CN109259849B - Control system for electrosurgical energy generator - Google Patents
Control system for electrosurgical energy generator Download PDFInfo
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- CN109259849B CN109259849B CN201810986335.3A CN201810986335A CN109259849B CN 109259849 B CN109259849 B CN 109259849B CN 201810986335 A CN201810986335 A CN 201810986335A CN 109259849 B CN109259849 B CN 109259849B
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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
Abstract
The invention discloses a control system of an electrosurgical energy generator, which comprises an impedance sensor for sensing the impedance of target tissue, an energy output timer and a controller respectively connected with the impedance sensor and the energy output timer, wherein the controller regulates and controls the energy output by the electrosurgical energy generator within a specified time according to the impedance of the tissue detected by the impedance sensor, and the energy output by the electrosurgical energy generator is repeated cyclically. During actual operation, the output power is dynamically adjusted according to the impedance condition of the actually detected tissue, and the target tissue impedance of various working modes can be accurately and quickly obtained; the power level of dynamic change is used in the stages of heating, cutting and condensing and the like, so that the speed of achieving the staged target impedance is increased; avoids carbonization and realizes accurate control of the whole cutting and coagulating process.
Description
Technical Field
The present invention relates to electrosurgical energy generators, and more particularly to a control system for an electrosurgical energy generator.
Background
The electric surgical energy generator generates high-frequency high voltage and high-frequency current to act on a part needing operation so as to generate the operation effects of cutting and coagulating blood. To achieve a more desirable clinical result, smooth cutting and prevention of carbonization, the electrosurgical energy must be made very precise, thereby achieving more precise output control of the electrosurgical energy and superior tissue effects.
Conventional electrosurgical energy generator energy output procedures, such as disclosed in publication CN104337567A, divide the entire coagulation procedure into stages of sensing the target tissue, heating, and coagulating, each stage generating electrosurgical energy at a constant power. In practice, however, the generation of electrosurgical energy at a constant power level for different individuals, different tissue sites, different procedures, and the like, does not achieve the desired clinical results. For example, in the stage of sensing the target tissue in CN104337567A, the same electrosurgical energy P0 cannot accurately and quickly acquire the impedance information of the target tissue in various working modes; the constant power level is used in the stages of heating, cutting and condensing and the like, the energy is small, the staged target impedance cannot be quickly reached, and the speed is low; the carbonization phenomenon can be caused when the energy is large, so that the whole cutting and coagulating process cannot be accurately controlled.
Disclosure of Invention
The present invention is directed to solving at least the problems of the prior art, and more particularly to a control system for an electrosurgical energy generator.
In order to achieve the above object, the present invention provides a control system for an electrosurgical energy generator, comprising an impedance sensor for sensing impedance of a target tissue, an energy output timer, and controllers respectively connected to the impedance sensor and the energy output timer, wherein the controller controls the output energy of the electrosurgical energy generator to be high or low within a predetermined time according to the impedance of the tissue detected by the impedance sensor, the output energy of the energy generator is cycled, and one energy cycle comprises:
the first stage is as follows: from the start to the stage of T0, the electrosurgical energy generator continues to output at power level P1 for a time T0, the impedance sensor detecting the initial impedance;
and a second stage: initializing a tissue stage, if the current impedance is not greater than the target impedance Z1, during the time period T0 to T1, the time period T0 to T1 is divided into a plurality of control cycles, and the controller controls the output power of the electrosurgical energy generator to be:
Pout1＝KP1*(Error1-LError1)+KI1*Error1+KD1*(Error1-2*LError1+LLError1),
wherein, Z1 is a target impedance value to be reached in the second stage of the current mode, KP1, KI1 and KD1 are PID control proportional coefficients, integral coefficients and differential coefficients of the second stage of the current mode in sequence, a current impedance Error1 is Z1-Zreal, LError1 is a last control period impedance Error in the stage, and lleror 1 is a last period impedance Error in the stage;
and a third stage: in the impedance rising stage, when the current impedance is not greater than the target impedance Z2, the time period from T1 to T2 is divided into a plurality of control cycles in the time period from T1 to T2, and the controller controls the output power of the electrosurgical energy generator to be:
Pout2＝KP2*(Error2-LError2)+KI2*Error2+KD2*(Error2-2*LError2+LLError2),
wherein, Z2 is a target impedance value to be reached at the third stage of the current mode, KP2, KI2, and KD2 are PID control proportional coefficients, integral coefficients, and differential coefficients of the third stage of the current mode in sequence, where the current impedance Error2 is Ztarget-Zreal, LError2 is a last control period impedance Error at the stage, llierror 2 is a last period impedance Error at the stage, and the current target impedance Ztarget is a gradually increasing value between Z1 and Z2 and is approximately Zreal;
a fourth stage: during the stage of incising and coagulating the tissue, the current impedance is not greater than the target impedance Z3, the time period from T2 to T3 is divided into a plurality of control cycles in the time period from T2 to T3, and the controller controls the output power of the electrosurgical energy generator to be:
Pout3＝KP3*(Error3-LError3)+KI3*Error3+KD3*(Error3-2*LError3+LLError3),
wherein, Z3 is a target impedance value to be reached in the fourth stage of the current mode, KP3, KI3 and KD3 are PID control proportional coefficients, integral coefficients and differential coefficients in the fourth stage of the current mode in sequence, a current impedance Error3 is Z3-Zreal, LError3 is a last control period impedance Error in the stage, and lleror 3 is a last period impedance Error in the stage;
the fifth stage: a low power output phase, wherein the controller controls the electrosurgical energy generator to output at a constant low power level P0, wherein P0 is lower than P1.
