. In addition, different transducers with larger individual difference can realize automatic frequency tracking by using a control circuit with the same electrical parameter through a processing strategy of searching firstly and tracking secondly, which is very beneficial to large-scale industrial production.
Drawings
FIG. 1 is a schematic diagram of a prior art in vivo ultrasonic lithotripsy transducer from R-Wolf corporation;
FIG. 2 is a schematic diagram of an ultrasound transducer configuration of the present invention;
FIG. 3 is a cross-sectional view of the portion of the transducer cable lead of FIG. 2 taken along line B-B;
FIG. 4 is a cross-sectional view of the radial through-hole of the transducer of FIG. 2 taken along line A-A;
FIG. 5 is a structural cross-sectional view of the pressure regulating exhaust valve of the present invention;
FIG. 6 is an exploded perspective view of the pressure regulating vent valve of the present invention;
FIGS. 7 a-d are schematic structural views of a needle valve cartridge of the pressure regulating exhaust valve of the present invention;
FIGS. 8 a-d are schematic views of the exhaust valve cap of the pressure regulating exhaust valve of the present invention;
FIG. 9 is a CPLD device based solution of the present invention;
FIG. 10 is a flow chart of the DDS controller of the present invention;
FIG. 11 is a schematic diagram of a phase difference accumulation module of the present invention;
FIG. 12 is an FPGA device based solution of the present invention;
fig. 13 is a logic diagram of the phase comparator of the present invention.
Reference symbols of the drawings
1. Stainless steel needle tube 2, connector 3 and connector O-ring
4. Elastic tube 5, amplitude transformer 6 and amplitude transformer O-ring
7. Piezoelectric ceramic piece 8, sleeve 9 and balance weight
10. Pressing bolt 11, shell 12 and sleeve O-shaped ring
13. Pressure regulating exhaust valve 14, sealing gasket 15 and rear cover
16. Air pipe joint O-ring 17, air pipe joint 18 and adapter
19. Compression bolt O-ring 20, stone suction conduit 21 and insulating sleeve
22. Electrode slice 23, cone cap
24. Wire 25, wire interface cap 26, wire interface seat
131. Needle valve spool 132, needle valve body 133 and three-way pipe joint
134. Exhaust valve cap 135, compression spring 136, exhaust valve stem
137. Exhaust valve body 138, sealed O type circle
Detailed Description
The ultrasonic transducer comprises a stainless steel needle tube 1, a connector 2, a connector O-ring 3, an elastic tube 4, an amplitude transformer 5, an amplitude transformer O-ring 6, a piezoelectric ceramic piece 7, a sleeve 8, a balance weight 9, a compression bolt 10, a shell 11, a sleeve O-ring 12, a pressure regulating exhaust valve 13, a sealing gasket 14, a rear cover 15, a gas pipe connector O-ring 16, a gas pipe connector 17, an adapter 18, a compression bolt O-ring 19, a stone suction catheter 20, an insulating sleeve 21, an electrode plate 22, a cone cap 23, a lead 24, a lead interface cap 25 and a lead interface seat 26, as shown in figures 2-4.
