CN109662775A - A kind of biological tissue's welding system and its control method - Google Patents
A kind of biological tissue's welding system and its control method Download PDFInfo
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- 238000003466 welding Methods 0.000 title claims abstract description 47
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- 230000033228 biological regulation Effects 0.000 description 5
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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
- A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
- A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
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- A61B2018/00571—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body for achieving a particular surgical effect
- A61B2018/00619—Welding
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- A—HUMAN NECESSITIES
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- 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
- A61B2018/00696—Controlled or regulated parameters
- A61B2018/00702—Power or energy
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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
- A61B2018/00791—Temperature
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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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Abstract
A kind of biological tissue's welding system and its control method, wherein control method is one: activation system；Two: user's selection function parameter；Three: according to functional parameter, adjustment output PWM value adjusts the output power of power amplifier module, while entering four；Step 4: the starting of feed circuit module starts the voltage and current data for acquiring welding clamp；Five: calculating real-time impedance, according to the corresponding temperature value of voltage and current data, adjust PWM output valve, complete welding.System is provided with central controller, the central controller power control terminal is connected with programmable power supply module, the input terminal of the programmable power supply module is power frequency supply interface, output end is connect with power amplifier module, the output end of the power amplifier module is connect with output module, control terminal is connect with the central controller output end, and feedback end is connect after feed circuit module with the feedback input end of the central controller, and the input terminal of the central controller is connected with human-computer interaction module.
Description
Technical Field
The invention relates to the technical field of medical equipment, in particular to a biological tissue welding system.
Background
The principle of the biological tissue rapid welding suture is that protein molecules are promoted to be coagulated through the action of heat energy. During operation, two-electrode welding tongs are used, high-frequency high-voltage current is used to destroy cell membrane to decompose condensed liquid, and then tissue at wound is pressed to complete the welding process. Generally, after about one month, the morphological structure of the biological tissue can be completely restored as before, and the surgical site is hardly found. Research and development of related equipment are carried out based on the technical principle of biological tissue rapid welding and suturing, great convenience is certainly provided for future operating doctors, pain of operating patients is greatly reduced, and the national medical environment is improved.
The conventional suture technology has not been improved obviously for a long time, has the obvious defects of long time consumption, slow recovery, easy infection, large wound, easy scar remaining and the like, brings much pain to patients, and prolongs the surgical operation time and the postoperative rehabilitation time. In addition, in operations of internal organs, blood vessels, intestinal tracts and the like, special absorbable suture lines need to be used, the effect is influenced by the quality of the suture lines and the individual physique of patients, and the patients are easy to feel uncomfortable and even reject the operation. Meanwhile, under a war state and during major natural disaster relief, requirements of quick relief and quick rehabilitation are provided for surgical operations and emergency rescue, however, the conventional suture technology cannot meet practical requirements, and the efficiency of the emergency rescue in the war and the emergency rescue level of public safety are greatly restricted, so that a novel surgical suture technology is urgently needed to overcome the defects existing in the current clinical surgical operations.
The advent of welding of biological tissues is expected to break the surgical medical constraints imposed by the stagnation of conventional suturing techniques. The principle of biological tissue welding is to promote the coagulation of protein molecules through the action of heat energy. During operation, two-electrode welding tongs are used, high-frequency high-voltage current is used to destroy cell membrane to decompose condensed liquid, and then tissue at wound is pressed to complete the welding process. Generally, after about one month, the morphological structure of the biological tissue can be completely restored as before, and the surgical site is hardly found. Compared with the traditional suturing technology, the biological tissue welding instrument adopted clinically can greatly shorten the suturing time and reduce the blood loss and blood transfusion of patients, thereby reducing the possibility of complications and the operation cost. Meanwhile, the biological tissue welding instrument has the advantages of high suturing speed, good hemostatic effect, simple operation, safety and convenience, no need of removing stitches after wound healing, no worry about toxic substance absorption, no obvious suturing scars, no influence on normal movement of the wound, safety and attractiveness and the like. The outstanding blood coagulation effect can make it have great difference in surgical suture of diffuse blood seepage parts such as liver, spleen, thyroid, mammary gland and lung.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a control method of a biological tissue welding system with a detection circuit, accurate control and stable output, and the specific technical scheme is as follows:
a control method of a biological tissue welding system adopts the specific steps as follows:
the method comprises the following steps: starting the system;
step two: selecting function parameters by a user;
step three: adjusting the output PWM value and the output power of the power amplification module according to the functional parameters, and entering the fourth step;
step four: starting a feedback circuit module to start collecting voltage and current data of the welding tongs;
step five: and calculating real-time impedance, and adjusting a PWM output value according to the temperature value corresponding to the voltage and current data to finish welding.