When the control system of the electrosurgical energy generator is actually operated, the output power is dynamically adjusted according to the impedance condition of the actually detected tissue, and the target tissue impedance of various working modes can be accurately and quickly obtained; the power level of dynamic change is used in the stages of heating, cutting and condensing and the like, so that the speed of achieving the staged target impedance is increased; avoids carbonization and realizes accurate control of the whole cutting and coagulating process.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a control flow diagram of an impedance detection stage controller in a preferred embodiment of the present invention;
FIG. 2 is a control flow diagram of an initialization organizational stage controller in accordance with a preferred embodiment of the present invention;
FIG. 3 is a control flow diagram of the controller for the impedance ramp-up phase according to a preferred embodiment of the present invention;
FIG. 4 is a control flow chart of the controller for the stage of tissue cutting and coagulating according to a preferred embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, unless otherwise specified and limited, it is to be noted that the terms "mounted," "connected," and "connected" are to be interpreted broadly, and may be, for example, a mechanical connection or an electrical connection, a communication between two elements, a direct connection, or an indirect connection via an intermediate medium, and specific meanings of the terms may be understood by those skilled in the art according to specific situations.
The invention provides a control system of an electrosurgical energy generator, which comprises an impedance sensor for sensing the impedance of target tissue, an energy output timer and a controller respectively connected with the impedance sensor and the energy output timer, wherein the controller regulates and controls the energy output by the electrosurgical energy generator within a specified time according to the impedance of the tissue detected by the impedance sensor, the energy output by the energy generator is reciprocated in a cycle, and one energy cycle comprises:
the first stage is as follows: from the start to the stage of T0, the electrosurgical energy generator continues to output at power level P1 for a time T0, the impedance sensor detecting the initial impedance;
and a second stage: initializing a tissue stage, if the current impedance is not greater than the target impedance Z1, during the time period T0 to T1, the time period T0 to T1 is divided into a plurality of control cycles, and the controller controls the output power of the electrosurgical energy generator to be:
Pout1＝KP1*(Error1-LError1)+KI1*Error1+KD1*(Error1-2*LError1+LLError1),
wherein, Z1 is a target impedance value to be reached in the second stage of the current mode, KP1, KI1 and KD1 are PID control proportional coefficients, integral coefficients and differential coefficients of the second stage of the current mode in sequence, a current impedance Error1 is Z1-Zreal, LError1 is a last control period impedance Error in the stage, and lleror 1 is a last period impedance Error in the stage;
and a third stage: in the impedance rising stage, when the current impedance is not greater than the target impedance Z2, the time period from T1 to T2 is divided into a plurality of control cycles in the time period from T1 to T2, and the controller controls the output power of the electrosurgical energy generator to be:
Pout2＝KP2*(Error2-LError2)+KI2*Error2+KD2*(Error2-2*LError2+LLError2),
wherein, Z2 is a target impedance value to be reached at the third stage of the current mode, KP2, KI2, and KD2 are PID control proportional coefficients, integral coefficients, and differential coefficients of the third stage of the current mode in sequence, where the current impedance Error2 is Ztarget-Zreal, LError2 is a last control period impedance Error at the stage, llierror 2 is a last period impedance Error at the stage, and the current target impedance Ztarget is a gradually increasing value between Z1 and Z2 and is approximately Zreal;
a fourth stage: during the stage of incising and coagulating the tissue, the current impedance is not greater than the target impedance Z3, the time period from T2 to T3 is divided into a plurality of control cycles in the time period from T2 to T3, and the controller controls the output power of the electrosurgical energy generator to be:
Pout3＝KP3*(Error3-LError3)+KI3*Error3+KD3*(Error3-2*LError3+LLError3),
wherein, Z3 is a target impedance value to be reached in the fourth stage of the current mode, KP3, KI3 and KD3 are PID control proportional coefficients, integral coefficients and differential coefficients in the fourth stage of the current mode in sequence, a current impedance Error3 is Z3-Zreal, LError3 is a last control period impedance Error in the stage, and lleror 3 is a last period impedance Error in the stage;
the fifth stage: a low power output phase, wherein the controller controls the electrosurgical energy generator to output at a constant low power level P0, wherein P0 is lower than P1.