The stainless steel needle tube 1 is a hollow slender stainless steel tube, the connector 2 is in a structure that one end is conical, the other end is cylindrical, the cylindrical surface is provided with threads, and the whole body is axially provided with a circular through hole, the conical end and the stainless steel needle tube 1 are coaxially welded together and are connected through external threads at the cylindrical end and internal threads at the conical end of the amplitude transformer 5, the elastic tube 4 is arranged inside the amplitude transformer 5 and clamped between the connector 2 and the stone absorption catheter 20, wherein the elastic tube 4 is a polytetrafluoroethylene plastic tube, and the stone absorption catheter 20 is a thin-wall stainless steel tube; the piezoelectric ceramic plates 7 can be two or more than two, an electrode plate 22 is clamped between every two piezoelectric ceramic plates, the piezoelectric ceramic plates 7 are clamped between the amplitude transformer 5 and the balance weight 9, the compression bolt 10 penetrates through the balance weight 9, the piezoelectric ceramic plates 7 and the electrode plate 22 and is connected with the amplitude transformer 5, the compression bolt 10 is axially provided with a through hole, the stone absorbing guide pipe 20 penetrates through the through hole and is inserted into the through hole in the axial direction of the adapter 18, a compression bolt O-shaped ring 19 is pressed between the compression bolt 10 and the adapter 18, and the part of the compression bolt 10 penetrating through the piezoelectric ceramic plates 7 and the electrode plate 22 is sleeved with an insulating sleeve 21; the adapter 18 is of a four-way structure, two radial holes are respectively connected with the pressure regulating exhaust valve 13 and the air pipe joint 17, wherein an air pipe joint O-shaped ring 16 is pressed at the joint of the air pipe joint 17, the axial front end is connected with the stone suction catheter 20, the rear end is in threaded connection with the rear cover 15, and a sealing gasket 14 is pressed between the air pipe joint O-shaped ring and the stone suction catheter; shell 11 and cone cap 23 are threaded connection, it has connector O type ring 3 to fill up between the cone end inside and the 5 awl end outside of width of cloth pole of cone cap 23 awl end, the inside and the 5 great end outside of the great diameter of width of cloth pole of cone cap 23, also be exactly the position at whole transducer node place, it has width of cloth pole O type ring 6 to press between, 8 covers of sleeve have sleeve O type ring 12 between shell 11 and counter weight 9, and 18 between the adapter, the other end and the 6 pressure contact of width of cloth pole O type ring.
In the technical scheme, the working frequency of the transducer is 23-28 kHz; the amplification factor of the amplitude transformer is about 10-16 times; the amplitude of the tail end of the stainless steel needle tube is 40-100 um; the shell is made of high-temperature-resistant resin material, the sleeve is made of polytetrafluoroethylene resin material, the O-rings at two ends are made of silicon rubber material, and the shell, the sleeve and the O-rings ensure the insulation and sealing of the piezoelectric ceramic and the electrode plate inside the shell and the external shell; the whole device can be fumigated and disinfected at 125 ℃ or soaked in a disinfectant at normal pressure.
In this example, the piezoelectric ceramic plate 7 is two pieces, the electrode plate 22 is sandwiched between the two pieces, the amplitude transformer 5 and the counter weight 9 sandwich the piezoelectric ceramic plate 7 and the electrode plate 22, the compression bolt 10 passes through the counter weight 9, the piezoelectric ceramic plate 7 and the electrode plate 22 and is connected with the amplitude transformer 5, and matching glue is coated on the contact surfaces of the amplitude transformer 5, the counter weight 9, the piezoelectric ceramic plate 7 and the electrode plate 22, and the compression bolt 10 compresses the contact surfaces to obtain lower impedance and proper frequency. The axial direction of the compression bolt 10 is provided with a through hole, the stone absorbing conduit 20 passes through the through hole and is inserted into the axial direction of the adapter 18, and the part of the compression bolt 10 passing through the piezoelectric ceramic plate 7 and the electrode plate 22 is sleeved with an insulating sleeve 21. The adapter 18 is a four-way structure, two radial holes are respectively connected with the pressure regulating exhaust valve 13 and the air pipe connector 17, wherein the joint of the air pipe connector 17 and the air pipe connector is pressed with an air pipe connector O-ring 16, the rear end of the air pipe connector is in threaded connection with a rear cover 15, and a sealing gasket 14 is pressed between the air pipe connector and the rear cover; after the rear cover 15 and the sealing mat 14 are removed, the adapter 18 can be connected to a corresponding pneumatic ballistic or laser lithotripsy device. Stainless steel needle tubing 1 and connector 2 coaxial welding together, through the internal thread connection of the external screw thread on connector 2 and the 5 awl end of width of cloth pole, elastic tube 4 is in the inside of width of cloth pole 5, press from both sides between connector 2 and inhale stone pipe 20, shell 11 and cone cap 23 are threaded connection, it has connector O type ring 3 to fill up between the cone end inside of cone cap 23 awl end and the 5 awl end outside of width of cloth pole, the inside of the great diameter end of cone cap 23 and the great end outside of the 5 diameter of width of cloth pole, also be exactly the position at whole transducer node place, it has amplitude of cloth pole O type ring 6 to press between, sleeve 8 covers between shell 11 and counter weight 9, and the adapter 18 between press has sleeve O type ring 12, the other end and the pressure contact of amplitude of cloth pole O type ring 6.