In order to better realize the method of the invention, the method further comprises the following steps:
the fourth step is specifically that the step (C),
4.1 starting;
4.2 the feedback circuit module collects the voltage and current data of the welding clamp;
4.3 judging whether the acquisition times are more than eight times, if so, entering the next step, otherwise, entering the step 4.2.
The step five is specifically that the step five is that,
5.1 calculating to obtain a deviation signal control quantity according to the real-time impedance and the temperature value of the welded object;
5.2 calculating to obtain an output control quantity;
and 5.3, judging whether the expected value is reached, if so, ending, otherwise, changing the PWM output value, adjusting the output of the power amplification module, and entering the fourth step.
The utility model provides a biological tissue welding system, is provided with central controller, and this central controller power control end is connected with programme-controlled power module, and this programme-controlled power module's input is power frequency power source interface, and the output is connected with power amplification module, and this power amplification module's output is connected with output module, the control end with the central controller output is connected, the feedback end behind feedback circuit module with central controller's feedback input end is connected, central controller's input is connected with man-machine interaction module.
In order to better realize the system of the invention, the system further comprises:
and a filter circuit module is arranged between the output end of the programmable power supply module and the input end of the power amplification module and is used for reducing the current interference output by the programmable power supply module.
The power amplification module is provided with a MOS transistor Q2 and a MOS transistor Q4, gates of the MOS transistor Q2 and the MOS transistor Q4 are respectively connected with an output end of a first driving chip DD200, a drain of the MOS transistor Q2 is connected with an output end of the program-controlled power supply module, a source is connected with a drain of the MOS transistor Q4, a source of the MOS transistor Q4 is grounded, a high-end floating power supply voltage end of the first driving chip DD200 is connected with a cathode of a diode D202, an anode of the diode D202 is connected with a power supply end, a cathode of the diode D202 is further connected with a high-end floating power supply offset voltage end of the first driving chip DD200 through a capacitor C209, and the high-end floating power supply offset voltage end of the first driving chip DD200 is further connected with a common end of the source of the MOS transistor Q2 and the drain of the MOS transistor Q4 through a resistor R212;
the driving circuit is further provided with a MOS transistor Q1 and a MOS transistor Q3, gates of the MOS transistor Q1 and the MOS transistor Q3 are respectively connected with an output end of the second driving chip DD201, a drain of the MOS transistor Q1 is connected with an output end of the program-controlled power supply module, a source of the MOS transistor Q3 is connected with a drain of the MOS transistor Q3, a source of the MOS transistor Q3 is grounded, a high-end floating power supply voltage end of the second driving chip DD201 is connected with a cathode of a diode D203, an anode of the diode D203 is connected with a power supply end, a cathode of the diode D203 is further connected with a high-end floating power supply offset voltage end of the second driving chip DD201 through a capacitor C210, and the high-end floating power supply offset voltage end of the second driving chip DD201 is further connected with a common end of a source of the MOS transistor Q1 and a drain of the MOS transistor Q3 through.