In this embodiment, Z1, Z2, and Z3 are impedance values of tissues at different stages of the electrosurgical procedure, specifically, Z1 is an impedance value when the tissues are heated to reach a temperature T in an initialization stage; increasing the power level of the electrosurgical energy generator during the impedance ramp-up phase to ramp-up the impedance of the tissue to impedance level Z2 for coagulation; z3 is the impedance level at which the resection is completed. The specific values of Z1, Z2, Z3 and temperature T can be obtained from experimental data according to different tissues and different cutting and coagulating requirements.
In a preferred embodiment of the present invention, as shown in fig. 1, in the impedance detection stage, the specific control steps of the controller are:
s01, the electric surgical energy generator continuously outputs energy with P1 power, the energy output timer detects the output time, if the duration is less than T0, the output is continued, otherwise, the step S02 is executed;
s02, the controller obtains the initial impedance Zlow detected by the impedance sensor, if the initial impedance Zlow is larger than the upper threshold impedance Zsensehigh, the electrosurgical instrument is considered to be open, the electrosurgical energy generator executes the fifth stage, otherwise, the step S03 is executed;
s03, if the initial impedance ZLow is greater than the threshold impedance ZTissuetype, the impedance level is flagged as high, otherwise the impedance level is flagged as low, and the electrosurgical energy generator performs a second stage.
In a preferred embodiment of the present invention, as shown in fig. 2, in the initial organization stage, the specific control steps of the controller are:
s11, acquiring the current real-time impedance Zreal by the impedance sensor, comparing the current real-time impedance Zreal with the target impedance Z1 by the controller, and executing a third stage if the current real-time impedance Zreal is larger than the target impedance Z1; otherwise, executing step S12;
s12, detecting the duration by the energy output timer, judging whether the duration exceeds T1 by the controller, and when the duration does not exceed T1, the power output of the energy generator is as follows:
pout1 ═ KP1 (Error1-LError1) + KI1 ═ Error1+ KD1 (Error1-2 × LError1+ lliror 1), return to step S11, if the duration exceeds T1, execute stage S4;
wherein, Z1 is KP1, KI1 and KD1, the current impedance Error1 is Z1-Zreal, LError1 is the last control period impedance Error in this stage, and lloror 1 is the last period impedance Error in this stage.
In a preferred embodiment of the present invention, as shown in fig. 3, in the impedance rising phase, the specific control steps of the controller are:
s21, setting Ztarget to Z1;
s22, detecting the current actual impedance Zreal by the impedance sensor, comparing the current actual impedance Zreal with Z2 by the controller, executing a fourth stage if the real-time sampling impedance Zreal is equal to or larger than Z2, otherwise executing the step S23;
and S23, the controller controls the power output of the energy generator to be:
Pout2＝KP2*(Error2-LError2)+KI2*Error2+KD2*(Error2-2*LError2+LLError2),
wherein Z2 is KP2, KI2, and KD2, and the current impedance Error2 is Ztarget-Zreal, leror 2 is the last control period impedance Error at this stage, and lliror 2 is the last period impedance Error at this stage, and it is determined whether the current actual impedance Zreal is greater than Ztarget, if yes, Ztarget is Ztarget Zmultiplier, and Zmultiplier is a multiplication factor, and the process returns to step S22.
In this embodiment, the PID control proportional coefficient, the integral coefficient, and the differential coefficient in the second stage to the fourth stage have a value corresponding to a high impedance level and a value corresponding to a low impedance level, respectively, and the value corresponding to the high impedance level is greater than the value corresponding to the low impedance level. If the initial impedance Zlow is detected to be greater than the threshold impedance Ztissuetype in step S03, marking the impedance level as a high impedance level, otherwise marking the impedance level as a low impedance level, and if the impedance level is a high impedance level, adopting numerical values corresponding to the high impedance level for the control proportionality coefficient, the integral coefficient and the differential coefficient in the second stage to the fourth stage; if the low impedance level is adopted, the control proportionality coefficient, the integral coefficient and the differential coefficient in the second stage to the fourth stage adopt the values corresponding to the low impedance level.
