CN109259849A - The control system of electrosurgical energy generator - Google Patents
The control system of electrosurgical energy generator Download PDFInfo
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- CN109259849A CN109259849A CN201810986335.3A CN201810986335A CN109259849A CN 109259849 A CN109259849 A CN 109259849A CN 201810986335 A CN201810986335 A CN 201810986335A CN 109259849 A CN109259849 A CN 109259849A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B2018/00636—Sensing and controlling the application of energy
- A61B2018/00773—Sensed parameters
- A61B2018/00875—Resistance or impedance
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B2018/0091—Handpieces of the surgical instrument or device
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Abstract
The invention discloses a kind of control systems of electrosurgical energy generator, it includes the impedance transducer for sensing target tissue impedance, energy output timer and the controller that is separately connected with the two, the tissue impedance that the controller is detected according to impedance transducer regulates and controls the energy height of electrosurgical energy generator output before the deadline, and power generator exports energy circulation and repeats.The present invention, according to the impedance conditions of actually detected tissue, dynamically adjusts output power in practical operation, is capable of the target tissue impedance of the various operating modes of accurate quick obtaining；The solidifying power level for waiting the stages to use dynamic change is being heated and cut, the speed for reaching phased goal impedance is accelerated；Carbonization phenomenon is avoided, making entirely to cut solidifying process realizes accurate control.
Description
Technical field
The present invention relates to electrosurgical energy generator, in particular to a kind of control system of electrosurgical energy generator.
Background technique
Electrosurgical energy generator generates high-frequency and high-voltage and high-frequency current, acts on the position for needing to perform the operation, and is cut with generating
It cuts, the surgical effect of blood coagulation.In order to realize more preferably clinical effectiveness, making to cut smooth and prevent from being carbonized, electrosurgical energy
Must accomplish it is exactly accurate, thus the more accurate output control for realizing electrosurgical energy and more preferably organizational effect.
Disclosed in the traditional output of electrosurgical energy generator energy process, such as Publication No. CN104337567A by
It entirely cuts solidifying process to be divided into sensing target tissue, heat and cut the stages such as solidifying, each stage generates electrosurgery with firm power
Energy.But in practical application, for different individuals, different tissues position, different operation process, with constant power level
Electrosurgical energy is generated, cannot achieve desired clinical result.Such as phase is used in the sensing target tissue stage in CN104337567A
With electrosurgical energy P0, can not the accurate various operating modes of quick obtaining target tissue impedance information；It is solidifying heating and cutting
The equal stages use constant power level, and energy is small cannot to be rapidly achieved phased goal impedance, and speed is slow；There will be carbon greatly for energy
The phenomenon that change, can not achieve accurate control so as to cause solidifying process is entirely cut.
Summary of the invention
The present invention is directed at least solve the technical problems existing in the prior art, a kind of electrosurgery is especially innovatively proposed
The control system of power generator.