The feedback circuit module is provided with a current detection circuit and a voltage detection circuit, wherein the voltage detection circuit is provided with an isolation transformer T201, one end of a primary coil of the isolation transformer T201 is connected with a second output end of the output module after passing through a thermistor, a first end of a secondary coil of the isolation transformer T201 is connected with a negative electrode of a diode D206, an anode of the diode D206 is connected with an input end of an adjustable resistor R222 after passing through a resistor R221, the adjustable end of the adjustable resistor R222 is a circuit output negative end after passing through a resistor R220, a second end of the secondary coil is connected with a negative electrode of a diode D209, a positive end of the diode D209 is connected with an anode of the diode D206, a first end of the secondary coil of the isolation transformer T201 is further connected with an anode of the diode D207, a negative electrode of the diode D207 is a circuit output positive end after passing through a resistor R224, a second end of the secondary coil of the isolation transformer T is further connected with an anode of a diode D208, the cathode of the diode D208 is connected to the cathode of the diode D207;
the current detection circuit is provided with an isolation transformer T202, one end of the primary side of the isolation transformer T202 is connected with the cathode of a diode D220 after passing through a resistor R223, the anode of the diode D220 is connected with the other end of the primary side coil of the isolation transformer T201 after passing through a capacitor C213, the other end of the primary side coil of the isolation transformer T202 is connected with the first output end of the output module, the first end of the secondary side coil of the isolation transformer T202 is connected with the cathode of a diode D210, the anode of the diode D210 is connected with the input end of an adjustable resistor R234 after passing through a resistor R231, the adjustable output end of the adjustable resistor R234 is the circuit output negative end, the second end of the secondary side coil of the isolation transformer T202 is connected with the cathode of a diode D215, the anode of the diode D215 is connected with the anode of the diode D210, the first end of the secondary side coil of the isolation transformer T202 is also connected with the anode of a diode D212, the cathode of the diode D212 is used as the positive output terminal of the circuit after passing through the resistor 235, the second terminal of the secondary winding of the isolation transformer T202 is further connected to the anode of the diode D214, and the cathode of the diode D214 is connected to the cathode of the diode D212.
The invention has the beneficial effects that: the whole structure of the system is simple, and the control of the output power is realized by adjusting the pulse width of the rectangular wave of the programmable power supply module, so that the regulation and control of the power can be realized under the condition of not changing the output voltage, the power control reaction time can be greatly reduced, and more accurate control can be realized; the power amplification module adopts a full-bridge topological structure, so that the PWM wave with any input pulse width (less than 45%) and 450kHz can reach the output power of 100-200W, and the adjustment of output voltage and current is realized; the feedback circuit module is arranged to realize the full-automatic power control of the output waveform, the state of the tissue of the patient must be monitored in real time, but obviously, the direct test of the temperature of the tissue is not practical, because whether the tissue completely contacts the welding part of the patient or the temperature changes greatly along with time is considered, or because the temperature of the welding clamp is higher, the temperature of the welding part is greatly influenced, the voltage input by the welding clamp and the input current are measured in the feedback circuit, the impedance characteristic of the tissue is fed back through calculation, and then the power is adjusted in real time according to the impedance-temperature curve.
Drawings
FIG. 1 is a block diagram of the present invention;
FIG. 2 is a schematic circuit diagram of a power amplifier module according to the present invention;
fig. 3 is a circuit diagram of a feedback circuit module according to the present invention.
Detailed Description
The following detailed description of the preferred embodiments of the present invention, taken in conjunction with the accompanying drawings, will make the advantages and features of the invention easier to understand by those skilled in the art, and will therefore make the scope of the invention more clearly and clearly defined.
A control method of a biological tissue welding system adopts the specific steps as follows:
the method comprises the following steps: starting the system;
step two: a user selects functional parameters in the man-machine interaction module;
step three: the central controller adjusts the output PWM value and the output power of the power amplification module according to the functional parameters, and simultaneously enters the fourth step;
step four: starting a feedback circuit module to start collecting voltage and current data of the welding tongs;
4.1 starting;
4.2 the feedback circuit module collects the voltage and current data of the welding clamp;
4.3, judging whether the acquisition times are more than eight times, if so, entering the next step, and if not, entering the step 4.2;
step five: calculating real-time impedance, adjusting PWM output value according to temperature value corresponding to voltage and current data to complete welding,
5.1 calculating to obtain a deviation signal control quantity according to the real-time impedance and the temperature value of the welded object;
5.2 calculating to obtain an output control quantity;
and 5.3, judging whether the expected value is reached, if so, ending, otherwise, changing the PWM output value, adjusting the output of the power amplification module, and entering the fourth step.
The electrosurgical energy control system of the tissue welding system designed in this embodiment is a negative feedback control system with a constant power, voltage limit and current limit control process.
In the negative feedback control system, the order can be divided into different orders according to the number of the state variables. The radio frequency energy control system designed by the project belongs to a complex multi-order negative feedback system, and is difficult to establish an accurate mathematical model for analysis and design in practice, so a digital PID control algorithm is usually adopted for control and regulation in engineering.