In a preferred embodiment of the present invention, as shown in fig. 4, in the stage of coagulating the tissue, the controller specifically controls the following steps:
s31, the controller judges whether the duration time reaches T3, whether the current actual impedance Zreal is larger than Z3, whether the phase difference (calculated according to the sampled active power and apparent power) is larger than the exit phase difference Exitphase and whether the pulse number (preset pulse number) reaches the maximum pulse number, if the judgment conditions are met, the stage S4 is executed, otherwise, the step S32 is executed;
and S32, the controller controls the power output of the energy generator to be:
the method comprises the steps of Pout3 (KP 3) (Error3-LError3) + KI3 Error3+ KD3 (Error3-2 LError3+ LLError3), otherwise, entering S4, wherein Z3 is KP3, KI3 and KD3 are sequentially performed, the current impedance Error Error3 is Z3-Zreal, LEror 3 is the last control period impedance Error in the stage, and LLror 3 is the last period impedance Error in the stage.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (5)
1. A control system of an electrosurgical energy generator, comprising an impedance sensor for sensing the impedance of a target tissue, an energy output timer, and a controller connected to the impedance sensor and the energy output timer, wherein the controller controls the energy output by the electrosurgical energy generator to be high or low within a specified time according to the impedance of the tissue detected by the impedance sensor, the energy output by the energy generator is cycled, and one energy cycle comprises:
the first stage is as follows: from the start to the stage of T0, the electrosurgical energy generator continues to output at power level P1 for a time T0, the impedance sensor detecting the initial impedance;
and a second stage: initializing a tissue stage, if the current impedance is not greater than the target impedance Z1, during the time period T0 to T1, the time period T0 to T1 is divided into a plurality of control cycles, and the controller controls the output power of the electrosurgical energy generator to be:
Pout1＝KP1*(Error1-LError1)+KI1*Error1+KD1*(Error1-2*LError1+LLError1),
wherein, Z1 is a target impedance value to be reached in the second stage of the current mode, KP1, KI1 and KD1 are PID control proportional coefficients, integral coefficients and differential coefficients of the second stage of the current mode in sequence, a current impedance Error1 is Z1-Zreal, LError1 is a last control period impedance Error in the stage, and lleror 1 is a last period impedance Error in the stage;
and a third stage: in the impedance rising stage, when the current impedance is not greater than the target impedance Z2, the time period from T1 to T2 is divided into a plurality of control cycles in the time period from T1 to T2, and the controller controls the output power of the electrosurgical energy generator to be:
Pout2＝KP2*(Error2-LError2)+KI2*Error2+KD2*(Error2-2*LError2+LLError2),
wherein, Z2 is a target impedance value to be reached at the third stage of the current mode, KP2, KI2, and KD2 are PID control proportional coefficients, integral coefficients, and differential coefficients of the third stage of the current mode in sequence, where the current impedance Error2 is Ztarget-Zreal, LError2 is a last control period impedance Error at the stage, llierror 2 is a last period impedance Error at the stage, and the current target impedance Ztarget is a gradually increasing value between Z1 and Z2 and is approximately Zreal;
a fourth stage: during the stage of incising and coagulating the tissue, the current impedance is not greater than the target impedance Z3, the time period from T2 to T3 is divided into a plurality of control cycles in the time period from T2 to T3, and the controller controls the output power of the electrosurgical energy generator to be:
Pout3＝KP3*(Error3-LError3)+KI3*Error3+KD3*(Error3-2*LError3+LLError3),
wherein, Z3 is a target impedance value to be reached in the fourth stage of the current mode, KP3, KI3 and KD3 are PID control proportional coefficients, integral coefficients and differential coefficients in the fourth stage of the current mode in sequence, a current impedance Error3 is Z3-Zreal, LError3 is a last control period impedance Error in the stage, and lleror 3 is a last period impedance Error in the stage;
the fifth stage: a low power output stage in which the controller controls the electrosurgical energy generator to output at a constant low power level P0, the P0 being lower than P1;
PID control proportionality coefficients from the second stage to the fourth stage, wherein the integral coefficient and the differential coefficient respectively have a numerical value corresponding to a high impedance level and a numerical value corresponding to a low impedance level, and the numerical value corresponding to the high impedance level is larger than the numerical value corresponding to the low impedance level.