In order to realize above-mentioned purpose of the invention, the present invention provides a kind of control system of electrosurgical energy generator,
It includes the impedance transducer for sensing target tissue impedance, energy output timer and the controller that is separately connected with the two, described
The tissue impedance that controller is detected according to impedance transducer regulates and controls the output of electrosurgical energy generator before the deadline
The energy period of energy height, power generator output is reciprocal, and an energy period includes:
First stage: from the stage started to T0, electrosurgical energy generator persistently exports the T0 time with power level P1,
Impedance transducer detects initial impedance；
Second stage: the initialization tissue stage, if present impedance is not more than target impedance Z1, in T0 to T1 period
It is interior, it is multiple control periods by T0 to T1 period cutting, controller controls the output power of electrosurgical energy generator are as follows:
Pout1=KP1* (Error1-LError1)+KI1*Error1+KD1* (Error1-2*LError1+
LLError1),
Wherein, Z1 is the present mode second stage target impedance value to be reached, and KP1, KI1, KD1 are followed successively by present mode
The PID control proportionality coefficient of second stage, integral coefficient, differential coefficient, present impedance error E rror1=Z1-Zreal,
LError1 is the stage upper control period impedance error, and LLError1 is week before last in the stage phase impedance error；
Phase III: the impedance rise stage, will in T1 to T2 period when present impedance is not more than target impedance Z2
T1 is multiple control periods to T2 period cutting, and controller controls the output power of electrosurgical energy generator are as follows:
Pout2=KP2* (Error2-LError2)+KI2*Error2+KD2* (Error2-2*LError2+
LLError2),
Wherein, Z2 is the present mode phase III target impedance value to be reached, and KP2, KI2, KD2 are followed successively by present mode
Phase III PID control proportionality coefficient, integral coefficient, differential coefficient, present impedance error E rror2=Ztarget-Zreal,
LError2 is the stage upper control period impedance error, and LLError2 is week before last in the stage phase impedance error, current goal
Numerical value impedance Z target cumulative between Z1 and Z2 and about Zreal；
Fourth stage: cutting the solidifying tissue stage, and present impedance is not more than target impedance Z3, in T2 to T3 period, by T2
It is multiple control periods to T3 period cutting, controller controls the output power of electrosurgical energy generator are as follows:
Pout3=KP3* (Error3-LError3)+KI3*Error3+KD3* (Error3-2*LError3+
LLError3),
Wherein, Z3 is the present mode fourth stage target impedance value to be reached, and KP3, KI3, KD3 are followed successively by present mode
Fourth stage PID control proportionality coefficient, integral coefficient, differential coefficient, present impedance error E rror3=Z3-Zreal,
LError3 is the stage upper control period impedance error, and LLError3 is week before last in the stage phase impedance error；
5th stage: low-power output stage, controller control electrosurgical energy generator with constant lower power levels P0
Output, the P0 are lower than P1.
The control system of electrosurgical energy generator of the invention is in practical operation, according to the impedance of actually detected tissue
Situation dynamically adjusts output power, is capable of the target tissue impedance of the various operating modes of accurate quick obtaining；It is heating and is cutting
The solidifying power level for waiting the stages to use dynamic change, accelerates the speed for reaching phased goal impedance；Carbonization phenomenon is avoided,
Making entirely to cut solidifying process realizes accurate control.
Additional aspect and advantage of the invention will be set forth in part in the description, and will partially become from the following description
Obviously, or practice through the invention is recognized.
Detailed description of the invention
Above-mentioned and/or additional aspect of the invention and advantage will become from the description of the embodiment in conjunction with the following figures
Obviously and it is readily appreciated that, in which:
Fig. 1 is a kind of control flow chart of preferred embodiment middle impedance detection-phase controller of the present invention；
Fig. 2 is the control flow chart that tissue phase controller is initialized in a kind of preferred embodiment of the present invention；
Fig. 3 is a kind of control flow chart of preferred embodiment middle impedance ascent stage controller of the present invention；
Fig. 4 is the control flow chart that solidifying tissue phase controller is cut in a kind of preferred embodiment of the present invention.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, and for explaining only the invention, and is not considered as limiting the invention.
In the description of the present invention, unless otherwise specified and limited, it should be noted that term " installation ", " connected ",
" connection " shall be understood in a broad sense, for example, it may be mechanical connection or electrical connection, the connection being also possible to inside two elements can
, can also indirectly connected through an intermediary, for the ordinary skill in the art to be to be connected directly, it can basis
Concrete condition understands the concrete meaning of above-mentioned term.