The invention also provides a pressure regulating device-pressure regulating exhaust valve used on the gas pipeline, which overcomes the difficulty of simultaneously operating the pressure regulating needle valve and the exhaust valve by one hand through the combined structure of the pressure regulating needle valve and the quick exhaust valve and is used for pressure regulation and quick exhaust of the negative pressure suction pipeline.
As shown in fig. 5 to 8, the pressure-regulating exhaust valve comprises an O-shaped rubber ring 138, an exhaust valve rod 136, a needle valve core 131, a needle valve body 132, an exhaust valve cap 134 and a compression spring 135, the exhaust valve rod 136 is connected with the exhaust valve cap 134 through threads, the compression spring 135 is sleeved on the exhaust valve rod 136 and penetrates through an inner hole of the needle valve core 131, the O-shaped rubber ring is arranged between the exhaust valve rod 136 and the needle valve core 131, the needle valve core 131 is directly connected with the needle valve body 132 through threads, the lower end matching position is a conical surface, threads for installation with the outside are arranged on the outer surface of the needle valve body 132, and the O-shaped rubber ring 138 is sleeved at one end. The needle valve core 131 has an axial stepped bore and two radial bores. And has the following characteristics: 1. the exhaust valve rod 136 and the needle valve core 131 are kept sealed by an O-shaped rubber ring, the needle valve body 132 is connected with an external pipeline through threads, and the sealing is ensured by pressing the O-shaped rubber ring 138. The contact limit end surfaces of the needle valve core 131 and the exhaust valve rod 136 are kept sealed through an O-shaped rubber ring 138. 2. All parts are assembled on the same axis. 3. The valve core 1 of the needle valve is provided with a stepped hole in the axial direction, the exhaust valve rod 136 passes through the stepped hole, the exhaust valve rod and the stepped hole are in radial sliding fit at the position with smaller hole diameter, and the end surface is provided with a step for limiting. 4. The needle valve core 131 has two radial holes, when the system positive pressure is adjusted, the gas flows out from the gap between the needle valve core 131 and the needle valve body 132 through the radial holes on the needle valve core 131 and then through the axial step holes on the needle valve core 131, and when the system negative pressure is adjusted, the gas flow direction is opposite to that when the system positive pressure is adjusted.
The upper parts of the needle valve body and the needle valve core are in threaded connection, when the needle valve is used, the needle valve core is rotated anticlockwise, the needle valve core and the needle valve body are relatively separated in the axial direction, an annular gap is formed at the conical surface of the lower end of the needle valve core, and the size of the gap is determined by the axial separation distance of the needle valve core and the needle valve core, so that the pressure is adjusted; the needle valve core simultaneously acts as a quick exhaust valve body. The negative pressure suction device has the advantages that the whole structure of the air pressure adjusting device is arranged on the negative pressure suction pipeline through threads on the valve body of the needle valve, and the sealing is ensured by the O-shaped rubber ring. When the air pressure of the pipeline needs to be adjusted, the valve core of the needle valve is rotated, the needle valve is opened, and outside air enters the pipeline through two radial holes in the valve core of the needle valve; when quick exhaust is needed, the exhaust valve cap is pressed down to drive the exhaust valve rod, the O-shaped rubber ring is separated from the lower end face of the needle valve core, quick exhaust is achieved, the exhaust valve cap is loosened, and the exhaust valve cap drives the exhaust valve rod to reset under the action of the compression spring; the invention has simple and compact structure, easy processing, convenient disassembly and cleaning and pressure regulation and exhaust actions which can be realized by one hand.