2. The control system of an electrosurgical energy generator according to claim 1, wherein during the impedance detection phase, the controller performs the specific control steps of:
s01, the electric surgical energy generator continuously outputs energy with P1 power, the energy output timer detects the output time, if the duration is less than T0, the output is continued, otherwise, the step S02 is executed;
s02, the controller obtains the initial impedance Zlow detected by the impedance sensor, if the initial impedance Zlow is larger than the upper threshold impedance Zsensehigh, the electrosurgical instrument is considered to be open, the electrosurgical energy generator executes the fifth stage, otherwise, the step S03 is executed;
s03, if the initial impedance ZLow is greater than the threshold impedance ZTissuetype, the impedance level is flagged as high, otherwise the impedance level is flagged as low, and the electrosurgical energy generator performs a second stage.
3. The control system of an electrosurgical energy generator according to claim 1, wherein the controller performs the specific control steps of:
s11, acquiring the current real-time impedance Zreal by the impedance sensor, comparing the current real-time impedance Zreal with the target impedance Z1 by the controller, and executing a third stage if the current real-time impedance Zreal is larger than the target impedance Z1; otherwise, executing step S12;
s12, detecting the duration by the energy output timer, judging whether the duration exceeds T1 by the controller, and when the duration does not exceed T1, the power output of the energy generator is as follows:
pout1 ═ KP1 (Error1-LError1) + KI1 ═ Error1+ KD1 (Error1-2 × LError1+ lliror 1), return to step S11, if the duration exceeds T1, execute stage S4;
wherein, Z1 is KP1, KI1 and KD1, the current impedance Error1 is Z1-Zreal, LError1 is the last control period impedance Error in this stage, and lloror 1 is the last period impedance Error in this stage.
4. The control system of an electrosurgical energy generator according to claim 1, wherein the controller performs the following specific control steps during the impedance ramp-up phase:
s21, setting Ztarget to Z1;
s22, detecting the current actual impedance Zreal by the impedance sensor, comparing the current actual impedance Zreal with Z2 by the controller, executing a fourth stage if the real-time sampling impedance Zreal is equal to or larger than Z2, otherwise executing the step S23;
and S23, the controller controls the power output of the energy generator to be:
Pout2＝KP2*(Error2-LError2)+KI2*Error2+KD2*(Error2-2*LError2+LLError2),
wherein Z2 is KP2, KI2, and KD2, and the current impedance Error2 is Ztarget-Zreal, leror 2 is the last control period impedance Error at this stage, and lliror 2 is the last period impedance Error at this stage, and it is determined whether the current actual impedance Zreal is greater than Ztarget, if yes, Ztarget is Ztarget Zmultiplier, and Zmultiplier is a multiplication factor, and the process returns to step S22.
5. The control system of the electrosurgical energy generator according to claim 1, wherein the controller performs the following specific control steps:
s31, the controller judges whether the duration time reaches T3, whether the current actual impedance Zreal is larger than Z3, whether the phase difference is larger than the exit phase difference Exitphase and whether the pulse number reaches the maximum pulse number, if the judgment conditions are all true, the stage S4 is executed, otherwise, the step S32 is executed;
and S32, the controller controls the power output of the energy generator to be:
the method comprises the steps of Pout3 (KP 3) (Error3-LError3) + KI3 Error3+ KD3 (Error3-2 LError3+ LLError3), otherwise, entering S4, wherein Z3 is KP3, KI3 and KD3 are sequentially performed, the current impedance Error Error3 is Z3-Zreal, LEror 3 is the last control period impedance Error in the stage, and LLror 3 is the last period impedance Error in the stage.
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| CN114886552B (en) * | 2022-05-05 | 2023-07-04 | 以诺康医疗科技（苏州）有限公司 | High-frequency electrotome tissue closing system, generator and high-frequency electrotome |
| CN114831725B (en) * | 2022-05-05 | 2024-01-26 | 以诺康医疗科技（苏州）有限公司 | Electrosurgical generator, electrosurgical system and control method thereof |
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Denomination of invention: Control system of energy generator in electrosurgery Effective date of registration: 20210615 Granted publication date: 20210105 Pledgee: Changshou sub branch of Bank of Chongqing Co.,Ltd. Pledgor: Chongqing Jinshan Scinece & Technology (Group) Co.,Ltd. Registration number: Y2021500000022 |
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