The present invention provides a kind of control systems of electrosurgical energy generator comprising the impedance of sensing target tissue impedance
Sensor, controller energy output timer and be separately connected with the two, the group that controller is detected according to impedance transducer
Knit the energy height that impedance regulates and controls the output of electrosurgical energy generator before the deadline, the energy of the power generator output
Measure that the period is reciprocal, and an energy period includes:
First stage: from the stage started to T0, electrosurgical energy generator persistently exports the T0 time with power level P1,
Impedance transducer detects initial impedance；
Second stage: the initialization tissue stage, if present impedance is not more than target impedance Z1, in T0 to T1 period
It is interior, it is multiple control periods by T0 to T1 period cutting, controller controls the output power of electrosurgical energy generator are as follows:
Pout1=KP1* (Error1-LError1)+KI1*Error1+KD1* (Error1-2*LError1+
LLError1),
Wherein, Z1 is the present mode second stage target impedance value to be reached, and KP1, KI1, KD1 are followed successively by present mode
The PID control proportionality coefficient of second stage, integral coefficient, differential coefficient, present impedance error E rror1=Z1-Zreal,
LError1 is the stage upper control period impedance error, and LLError1 is week before last in the stage phase impedance error；
Phase III: the impedance rise stage, will in T1 to T2 period when present impedance is not more than target impedance Z2
T1 is multiple control periods to T2 period cutting, and controller controls the output power of electrosurgical energy generator are as follows:
Pout2=KP2* (Error2-LError2)+KI2*Error2+KD2* (Error2-2*LError2+
LLError2),
Wherein, Z2 is the present mode phase III target impedance value to be reached, and KP2, KI2, KD2 are followed successively by present mode
Phase III PID control proportionality coefficient, integral coefficient, differential coefficient, present impedance error E rror2=Ztarget-Zreal,
LError2 is the stage upper control period impedance error, and LLError2 is week before last in the stage phase impedance error, current goal
Numerical value impedance Z target cumulative between Z1 and Z2 and about Zreal；
Fourth stage: cutting the solidifying tissue stage, and present impedance is not more than target impedance Z3, in T2 to T3 period, by T2
It is multiple control periods to T3 period cutting, controller controls the output power of electrosurgical energy generator are as follows:
Pout3=KP3* (Error3-LError3)+KI3*Error3+KD3* (Error3-2*LError3+
LLError3),
Wherein, Z3 is the present mode fourth stage target impedance value to be reached, and KP3, KI3, KD3 are followed successively by present mode
Fourth stage PID control proportionality coefficient, integral coefficient, differential coefficient, present impedance error E rror3=Z3-Zreal,
LError3 is the stage upper control period impedance error, and LLError3 is week before last in the stage phase impedance error；
5th stage: low-power output stage, controller control electrosurgical energy generator with constant lower power levels P0
Output, the P0 are lower than P1.
In the present embodiment, Z1, Z2, Z3 are the impedance value of the tissue of electrosurgery different phase, and specific Z1 refers to
Initial phase heats tissue, and tissue reaches impedance value when temperature T；In the impedance rise stage, electrosurgery is increased
The power level of power generator makes the impedance rise of tissue, reaches and cuts solidifying impedance level Z2；Z3 is to complete to cut solidifying impedance
It is horizontal.The numerical value of specific Z1, Z2, Z3 and temperature T can be obtained according to different tissues, different solidifying requirements of cutting by experimental data.
In the preferred embodiment of the present invention, as shown in Figure 1, in the impedance detection stage, the specific control of controller
Step processed are as follows:
S01, electrosurgical energy generator persistently export energy with P1 power, and energy exports the timer detection output time,
If the duration is less than T0, continue to output, it is no to then follow the steps S02；
S02, controller obtain the initial impedance Zlow of impedance transducer detection, if initial impedance Zlow is hindered greater than upper threshold values
Anti- Zsensehigh, then it is assumed that electrosurgical unit " open circuit ", electrosurgical energy generator executed for the 5th stage, no to then follow the steps
S03；
S03 is labeled as high resistance levels, otherwise marks if initial impedance Zlow is greater than threshold values impedance Z tissuetype
For Low ESR level, electrosurgical energy generator executes second stage.