The design of the invention is based on the principle that the excitation voltage and the current of an ultrasonic transducer have the same phase at the resonance frequency point, and adopts the most advanced Direct Digital Synthesis (DDS) and large-scale programmable devices of the present generation to realize a novel full-digital automatic frequency tracking scheme.
The specific full digitalization characteristics are mainly shown as follows:
the DDS as the energy converter excitation source is controlled in a full digital serial communication mode.
The phase difference signal from the phase comparator is processed by digital operation and fed back to the DDS to realize frequency tracking, as shown in fig. 11.
The core technology of the invention is mainly the design of a DDS controller F and a phase comparator E which is only sensitive to signal edges. The program flow chart of the DDS controller F is shown in fig. 10.
The general block diagram of the present invention, as shown in fig. 9, specifically works as follows:
(1) a Direct Digital Synthesizer (DDS) A generates a sine wave signal with a certain frequency, and a power amplifier B amplifies the sine wave signal and drives an ultrasonic transducer I through a matching network;
(2) the sampling loop C obtains a group of voltage and current feedback signals of the transducer I from the power output end, and the group of signals are respectively sent to the phase comparison circuit E through the filter shaping circuit D and sent to the master control singlechip G through the amplitude adjusting circuit H;
(3) the main control singlechip G sends a continuous frequency scanning instruction to the DDS controller F, so that the DDS A outputs sine waves with different frequencies in a preset frequency range for scanning, and simultaneously monitors a sampling current feedback signal until a resonant frequency point close to the transducer is searched;
(4) when the search frequency approaches to the resonance point of the transducer, stopping searching, sending an automatic tracking instruction to a DDS controller F by a master control singlechip G, and automatically tracking the resonance frequency of the transducer by the DDS controller F from the frequency point;
(5) the phase comparison circuit E carries out phase comparison on voltage and current feedback signals which come from the transducer I and are processed by the filter shaping circuit D, then phase difference signals are input to the phase difference accumulation circuit L to generate frequency words of the DDS, and the DDS controller F transmits the frequency words to the DDS chip A at a rate of 40M to change the frequency of output signals of the DDS chip A, so that the ultrasonic transducer I always works near a resonance point.
As shown in fig. 12, a variant of the present invention is to use an FPGA device to implement automatic frequency tracking. The main differences from the previously described method are as follows:
(1) the digital part of the DDS is integrated in the FPGA chip, and the analog part is realized by an additional digital-to-analog converter.
(2) A distinction is also made between DDS control logic F, which is determined primarily by the DDS control interface designed by the programmer, and the DDS controller referred to above.