The digital PID control is a software control method realized by utilizing proportional, integral and differential control of controlled deviation, is especially suitable for the situation that the whole transfer function is difficult to accurately establish in a complex system, has the advantages of simplicity, convenience and easiness in parameter setting, and is widely applied to actual engineering. In the electrosurgical radio frequency energy generator control system designed by the embodiment, because different human body load conditions are different and the change conditions of some environmental factors such as load, pressure and the like in the operation process are complex, the electrosurgical radio frequency energy generator control system is more suitable for being controlled by adopting a digital PID algorithm in engineering, and can obtain more ideal control effect in a W mode of online parameter setting and debugging.
Typical PID control can be described by the following equation
Wherein u is output control quantity, e is input deviation signal, K is proportionality coefficient, the value of K mainly influences the response speed of the control system, and the integral time constant T is adjustediCan reduce overshoot, eliminate steady-state error, and increase system regulation stability, TdAdjusting T for the differential time constantdThe size of the system can improve the dynamic performance of the system, reduce or even eliminate the system oscillation and inhibit the system instability.
The digital PID control is a discretization process of typical PID control, and obtains an output control quantity by calculating a deviation value at a sampling time and performing numerical approximation. Thus obtaining a position type digital PID control calculation formula
The position type PID control has the advantages of clear structure, simple and clear parameter adjustment and easy realization. However, it is also obvious from the above that the implementation of the position type PID control algorithm requires to know all the deviation amounts of the previous time, which greatly occupies the memory space of the microcontroller and takes a large calculation time. Therefore, the project adopts another incremental PID control algorithm to realize the constant power, voltage limit and current limit control of the bipolar coagulation system, and the mathematical expression of the control algorithm is
From the above formula, it can be known that the incremental PID control algorithm is realized only by knowing the sampling deviation values at the last three moments, and compared with the position type, the memory space is released, and the calculation amount is small, so that the implementation is easy. Meanwhile, the influence W of the accumulated error and the response time of the system are also reduced. However, the incremental PID algorithm requires a relatively precise sampling offset value, and thus the influence of random noise must be reduced.
The influence of random interference is reduced by adopting an average filtering mode, the average value of deviation signals obtained by continuous 6 times of sampling replaces the sampling value at the current moment for calculation, and the improved incremental PID control algorithm is calculated as
Wherein,
therefore, the improved incremental PID control algorithm can realize control only by knowing sampling values of previous continuous 8 moments including the moment, and the influence of random interference is well improved.
In the electrosurgical radio frequency energy control system designed by the project, the calculation formula of the PID algorithm is 4.4. When the electrosurgical generator moves backwards and starts to output radio frequency power, the ADC is started to sample firstly to obtain actual output voltage and current sampling values, and when the sampling frequency is less than 8 times, the actual output voltage and current sampling values cannot be obtained simultaneouslySo as to calculate the incremental PID output control quantity given in the primary formula (4.4), so that ADC sampling is continuously carried out to obtain required voltage and current sampling values, and the sampling times are counted until the sampling times reach more than 8. Then, the amount of control (output) is controlled in accordance with the given outputPower, limit voltage or limit current) to obtain the mean value of the deviation signalAnd then, calculating the output control quantity according to a formula (4.4), judging whether the controlled quantity reaches a desired value, if so, stopping the regulation, and otherwise, changing the output value of the D/A voltage to perform PID regulation once.
As shown in fig. 1: the utility model provides a biological tissue welding system, is provided with central controller, and this central controller power control end is connected with program control power module, and this program control power module's input is power frequency power source interface, and the output is connected with power amplification module, and this power amplification module's output is connected with output module, the control end with the central controller output is connected, the feedback end behind feedback circuit module with central controller's feedback input end is connected, central controller's input is connected with man-machine interaction module be provided with the filter circuit module between program control power module's the output and the input of power amplification module for reduce the current interference of program control power module output.
