CN112075973B - Ultrasonic osteotome dynamic impedance feedback method - Google Patents
Ultrasonic osteotome dynamic impedance feedback method Download PDFInfo
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- CN112075973B CN112075973B CN202010791986.4A CN202010791986A CN112075973B CN 112075973 B CN112075973 B CN 112075973B CN 202010791986 A CN202010791986 A CN 202010791986A CN 112075973 B CN112075973 B CN 112075973B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/32—Surgical cutting instruments
- A61B17/320068—Surgical cutting instruments using mechanical vibrations, e.g. ultrasonic
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
Abstract
The invention relates to the technical field of ultrasonic osteotome dynamic impedance feedback, and discloses an ultrasonic osteotome dynamic impedance feedback method. The invention adopts the resistance-capacitance circuit to carry out voltage division and the sampling of the Hall sensor, so that the interference of the original signal sampled by the Hall sensor is reduced, no additional component is connected in series with the matching circuit, the acquired original signal is more accurate, the signal precision of the signal processing circuit is ensured, the drift error is reduced, and the band-pass filter circuit is introduced, so that the final signal is more accurate and cleaner, and the corrected resonant frequency is calculated by adopting the error PID algorithm, and the frequency tracking speed is higher.
Description
Technical Field
The invention relates to the technical field of ultrasonic osteotome dynamic impedance feedback, in particular to an ultrasonic osteotome dynamic impedance feedback method.
Background
At present, along with the popularization of the application range of ultrasonic waves in the medical industry, in the clinical use and treatment process of an actual ultrasonic osteotome, if the condition of tuning mismatching occurs, the accuracy of clinical diagnosis can be directly influenced, the problems of reduction of conversion efficiency of converting electric energy into mechanical energy, heating of an osteotome handle and the like are also generated, and then the problems of electric energy waste and shortening of the service life of the ultrasonic osteotome are caused.
Impedance matching is a bridge for energy transmission and conversion between electric energy and mechanical energy, has the functions of tuning and variable resistance, and is a commonly used impedance matching method at present:
1. the tuning inductance and the tuning capacitance method are adjusted, and impedance matching is achieved by adjusting the tuning inductance value and the tuning capacitance value in the matching circuit, so that the method is slow in matching speed response and insufficient in matching precision, and the volume of a mechanical transmission mechanism is large;
2. the method adopts a fixed capacitance value to adjust and adjust the tuning inductance air gap in the matching circuit to achieve impedance matching adjustment, and although the method is reduced in volume compared with the method 1, the problems of slow matching speed response and insufficient matching precision still exist;
3. the phase difference of feedback voltage and current of an excitation power supply is sampled, phase locking control is carried out by using PD and PLL (which can be digital PLL), the method also adopts a common method, compared with methods 1 and 2, the method abandons that the size of a mechanical mechanism is minimum, the matching speed and the matching precision are improved, but the actual excitation power supply output and the load of a piezoelectric ultrasonic transducer are always changed, so that the sampled current signal and voltage signal have heavier clutter interference, the matching precision is still insufficient, the frequency locking failure is easy to occur, and the original parameter change of the actual circuit is caused due to the fact that a sampling resistor is connected in series into the circuit, and the error is increased.
Therefore, how to perform rapid and accurate measurement and evaluation on the impedance matching state of the piezoelectric ultrasonic transducer of the medical ultrasonic osteotome and quantitative adjustment of the tuning frequency is a problem to be solved at present, and therefore, a person skilled in the art provides a dynamic impedance feedback method for the ultrasonic osteotome to solve the problems proposed in the background art.
Disclosure of Invention
The invention aims to provide a dynamic impedance feedback method for an ultrasonic osteotome, which aims to solve the problems of how to perform rapid and accurate measurement and evaluation on the impedance matching state of a piezoelectric ultrasonic transducer of a medical ultrasonic osteotome and quantitative adjustment of tuning frequency in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: a kind of ultrasonic osteotome dynamic impedance feedback method, the concrete circuit of the ultrasonic osteotome dynamic impedance feedback method includes the matching circuit that the main power, HMI man-machine interaction module, MCU, numerical control excitation power, matching inductance and matching capacitance make up, the sampling circuit that the voltage dividing circuit of resistance-capacitance and Hall sensor make up, the amplification circuit of gain, band-pass filter circuit, level control circuit, enter the amplitude phase and detect and low-pass filter circuit, RMS true effective value circuit, its concrete operation is the following steps:
s1, the main power supply provides the needed power supply for each module, the initialization is completed after electrification, the MCU performs stepping frequency sweep from the minimum frequency to the maximum frequency of the osteotome frequency band, and the MCU controls the output of the numerical control excitation power supply;
s2, sending the signal to a transducer of the ultrasonic osteotome through a matching circuit consisting of a power matching inductor and a matching capacitor, and converting excitation electric energy into mechanical energy by the transducer;
s3, further, the Hall sensor respectively samples a resistance-capacitance circuit voltage division signal and a current signal flowing through the transducer, and the sampling signal passes through the gain amplification circuit, the narrow bandwidth band-pass filter and the level adjustment circuit;
s4, one path of the current signal in the S3 is converted into the true effective value of the current signal through an RMS true effective value circuit and is sent to an ADC of the MCU, and the true effective value obtains the maximum value of the resonance current through scanning to judge whether the ultrasonic osteotome is connected or damaged;
s5, the other path of the current signal in the S3 is sent to an amplitude-phase detection and low-pass filter circuit, the current signal is converted into an amplitude ratio and a phase difference signal of a voltage signal and a current signal, the amplitude ratio and the phase difference signal are converted by an ADC (analog to digital converter), the voltage signal and the current signal enter an MCU (microprogrammed control unit), an impedance circle is fitted by least squares in an R-X coordinate system, and then the resonant frequency fs1 is obtained;
s6, further, comparing and calculating the resonant frequency measured currently and the f measured initiallys0And calculating the control output quantity through PID, and controlling and adjusting the output of the numerical control excitation power supply to enable the output frequency to be locked on the resonant frequency.