Claims (16)
1. An internal ultrasonic lithotripter, which comprises an ultrasonic transducer and an automatic frequency tracking system of the ultrasonic transducer, is characterized in that,
the ultrasonic transducer includes: the device comprises a stainless steel needle tube (1), a connector (2), a connector O-shaped sealing ring (3), an elastic tube (4), an amplitude transformer (5), an amplitude transformer O-shaped sealing ring (6), a piezoelectric ceramic piece (7), a balance weight (9), a compression bolt (10), a shell (11), a gas pipe connector O-shaped sealing ring (16), a gas pipe connector (17), a compression bolt O-shaped sealing ring (19), a stone suction catheter (20), an insulating sleeve (21), an electrode plate (22), a cone cap (23), a lead (24), a lead interface cap (25) and a lead interface seat (26);
the wire interface seat (26) on the upper part of the shell (11) and the wire interface cap (25) on the wire interface seat are arranged at the position deviated from the axis;
the shell (11) is internally provided with an adapter (18) above the compression bolt (10), the adapter (18) is of a four-way structure, the front end of an axial central through hole of the adapter is communicated with a stone absorbing guide pipe (20), and the rear end of the central through hole is fixedly connected to the top end of the shell (11); the converter (18) is provided with a peripheral through hole in the axial direction at a position deviating from the axial line corresponding to the wire interface seat (26) and a wire interface cap (25) thereon, and the upper end of the peripheral through hole is communicated with the wire interface seat (26) and is used for accommodating wires; the converter (18) deviates from the peripheral through hole and is provided with two radial through holes along the radial direction, the two radial through holes are respectively used for communicating the pressure regulating exhaust valve (13) with the air pipe joint (17), and the air pipe joint O-shaped sealing ring (16) is pressed at the joint of the air pipe joint (17) and the converter (18);
the automatic frequency tracking system of the ultrasonic transducer adopts a direct digital frequency synthesizer as a signal source and adopts a frequency sweep-tracking strategy to realize full-digital automatic frequency tracking, and comprises the following steps:
the direct digital synthesizer is used for generating a sine wave signal with adjustable frequency, and the sine wave signal is amplified by the power amplifier and then drives the ultrasonic transducer by a matching network;
the sampling loop is used for acquiring a group of voltage and current feedback signals of the ultrasonic transducer from the power output end of the ultrasonic transducer, and the group of signals are respectively sent to the phase comparison circuit through the filter shaping circuit and the master control singlechip through the amplitude adjusting circuit;
the main control single chip controls the trigger signal and the frequency word of the DDS controller according to the preset working frequency range of the transducer, and sends a continuous frequency scanning instruction to the DDS controller, so that the DDS controller outputs sine waves with continuously changed frequency; meanwhile, the master control single chip microcomputer also monitors the amplitude of a sampling current feedback signal of the transducer in real time, and when the amplitude of the current feedback signal is larger than half of the current amplitude of the transducer during resonance, the frequency word of the master controller is basically near the resonance frequency point of the transducer, the master controller enables the DDS controller to stop sweeping frequency and sends an automatic tracking instruction;
and the phase comparison circuit is used for carrying out phase comparison on the voltage and current feedback signals processed by the filtering and shaping circuit, inputting the phase difference signals into the phase difference accumulation circuit to generate frequency words of the DDS chip, and the DDS controller transmits the frequency words to the DDS chip to automatically change the frequency of output signals of the DDS chip, so that the ultrasonic transducer always works near a resonance point to realize automatic frequency tracking.
2. The ultrasonic lithotripter in vivo as claimed in claim 1, wherein the rear end of the central through hole can be connected with a corresponding pneumatic ballistic or laser lithotripter; or a rear cover (15) is connected in a threaded manner, and a sealing gasket (14) is pressed between the rear end and the rear cover.
3. The ultrasonic lithotripter in vivo as claimed in claim 1, wherein the pressure-regulating exhaust valve (13) comprises a needle valve body, a needle valve core, an exhaust valve rod, an exhaust valve cap, a compression spring and an O-shaped rubber ring which are coaxially arranged;
the needle valve body is in a circular tube shape, and the outer surface of the needle valve body is provided with threads for connecting with a three-way pipe on an external gas pipeline; the lower end of the needle valve body is sleeved with an O-shaped rubber ring, and the O-shaped rubber ring is tightly pressed to ensure the sealing between the needle valve body and the three-way pipe;
the valve core of the needle valve is approximately T-shaped and is sleeved in the valve body of the needle valve from top to bottom; the outer surface of the upper part of the needle valve core is in threaded connection with the inner surface of the upper part of the needle valve body, a gap is reserved between the outer surface of the lower part of the needle valve core and the inner surface of the lower part of the needle valve body, and the matching part of the needle valve core and the lower port of the needle valve body is a conical surface; the needle valve core is hollow, and the inner surface of the lower part of the needle valve core is provided with a flange which is used for sliding fit with the exhaust valve rod; the lower part of the valve core of the needle valve is also provided with two radial holes which are respectively positioned at the upper side and the lower side of the flange;
the exhaust valve rod is in an inverted T shape and is sleeved in the needle valve core from bottom to top, a compression spring is sleeved at a gap between the needle valve core and the upper part of the exhaust valve rod, and the lower end of the compression spring is abutted against a stepped hole formed by a flange; an O-shaped rubber ring is arranged between a flange at the lower end of the exhaust valve rod and a limiting end face contacted with the lower end of the needle valve core;
the exhaust valve cap is connected to the top end of the exhaust valve rod through threads, a circular groove used for sleeving a compression spring is formed in the center of the lower end face of the exhaust valve cap, and a groove and the circular groove are formed in the lower end face of the exhaust valve cap in the radial direction and communicated.