As shown in fig. 2: the power amplification module is provided with a MOS tube Q2 and a MOS tube Q4, the grids of the MOS tube Q2 and the MOS tube Q4 are respectively connected with the output end of the first driving chip DD200, specifically, the grid of the MOS tube Q2 is connected with the anode of a diode D200 through a resistor R205, the cathode of the diode D200 is connected with the HO end of the first driving chip DD200, a resistor R208 is bridged between the grid and the source of the MOS tube Q2, a resistor R210 is bridged between the anode and the cathode of the diode D200, the grid of the MOS tube Q4 is connected with the anode of a diode 204 through a resistor R215, the cathode of the diode 204 is connected with the LO end of the first driving chip DD200, a resistor R218 is bridged between the grid and the source of the MOS tube Q4, a resistor R214 is bridged between the anode and the cathode of the diode 204, the drain of the MOS tube Q2 is connected with the output end of the power supply module, and the source is connected with the drain of the program control transistor Q4, the source of the MOS transistor Q4 is grounded, the high-side floating power voltage terminal of the first driving chip DD200 is connected to the cathode of the diode D202, the anode of the diode D202 is connected to the power supply terminal, the cathode of the diode D202 is further connected to the high-side floating power offset voltage terminal of the first driving chip DD200 through the capacitor C209, and the high-side floating power offset voltage terminal of the first driving chip DD200 is further connected to the common terminal of the source of the MOS transistor Q2 and the drain of the MOS transistor Q4 through the resistor R212;
the driving circuit is further provided with a MOS transistor Q1 and a MOS transistor Q3, gates of the MOS transistor Q1 and the MOS transistor Q3 are respectively connected with an output end of the second driving chip DD201, a drain of the MOS transistor Q1 is connected with an output end of the program-controlled power supply module, a source of the MOS transistor Q3 is connected with a drain of the MOS transistor Q3, a source of the MOS transistor Q3 is grounded, a high-end floating power supply voltage end of the second driving chip DD201 is connected with a cathode of a diode D203, an anode of the diode D203 is connected with a power supply end, a cathode of the diode D203 is further connected with a high-end floating power supply offset voltage end of the second driving chip DD201 through a capacitor C210, and the high-end floating power supply offset voltage end of the second driving chip DD201 is further connected with a common end of a source of the MOS transistor Q1 and a drain of the MOS transistor Q3 through.
The power amplifying circuit can input any PWM wave with the pulse width (less than 45%) of 450kHz and can achieve the output power of 100W-200W. In order not to lose voltage, the power amplification circuit adopts a full-bridge topology structure, the full-bridge circuit is similar to a half-bridge circuit, the difference is that two voltage-dividing capacitors of the half-bridge circuit are replaced by another two MOS tubes so as to form a circuit consisting of four MOS tubes, and when the circuit is switched on, the voltage between the middle points of two bridge arms is approximately equal to the bus voltage. When the circuit works normally, firstly, MOS tubes Q1 and Q4 are opened simultaneously, and Q2 and Q3 are closed, so that a forward bus voltage is provided for the primary side of the transformer. Then Q1, Q2, Q3 and Q4 are turned off simultaneously, the circuit enters dead time, and the primary side of the transformer does not work. Then MOS transistors Q2 and Q3 are simultaneously turned on, and Q1 and Q4 are turned off to provide negative bus voltage to the primary side of the transformer. Because the MOS tube has the parasitic capacitance, the MOS tube can discharge quickly after being closed, and the higher the switching frequency is, the faster the discharging speed is, thereby the primary voltage of the transformer is increased instantaneously to cause damage. In order to prevent this phenomenon, a TVS tube, i.e., a transient voltage suppression tube, needs to be added between the two arms to prevent voltage surge caused by surge.