As a further scheme of the invention: if the ultrasonic osteotome is not connected or is damaged in the S4, the maximum resonant current of the ultrasonic osteotome is far lower than the factory preset value.
As a still further scheme of the invention: in the method, when the R-X equivalent model of the piezoelectric ultrasonic transducer resonates, the R-X equivalent model can be equivalent to the R-X equivalent model of the piezoelectric ultrasonic transducer, and can be deduced according to an impedance formula:
can obtain the center of a circle
Radius of
Wherein fs2 is the mechanical tuning frequency.
As a still further scheme of the invention: when the load of the ultrasonic osteotome changes, the impedance circle of the ultrasonic osteotome deviates along the direction of the R axis, and the variation of the resonant frequency can be calculated according to the deviation.
As a still further scheme of the invention: the voltage of the ultrasonic osteotome piezoelectric transducer is set to be V ═ UejωtCurrent is
According to the ohm law:
namely, the impedance value of the ultrasonic osteotome transducer can be calculated by measuring the ratio of the voltage of the ultrasonic osteotome to the amplitude of the current flowing into the ultrasonic osteotome and the phase angle of the current.
Compared with the prior art, the invention has the beneficial effects that: in the actual operation, the resistance-capacitance circuit is adopted for voltage division and the Hall sensor is used for sampling, so that the interference of the sampled original signal is reduced, no additional component is connected in series with the matching circuit, the acquired original signal is more accurate, the signal processing circuit adopts a digital integrated circuit to ensure the signal precision and reduce the drift error, the band-pass filter circuit is introduced to ensure the final signal to be more accurate and cleaner, and meanwhile, the correction resonance frequency is calculated by adopting a PID algorithm of the error instead of a gradual approximation mode of the step frequency, so that the frequency tracking speed is higher.
Drawings
FIG. 1 is a block diagram of the overall circuit topology of an ultrasonic osteotome dynamic impedance feedback method;
FIG. 2 is a flow chart of an ultrasonic osteotome dynamic impedance feedback method;
FIG. 3 is a schematic diagram of an equivalent R-X model when resonating being equivalent to an equivalent R-X model when resonating in an ultrasonic osteotome dynamic impedance feedback method;
FIG. 4 is a schematic diagram of a theoretical impedance circle in an ultrasonic osteotome dynamic impedance feedback method;
FIG. 5 is a waveform diagram of voltage and current signals during matching resonance in an ultrasonic osteotome dynamic impedance feedback method.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the embodiment of the invention, a dynamic impedance feedback method of an ultrasonic osteotome is characterized in that a specific circuit of the dynamic impedance feedback method of the ultrasonic osteotome comprises a main power supply, an HMI (human machine interface) man-machine interaction module, an MCU (micro control unit), a numerical control excitation power supply, a matching circuit consisting of a matching inductor and a matching capacitor, a sampling circuit consisting of a resistance-capacitance voltage division circuit and a Hall sensor, a gain amplification circuit, a band-pass filter circuit, a level adjustment circuit, an amplitude-phase detection and low-pass filter circuit and an RMS (root mean square) true effective value circuit (shown in figure 1), and the specific operation comprises the following steps:
firstly, a main power supply provides required power for each module, the initialization is completed by electrifying, the MCU performs stepping frequency sweep from the minimum frequency to the maximum frequency of a osteotome frequency band, and controls the output of a numerical control excitation power supply, a signal is sent to a transducer of an ultrasonic osteotome through a matching circuit consisting of a power matching inductor and a matching capacitor, and the transducer converts excitation electric energy into mechanical energy;
furthermore, the Hall sensor respectively samples a voltage division signal of the resistance-capacitance circuit and a current signal flowing through the transducer, the sampled signal passes through the gain amplifying circuit, the narrow bandwidth band-pass filter and the level adjusting circuit, one path of the current signal can be converted into a true effective value of the current signal through the RMS true effective value circuit and is sent into an ADC (analog/digital converter) of the MCU, the true effective value obtains the maximum value of the resonant current through scanning to judge whether the ultrasonic osteotome is connected or not and whether the ultrasonic osteotome is damaged or not, if the ultrasonic osteotome is not connected or damaged, the maximum resonance current is far lower than the factory default value, the other path of the current signal is sent to an amplitude-phase detection and low-pass filter circuit, will be converted into amplitude ratio and phase difference signals of voltage and current signals, and then enter the MCU after being converted by the ADC, fitting an impedance circle by least squares in an R-X coordinate system to obtain a resonant frequency fs 1;