In the preferred embodiment of the present invention, as shown in Fig. 2, initialization the tissue stage, controller it is specific
Rate-determining steps are as follows:
S11, impedance transducer acquire current real-time impedance Zreal, and controller compares it with target impedance Z1, if
When current real-time impedance Zreal is greater than target impedance Z1, the phase III is executed；It is no to then follow the steps S12；
S12, energy exports timer and detects the duration, when controller judges that whether the duration is more than T1, when lasting
When time is less than T1, the power output of power generator are as follows:
Pout1=KP1* (Error1-LError1)+KI1*Error1+KD1* (Error1-2*LError1+
LLError1), return step S11 executes stage S4 if the duration is more than T1；
Wherein, Z1 is that KP1, KI1, KD1 are followed successively by, and present impedance error E rror1=Z1-Zreal, LError1 are should
Stage upper control period impedance error, LLError1 is week before last in the stage phase impedance error.
In the preferred embodiment of the present invention, as shown in figure 3, in the impedance rise stage, the specific control of controller
Step processed are as follows:
S21 sets Ztarget=Z1；
S22, impedance transducer detect currently practical impedance Z real, controller by it compared with Z2, if real-time sampling hinders
Anti- Zreal is equal to or more than Z2, then executes fourth stage, no to then follow the steps S23；
S23, controller control the power output of power generator are as follows:
Pout2=KP2* (Error2-LError2)+KI2*Error2+KD2* (Error2-2*LError2+
LLError2),
Wherein, Z2 is that KP2, KI2, KD2 are followed successively by, present impedance error E rror2=Ztarget-Zreal, LError2
For the stage upper control period impedance error, LLError2 is week before last in the stage phase impedance error, judges currently practical resistance
Whether anti-Zreal is greater than Ztarget, if it is, enabling Ztarget=Ztarget*Zmultiplier, Zmultiplier is
Multiplication factor, return step S22.
In the present embodiment, second stage to fourth stage PID control proportionality coefficient, integral coefficient and differential coefficient
It is respectively provided with the numerical value of corresponding high resistance levels and the numerical value of corresponding Low ESR level, the corresponding numerical value of high resistance levels is greater than low
The corresponding numerical value of impedance level.If step S03 detects that initial impedance Zlow is greater than threshold values impedance Z tissuetype, then mark
It is otherwise horizontal labeled as Low ESR for high resistance levels, if it is high resistance levels, in the control of second stage to fourth stage
Proportionality coefficient, integral coefficient and differential coefficient processed are using the numerical value for corresponding to high resistance levels；If it is Low ESR level, the
Two-stage uses the numerical value of corresponding Low ESR level to control proportionality coefficient, integral coefficient and the differential coefficient of fourth stage.
In the preferred embodiment of the present invention, as shown in figure 4, cutting the solidifying tissue stage, the specific control of controller
Step are as follows:
S31, controller judge whether the duration reaches T3, whether currently practical impedance Z real is greater than Z3, phase difference
(calculating to obtain phase difference according to the active power of sampling and apparent energy) whether be greater than exit phase difference Exitphase and
Whether number of pulses (preset number of pulses) reaches maximum impulse quantity, if the above Rule of judgment is set up, holds
Row order section S4, it is no to then follow the steps S32；
S32, controller control the power output of power generator are as follows:
Pout3=KP3* (Error3-LError3)+KI3*Error3+KD3* (Error3-2*LError3+
LLError3), otherwise enter such as S4, wherein Z3 is that KP3, KI3, KD3 are followed successively by, present impedance error E rror3=Z3-
Zreal, LError3 are the stage upper control period impedance error, and LLError3 is week before last in the stage phase impedance error.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
Centainly refer to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be any
One or more embodiment or examples in can be combined in any suitable manner.
Although an embodiment of the present invention has been shown and described, it will be understood by those skilled in the art that: not
A variety of change, modification, replacement and modification can be carried out to these embodiments in the case where being detached from the principle of the present invention and objective, this
The range of invention is defined by the claims and their equivalents.