As shown in fig. 3: the feedback circuit module is provided with a current detection circuit and a voltage detection circuit, wherein the voltage detection circuit is provided with an isolation transformer T201, one end of a primary coil of the isolation transformer T201 is connected with a second output end of the output module after passing through a thermistor, the thermistor is formed by connecting a thermistor NTC200, a thermistor NTC201 and a thermistor NTC202 in parallel, a first end of a secondary coil of the isolation transformer T201 is connected with a negative electrode of a diode D206, an anode of the diode D206 is connected with an input end of an adjustable resistor R222 after passing through a resistor R221, an adjustable end of the adjustable resistor R222 is a circuit output negative end after passing through a resistor R220, a second end of the secondary coil is connected with a negative electrode of a diode D209, one path of the diode D209 is connected with the anode of the diode D206, the other path is grounded, the first end of the secondary coil of the isolation transformer T201 is also connected with an anode of a diode D207, the negative electrode of the diode D207 is a positive output terminal of the circuit after passing through the resistor R224, the output terminal of the adjustable resistor R222 is connected with the negative electrode of the diode D207, the second terminal of the secondary winding of the isolation transformer T201 is further connected with the positive electrode of the diode D208, and the negative electrode of the diode D208 is connected with the negative electrode of the diode D207;
the current detection circuit is provided with an isolation transformer T202, one end of the primary side of the isolation transformer T202 is connected with the cathode of a diode D220 after passing through a resistor R223, the anode of the diode D220 is connected with the other end of the primary side coil of the isolation transformer T201 after passing through a capacitor C213, the other end of the primary side coil of the isolation transformer T202 is connected with the first output end of the output module, the first end of the secondary side coil of the isolation transformer T202 is connected with the cathode of a diode D210, the anode of the diode D210 is connected with the input end of an adjustable resistor R234 after passing through a resistor R231, the adjustable output end of the adjustable resistor R234 is the negative output end of the circuit, the second end of the secondary side coil of the isolation transformer T202 is connected with the cathode of a diode D215, the anode of the diode D215 is connected with the anode of the diode D210, the first end of the secondary side coil of the isolation transformer T202 is also connected with the anode of a diode D212, the cathode of the diode D212 is used as the positive output terminal of the circuit after passing through the resistor 235, the second terminal of the secondary winding of the isolation transformer T202 is further connected to the anode of the diode D214, and the cathode of the diode D214 is connected to the cathode of the diode D212.
To achieve fully automatic power control of the output waveform, the state at the patient's tissue must be monitored in real time. It is obviously not practical to directly test the temperature at the tissue site, either because it is considered that the patient is in full contact with the welding site, or the temperature itself may vary greatly over time, or the temperature at the welding site may be greatly affected by the higher temperature of the welding tongs. Therefore, the feedback circuit of the embodiment measures the voltage input by the welding clamp and the current input by the welding clamp, feeds back the impedance characteristic of the tissue through calculation, and then adjusts the power in real time according to the impedance-temperature curve. The voltage measuring circuit is used for measuring output voltage in an isolated mode by connecting the output port in parallel through the transformer, and then the voltage can be measured by the core control circuit in a scaled down mode by filtering out high-frequency carriers. And the current measurement is to connect the transformer in series into an output network, test the output current, and then convert the current into a voltage value to be fed back to the core control circuit. It should be noted that since the impedance of human tissue is generally small, and is only tens of ohms at minimum, the resistance of the series-connected current measurement modules should be as small as possible. Through the voltage transformation design, the equivalent resistance of the current testing module on the main circuit is reduced to 0.5R, and the effect is satisfactory.
Claims (7)
1. A control method of a biological tissue welding system is characterized by comprising the following specific steps:
the method comprises the following steps: starting the system;
step two: selecting function parameters by a user;
step three: adjusting the output PWM value and the output power of the power amplification module according to the functional parameters, and entering the fourth step;
step four: starting a feedback circuit module to start collecting voltage and current data of the welding tongs;
step five: and calculating real-time impedance, and adjusting a PWM output value according to the temperature value corresponding to the voltage and current data to finish welding.
2. The control method of the welding system for biological tissues according to claim 1, wherein: the fourth step is specifically that the step (C),
4.1 starting;
4.2 the feedback circuit module collects the voltage and current data of the welding clamp;
4.3 judging whether the acquisition times are more than eight times, if so, entering the next step, otherwise, entering the step 4.2.
3. The control method of the welding system for biological tissues according to claim 1, wherein: the step five is specifically that the step five is that,
5.1 calculating to obtain a deviation signal control quantity according to the real-time impedance and the temperature value of the welded object;
5.2 calculating to obtain an output control quantity;
and 5.3, judging whether the expected value is reached, if so, ending, otherwise, changing the PWM output value, adjusting the output of the power amplification module, and entering the fourth step.
4. A biological tissue welding system according to any one of claims 1 to 3, wherein: the power supply control end of the central controller is connected with a program control power supply module, the input end of the program control power supply module is a power frequency power supply interface, the output end of the program control power supply module is connected with a power amplification module, the output end of the power amplification module is connected with an output module, the control end of the program control power supply module is connected with the output end of the central controller, the feedback end of the program control power supply module is connected with the feedback input end of the central controller after passing through a feedback circuit module, and the input end of the central controller is connected with a human-computer.