finally, the currently measured resonance frequency is compared and calculated with the initially measured fs0The control output quantity is calculated through PID, the output of the numerical control excitation power supply is controlled and adjusted, the output frequency of the numerical control excitation power supply is locked on the resonance frequency (as shown in figure 2), and when the numerical control excitation power supply is matched with resonance, the waveforms of voltage and current signals are shown in figure 5;
in the method, when the R-X equivalent model of the piezoelectric ultrasonic transducer resonates, the R-X equivalent model can be equivalent to a resonant equivalent model (as shown in FIG. 3), and can be deduced according to an impedance formula:
the circle center can be obtained as follows:
the radius is:
the theoretical impedance circle of (e.g. as shown in fig. 4), where fsNamely the mechanical tuning frequency;
furthermore, when the load of the ultrasonic osteotome changes, the impedance circle of the ultrasonic osteotome deviates along the direction of the R axis, and the variation of the resonant frequency can be calculated according to the deviation;
the voltage of the ultrasonic osteotome piezoelectric transducer is set to be V ═ UejωtCurrent is
According to the ohm law:
namely, the impedance value of the ultrasonic osteotome transducer can be calculated by measuring the ratio of the voltage of the ultrasonic osteotome to the amplitude of the current flowing into the ultrasonic osteotome and the phase angle of the current.
In summary, the present invention provides a dynamic impedance feedback method for an ultrasonic osteotome, which is used for performing rapid and accurate measurement and evaluation on the impedance matching state of a piezoelectric ultrasonic transducer of a medical ultrasonic osteotome, and quantitatively adjusting the tuning frequency.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (1)
1. A dynamic impedance feedback method of an ultrasonic osteotome is characterized in that a specific circuit of the dynamic impedance feedback method of the ultrasonic osteotome comprises a main power supply, an HMI man-machine interaction module, an MCU, a numerical control excitation power supply, a matching circuit consisting of a matching inductor and a matching capacitor, a sampling circuit consisting of a resistance-capacitance voltage division circuit and a Hall sensor, a gain amplification circuit, a band-pass filter circuit, a level adjustment circuit, an amplitude-phase detection and low-pass filter circuit and an RMS true effective value circuit, and the specific operation of the method comprises the following steps:
s1, the main power supply provides the needed power supply for each module, the initialization is completed after electrification, the MCU performs stepping frequency sweep from the minimum frequency to the maximum frequency of the osteotome frequency band, and the MCU controls the output of the numerical control excitation power supply;
s2, sending the signal to the transducer of the ultrasonic osteotome via the matching circuit composed of power matching inductor and matching capacitor, converting the exciting electric energy into mechanical energy by the transducer, and setting the voltage of the piezoelectric transducer of the ultrasonic osteotome as V ═ UejωtCurrent is
According to the ohm law:
namely, the impedance value of the ultrasonic osteotome transducer can be calculated by measuring the ratio of the voltage of the ultrasonic osteotome to the amplitude of the current flowing into the ultrasonic osteotome and the phase angle of the current;
s3, further, the Hall sensor respectively samples a resistance-capacitance circuit voltage division signal and a current signal flowing through the transducer, and the sampling signal passes through the gain amplification circuit, the narrow bandwidth band-pass filter and the level adjustment circuit;
s4, one path of the current signal in the S3 is converted into the true effective value of the current signal through an RMS true effective value circuit and is sent to an ADC of the MCU, the true effective value obtains the maximum value of the resonance current through scanning to judge whether the ultrasonic osteotome is connected or damaged, and if the ultrasonic osteotome is not connected or damaged, the maximum resonance current is far lower than the factory preset value;
s5, the other path of the current signal in S3 is sent to an amplitude-phase detection and low-pass filter circuit, and is converted into an amplitude ratio and a phase difference signal of the voltage and current signals, the amplitude ratio and the phase difference signal enter an MCU after being converted by an ADC, an impedance circle is fitted by least squares in an R-X coordinate system, and then resonance frequency is obtained
Can obtain the center of a circle
Radius of
When the load of the ultrasonic osteotome is changed, the impedance circle of the ultrasonic osteotome deviates along the direction of the R axis, and the variation of the resonant frequency can be calculated according to the deviation;
s6, further, comparing and calculating the resonant frequency measured currently and the f measured initiallys0And calculating the control output quantity through PID, and controlling and adjusting the output of the numerical control excitation power supply to enable the output frequency to be locked on the resonant frequency.
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