4. The ultrasonic lithotripter as claimed in claim 3, wherein the needle valve core has an upper end with a longitudinal section in the shape of an H, and the upper end serves as a stepped stop for the exhaust valve cap.
5. The intracorporeal ultrasonic lithotripter of claim 3 or 4, wherein the radial groove of the lower end surface of the exhaust valve cap is cross-shaped.
6. The ultrasonic lithotripter in vivo as claimed in claim 1, wherein the diameter of the counterweight (9) is 1-3 mm larger than the diameter of the piezoelectric ceramic plate.
7. The intracorporeal ultrasonic lithotripter of claim 1, wherein the stainless steel needle tube (1) has a length of 380-440 mm.
8. The ultrasonic lithotripter as claimed in claim 1, wherein the piezoelectric ceramic plates (7) are two or more, and an electrode plate (22) is sandwiched between each two adjacent piezoelectric ceramic plates.
9. The ultrasonic lithotripter in vivo as claimed in claim 1, wherein a sleeve (8) is further sleeved between the housing (11) and the counterweight (9), the sleeve is made of polytetrafluoroethylene resin material, and two ends of the sleeve are connected with O-shaped sealing rings.
10. The ultrasonic lithotripter of claim 1, wherein the horn is a titanium alloy material.
11. The ultrasonic lithotripter of claim 1, wherein the horn has an exponential profile with y ═ a × ebx(0≤x≤20)。
12. The intracorporeal ultrasonic lithotripter of claim 1, wherein the direct digital synthesizer is a separate integrated chip; the digital part of the DDS can also be integrated in a field programmable logic device FPGA and then realized by adding a digital-to-analog converter.
13. The ultrasonic lithotripter of claim 1, wherein the phase comparator uses the sensitivity of the trigger to the rising edge signal to give the time difference between the arrival of the rising edge signals of the two input signals I _ ph and V _ ph, and the sequence of the arrival of the rising edges of the two input signals I _ ph and V _ ph is given by the Dirrect pin.
14. The in vivo ultrasonic lithotripter of claim 1, wherein the input signals of the DDS controller are 1-bit trigger start signal, 32-bit frequency word signal, and 16-bit control word signal, the contents of serial communication are transmitted mainly in three times, the first 16-bit transmits the control word of DDS, the second 16-bit and the third 16-bit transmit the frequency word of DDS, and 48-bit frequency words are loaded into DDS to automatically change its output frequency;
the output signal of the DDS controller adopts high-speed three-wire serial port communication, the serial port of the DDS controller consists of a data wire, a clock wire and a synchronous wire, and the data wire, the synchronous wire and the clock wire are all high level when the DDS controller is idle; during communication, the synchronization line is set to low level, the valid data is aligned with the clock falling edge of the clock line, and the synchronization line, the data line and the clock line are all set to high level after transmitting 16-bit data.
15. The in vivo ultrasonic lithotripter of claim 14, wherein the serial communication is initiated in a falling edge triggering manner but not in a retriggerable manner, and when the system is idle, the trigger input of the DDS controller initiates the serial communication whenever the pulse falling edge is encountered, and does not restart the serial communication again until the system is idle after the serial communication is completed and the pulse falling edge is encountered during the serial communication.