Claims (6)
1. a kind of control system of electrosurgical energy generator, which is characterized in that the impedance sensing including sensing target tissue impedance
Device, controller energy output timer and be separately connected with the two, the group that the controller is detected according to impedance transducer
Knit the energy height that impedance regulates and controls the output of electrosurgical energy generator before the deadline, the energy of the power generator output
Measure that the period is reciprocal, and an energy period includes:
First stage: from the stage started to T0, electrosurgical energy generator persistently exports T0 time, impedance with power level P1
Sensor detects initial impedance；
Second stage: the initialization tissue stage, if present impedance is not more than target impedance Z1, in T0 to T1 period,
It is multiple control periods by T0 to T1 period cutting, controller controls the output power of electrosurgical energy generator are as follows:
Pout1=KP1* (Error1-LError1)+KI1*Error1+KD1* (Error1-2*LError1+LLError1),
Wherein, Z1 is the present mode second stage target impedance value to be reached, and KP1, KI1, KD1 are followed successively by present mode second
The PID control proportionality coefficient in stage, integral coefficient, differential coefficient, present impedance error E rror1=Z1-Zreal, LError1
For the stage upper control period impedance error, LLError1 is week before last in the stage phase impedance error；
Phase III: the impedance rise stage, when present impedance is not more than target impedance Z2, in T1 to T2 period, extremely by T1
T2 period cutting is multiple control periods, and controller controls the output power of electrosurgical energy generator are as follows:
Pout2=KP2* (Error2-LError2)+KI2*Error2+KD2* (Error2-2*LError2+LLError2),
Wherein, Z2 is the present mode phase III target impedance value to be reached, and KP2, KI2, KD2 are followed successively by present mode third
Stage PID control proportionality coefficient, integral coefficient, differential coefficient, present impedance error E rror2=Ztarget-Zreal,
LError2 is the stage upper control period impedance error, and LLError2 is week before last in the stage phase impedance error, current goal
Numerical value impedance Z target cumulative between Z1 and Z2 and about Zreal；
Fourth stage: cutting the solidifying tissue stage, and present impedance is not more than target impedance Z3, in T2 to T3 period, by T2 to T3
Period cutting is multiple control periods, and controller controls the output power of electrosurgical energy generator are as follows:
Pout3=KP3* (Error3-LError3)+KI3*Error3+KD3* (Error3-2*LError3+LLError3),
Wherein, Z3 is the present mode fourth stage target impedance value to be reached, and KP3, KI3, KD3 are followed successively by present mode the 4th
Stage PID control proportionality coefficient, integral coefficient, differential coefficient, present impedance error E rror3=Z3-Zreal, LError3 are
The stage upper control period impedance error, LLError3 is week before last in the stage phase impedance error；
5th stage: low-power output stage, controller control electrosurgical energy generator are exported with constant lower power levels P0,
The P0 is lower than P1.
2. the control system of electrosurgical energy generator according to claim 1, which is characterized in that in impedance detection rank
Section, the specific rate-determining steps of controller are as follows:
S01, electrosurgical energy generator persistently export energy with P1 power, and energy exports the timer detection output time, if
Duration is less than T0, then continues to output, no to then follow the steps S02；
S02, controller obtain the initial impedance Zlow of impedance transducer detection, if initial impedance Zlow is greater than upper threshold values impedance
Zsensehigh, then it is assumed that electrosurgical unit " open circuit ", electrosurgical energy generator executed for the 5th stage, no to then follow the steps
S03；
S03 is labeled as high resistance levels if initial impedance Zlow is greater than threshold values impedance Z tissuetype, otherwise labeled as low
Impedance level, electrosurgical energy generator execute second stage.
3. the control system of electrosurgical energy generator according to claim 1 or 2, which is characterized in that second stage is extremely
The PID control proportionality coefficient of fourth stage, integral coefficient and differential coefficient are respectively provided with the numerical value of corresponding high resistance levels and right
The numerical value of Low ESR level is answered, the corresponding numerical value of high resistance levels is greater than the horizontal corresponding numerical value of Low ESR.