5. The biological tissue welding system of claim 1, wherein: in the program-controlled power supply
And a filter circuit module is arranged between the output end of the module and the input end of the power amplification module and is used for reducing the current interference output by the program control power supply module.
6. The biological tissue welding system of claim 1, wherein: the power amplification module is provided with a MOS transistor Q2 and a MOS transistor Q4, gates of the MOS transistor Q2 and the MOS transistor Q4 are respectively connected with an output end of a first driving chip DD200, a drain of the MOS transistor Q2 is connected with an output end of the program-controlled power supply module, a source is connected with a drain of the MOS transistor Q4, a source of the MOS transistor Q4 is grounded, a high-end floating power supply voltage end of the first driving chip DD200 is connected with a cathode of a diode D202, an anode of the diode D202 is connected with a power supply end, a cathode of the diode D202 is further connected with a high-end floating power supply offset voltage end of the first driving chip DD200 through a capacitor C209, and the high-end floating power supply offset voltage end of the first driving chip DD200 is further connected with a common end of the source of the MOS transistor Q2 and the drain of the MOS transistor Q4 through a resistor R212;
the driving circuit is further provided with a MOS transistor Q1 and a MOS transistor Q3, gates of the MOS transistor Q1 and the MOS transistor Q3 are respectively connected with an output end of the second driving chip DD201, a drain of the MOS transistor Q1 is connected with an output end of the program-controlled power supply module, a source of the MOS transistor Q3 is connected with a drain of the MOS transistor Q3, a source of the MOS transistor Q3 is grounded, a high-end floating power supply voltage end of the second driving chip DD201 is connected with a cathode of a diode D203, an anode of the diode D203 is connected with a power supply end, a cathode of the diode D203 is further connected with a high-end floating power supply offset voltage end of the second driving chip DD201 through a capacitor C210, and the high-end floating power supply offset voltage end of the second driving chip DD201 is further connected with a common end of a source of the MOS transistor Q1 and a drain of the MOS transistor Q3 through.
7. The biological tissue welding system of claim 1, wherein: the feedback circuit module is provided with a current detection circuit and a voltage detection circuit, wherein the voltage detection circuit is provided with an isolation transformer T201, one end of a primary coil of the isolation transformer T201 is connected with a second output end of the output module after passing through a thermistor, a first end of a secondary coil of the isolation transformer T201 is connected with a negative electrode of a diode D206, a positive electrode of the diode D206 is connected with an input end of an adjustable resistor R222 after passing through a resistor R221, the adjustable end of the adjustable resistor R222 is a circuit output negative end after passing through a resistor R220, a second end of the secondary coil is connected with a negative electrode of a diode D209, a positive end of the diode D209 is connected with a positive electrode of the diode D206, a first end of the secondary coil of the isolation transformer T201 is further connected with a positive electrode of a diode D207, a negative electrode of the diode D207 is a circuit output positive end after passing through a resistor R224, a second end of the secondary coil of the isolation transformer T201 is further connected with a positive electrode of a diode D208, the cathode of the diode D208 is connected to the cathode of the diode D207;
the current detection circuit is provided with an isolation transformer T202, one end of the primary side of the isolation transformer T202 is connected with the cathode of a diode D220 after passing through a resistor R223, the anode of the diode D220 is connected with the other end of the primary side coil of the isolation transformer T201 after passing through a capacitor C213, the other end of the primary side coil of the isolation transformer T202 is connected with the first output end of the output module, the first end of the secondary side coil of the isolation transformer T202 is connected with the cathode of a diode D210, the anode of the diode D210 is connected with the input end of an adjustable resistor R234 after passing through a resistor R231, the adjustable output end of the adjustable resistor R234 is the negative end of the circuit output, the second end of the secondary side coil of the isolation transformer T202 is connected with the cathode of a diode D215, the anode of the diode D215 is connected with the anode of the diode D210, the first end of the secondary side coil of the isolation transformer T202 is also connected with the anode of a diode, the cathode of the diode D212 is used as the positive output terminal of the circuit after passing through the resistor 235, the second terminal of the secondary winding of the isolation transformer T202 is further connected to the anode of the diode D214, and the cathode of the diode D214 is connected to the cathode of the diode D212.
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