16. The ultrasonic lithotripter as claimed in claim 1, wherein the phase comparator outputs a phase difference signal for controlling the trigger start signal of the DDS controller, and the phase comparator has an error integrator for outputting a frequency word signal for controlling the DDS controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008100851639A CN101467910B (en) | 2007-12-28 | 2008-03-24 | In vivo ultrasound lithotripter |
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| Application Number | Priority Date | Filing Date | Title |
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| CN200710304461.8 | 2007-12-28 | ||
| CN200710304461 | 2007-12-28 | ||
| CN200710304664.7 | 2007-12-28 | ||
| CN2008100851639A CN101467910B (en) | 2007-12-28 | 2008-03-24 | In vivo ultrasound lithotripter |
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| CN101467910A true CN101467910A (en) | 2009-07-01 |
| CN101467910B CN101467910B (en) | 2010-09-29 |
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| CNU200820004344XU Expired - Lifetime CN201179091Y (en) | 2007-12-28 | 2008-01-31 | Energy converter applied in ultrasonic crush stone instrument in vivo |
| CN2008100067580A Active CN101467909B (en) | 2007-12-28 | 2008-01-31 | Transducer for ultrasound lithotripter in vivo |
| CN2008100851639A Active CN101467910B (en) | 2007-12-28 | 2008-03-24 | In vivo ultrasound lithotripter |
| CNU2008201074036U Expired - Lifetime CN201179093Y (en) | 2007-12-28 | 2008-03-26 | Ultrasonic lithoriptor in vivo |
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| CN2008100067580A Active CN101467909B (en) | 2007-12-28 | 2008-01-31 | Transducer for ultrasound lithotripter in vivo |
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| GB2116045B (en) * | 1982-03-04 | 1985-01-23 | Wolf Gmbh Richard | Piezoelectric transducers having a curved tubular shaft for disintegrating calculi |
| CN1035229C (en) * | 1991-03-09 | 1997-06-25 | 中国人民解放军空军工程学院 | Ultrasonic tooth-cleaning machine |
| CN1085415A (en) * | 1993-06-11 | 1994-04-20 | 张建华 | Portable external ultrasonic lithotriptor |
| CN1073453C (en) * | 1996-12-27 | 2001-10-24 | 中国科学院声学研究所 | In vitro supersonic therapeutical instrument for medical purpose |
| US6569109B2 (en) * | 2000-02-04 | 2003-05-27 | Olympus Optical Co., Ltd. | Ultrasonic operation apparatus for performing follow-up control of resonance frequency drive of ultrasonic oscillator by digital PLL system using DDS (direct digital synthesizer) |
| CN201179091Y (en) * | 2007-12-28 | 2009-01-14 | 北京奥麦特科技有限公司 | Energy converter applied in ultrasonic crush stone instrument in vivo |
-
2008
- 2008-01-31 CN CNU200820004344XU patent/CN201179091Y/en not_active Expired - Lifetime
- 2008-01-31 CN CN2008100067580A patent/CN101467909B/en active Active
- 2008-03-24 CN CN2008100851639A patent/CN101467910B/en active Active
- 2008-03-26 CN CNU2008201074036U patent/CN201179093Y/en not_active Expired - Lifetime
Cited By (4)
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| CN101884566A (en) * | 2010-03-19 | 2010-11-17 | 张毓笠 | Ultrasonic integrated surgical system |
| CN101884566B (en) * | 2010-03-19 | 2012-02-01 | 张毓笠 | Ultrasonic integrated surgical system |
| CN101897612A (en) * | 2010-09-02 | 2010-12-01 | 邵俐丽 | Combined intracavitary stone breaker |
| CN110246563A (en) * | 2019-06-14 | 2019-09-17 | 合肥大族科瑞达激光设备有限公司 | Holmium laser therapy equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN201179091Y (en) | 2009-01-14 |
| CN201179093Y (en) | 2009-01-14 |
| CN101467910B (en) | 2010-09-29 |
| CN101467909A (en) | 2009-07-01 |
| CN101467909B (en) | 2011-02-02 |
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