4. the control system of electrosurgical energy generator according to claim 1, which is characterized in that in initialization tissue rank
Section, the specific rate-determining steps of controller are as follows:
S11, impedance transducer acquire current real-time impedance Zreal, and controller compares it with target impedance Z1, if currently
When real-time impedance Zreal is greater than target impedance Z1, the phase III is executed；It is no to then follow the steps S12；
S12, energy output timer detection duration work as the duration when controller judges that whether the duration is more than T1
When being less than T1, the power output of power generator are as follows:
Pout1=KP1* (Error1-LError1)+KI1*Error1+KD1* (Error1-2*LError1+LLError1), is returned
Step S11 is returned, if the duration is more than T1, executes stage S4；
Wherein, Z1 is that KP1, KI1, KD1 are followed successively by, and present impedance error E rror1=Z1-Zreal, LError1 are the stage
Upper control period impedance error, LLError1 are week before last in the stage phase impedance error.
5. the control system of electrosurgical energy generator according to claim 1, which is characterized in that in impedance rise rank
Section, the specific rate-determining steps of controller are as follows:
S21 sets Ztarget=Z1；
S22, impedance transducer detect currently practical impedance Z real, controller by it compared with Z2, if real-time sampling impedance
Zreal is equal to or more than Z2, then executes fourth stage, no to then follow the steps S23；
S23, controller control the power output of power generator are as follows:
Pout2=KP2* (Error2-LError2)+KI2*Error2+KD2* (Error2-2*LError2+LLError2),
In, Z2 is that KP2, KI2, KD2 are followed successively by, and present impedance error E rror2=Ztarget-Zreal, LError2 are on the stage
One control period impedance error, LLError2 is week before last in the stage phase impedance error, whether judges currently practical impedance Z real
Greater than Ztarget, if it is, enabling Ztarget=Ztarget*Zmultiplier, Zmultiplier is multiplication factor, is returned
Return step S22.
6. the control system of electrosurgical energy generator according to claim 1, which is characterized in that the solidifying tissue stage is cut,
The specific rate-determining steps of controller are as follows:
S31, controller judge whether the duration reaches T3, that whether currently practical impedance Z real is greater than Z3, phase difference is whether big
In exiting phase difference Exitphase and whether number of pulses reaches maximum impulse quantity, if the above Rule of judgment at
It is vertical, then stage S4 is executed, it is no to then follow the steps S32；
S32, controller control the power output of power generator are as follows:
Pout3=KP3* (Error3-LError3)+KI3*Error3+KD3* (Error3-2*LError3+LLError3), it is no
Then enter such as S4, wherein Z3 is that KP3, KI3, KD3 are followed successively by, and present impedance error E rror3=Z3-Zreal, LError3 are
The stage upper control period impedance error, LLError3 is week before last in the stage phase impedance error.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023178556A1 (en) * | 2022-03-23 | 2023-09-28 | 深圳迈瑞生物医疗电子股份有限公司 | Electrosurgical device and energy output control method therefor |
| WO2023213061A1 (en) * | 2022-05-05 | 2023-11-09 | 以诺康医疗科技（苏州）有限公司 | Electrosurgical generator, electrosurgical system, and control method therefor |
| WO2023213046A1 (en) * | 2022-05-05 | 2023-11-09 | 以诺康医疗科技（苏州）有限公司 | Method and system for closing tissue by means of high-frequency electrotome, generator and high-frequency electrotome |
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| WO2023178556A1 (en) * | 2022-03-23 | 2023-09-28 | 深圳迈瑞生物医疗电子股份有限公司 | Electrosurgical device and energy output control method therefor |
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| WO2023213046A1 (en) * | 2022-05-05 | 2023-11-09 | 以诺康医疗科技（苏州）有限公司 | Method and system for closing tissue by means of high-frequency electrotome, generator and high-frequency electrotome |
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