CN116585627B - Ultrasonic cutter bar temperature control method, ultrasonic cutter bar temperature control system, ultrasonic generator and ultrasonic medical instrument - Google Patents
Ultrasonic cutter bar temperature control method, ultrasonic cutter bar temperature control system, ultrasonic generator and ultrasonic medical instrument Download PDFInfo
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- A—HUMAN NECESSITIES
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Abstract
The invention discloses an ultrasonic cutter bar temperature control method, an ultrasonic cutter bar temperature control system, a generator and an ultrasonic medical instrument, wherein the ultrasonic cutter bar temperature control method comprises the following steps: s1, acquiring input data required by calculating temperature parameters of an ultrasonic cutter bar, wherein the input data at least comprises real-time resonance frequency of the ultrasonic cutter bar during operation; s2, substituting the input data into a temperature calculation model to calculate the temperature parameter of the ultrasonic cutter bar, wherein the temperature calculation model is determined according to a heat conduction equation and the relation between sound velocity and temperature; and S3, controlling the temperature of the ultrasonic cutter bar according to the temperature parameter. The method can complete the calculation and prediction of the real-time temperature of the ultrasonic tool bit by using very little information and at least only needing real-time resonance frequency, has accurate and near-actual prediction result, stable and reliable effect, very low information acquisition requirement, very small real-time calculation amount and very low required hardware configuration, does not need to acquire a large amount of training data and does not need a complex training process, and is easier to realize.
Description
Technical Field
The invention relates to the field of automatic control of medical instruments, in particular to an ultrasonic cutter bar temperature control method, an ultrasonic cutter bar temperature control system, a generator and an ultrasonic medical instrument.
Background
The ultrasonic blade system mainly comprises a generator, a transducer and an ultrasonic blade bar, as shown in fig. 1, the transducer 11 and the ultrasonic blade housing 12 of the ultrasonic blade are matched together, a sleeve 13 is positioned at the distal end of the ultrasonic blade housing 12, the ultrasonic blade bar 14 positioned at the most distal end is coupled with the transducer 11 inside the sleeve 13, and the transducer 11 is connected with the generator (not shown) through a cable 15.
The current with ultrasonic frequency in the generator is conducted to the transducer, the transducer converts electric energy into mechanical energy of front-back vibration, the tail end (also called ultrasonic cutter head) of the ultrasonic cutter bar vibrates at a certain frequency (for example, 55.6 kHz) through the transmission and amplification of the ultrasonic cutter bar, and the heat generated by friction causes vaporization of water in tissue cells contacted with the cutter tip, breakage of protein hydrogen bonds, cell disintegration and recombination, and tissue is cut after solidification; when cutting blood vessels, the ultrasonic cutter bar is contacted with tissue proteins, heat is generated through mechanical vibration, so that collagen structures in tissues are damaged, proteins are solidified, the blood vessels are further sealed, and the hemostatic purpose is achieved.
The ultrasonic knife head can form a local high-temperature region with the temperature of even more than 300 ℃ in a short time due to the rapid thermal effect in the operation process of the ultrasonic knife bar, and heat is mainly diffused through the ultrasonic knife bar, tissues and air. The ultrasonic knife head has the advantages that the ultrasonic knife head has too high temperature, so that the loss of the ultrasonic knife head, particularly a gasket, is accelerated, and the heat damage to surrounding tissues is possibly caused, so that the wound recovery is not facilitated, and various complications are even caused; too low a temperature of the ultrasonic blade can result in too slow cutting, which severely reduces the efficiency of the surgeon in the operation.
Therefore, the Chinese patent application with publication number of CN113722994A discloses an ultrasonic cutter bar temperature control method and system, which are used for determining a neural network algorithm model through machine learning and estimating the temperature of an ultrasonic cutter head according to the neural network algorithm model.
The method requires a large amount of learning data and a long-time machine learning process, and has the advantages of high model training cost, long time consumption and great difficulty.
For example, in the chinese patent disclosed in the publication CN110833440B, a temperature sensor is disposed on the ultrasonic knife bar to detect the temperature and control the temperature accordingly, and this method needs to improve the structure of the ultrasonic knife bar, and cannot be applied to the existing ultrasonic knife system.
Disclosure of Invention
The invention aims to solve the problems in the prior art and provides an ultrasonic cutter bar temperature control method, an ultrasonic cutter bar temperature control system, an ultrasonic generator and an ultrasonic medical instrument.
The aim of the invention is achieved by the following technical scheme:
the ultrasonic cutter bar temperature control method comprises the following steps:
s1, acquiring input data required by calculating temperature parameters of an ultrasonic cutter bar, wherein the input data at least comprises real-time resonant frequency of the ultrasonic cutter bar during working；
S2, substituting the input data into a temperature calculation model to calculate the temperature parameter of the ultrasonic cutter bar, wherein the temperature calculation model is determined according to a heat conduction equation and the relation between sound velocity and temperature;
s3, controlling the temperature of the ultrasonic cutter bar according to the temperature parameter.
Preferably, the input data includes initial temperature profile information of the ultrasonic blade bar.
Preferably, the initial temperature distribution information of the ultrasonic cutter bar is determined by the following formula:
；
wherein ,for the distribution function of the temperature at different positions on the ultrasonic blade bar,/->Is a suitable coefficient constant satisfying the boundary conditions, < ->Is a suitable fundamental frequency constant, +.>Is a position coordinate, and n is a positive integer.
Preferably, in the step S2, the temperature calculation model calculates the temperature parameter of the ultrasonic blade bar according to the following integral equation:
；
wherein ,is the sound velocity at the initial temperature, +.>Is the real-time resonant frequency; l is the length of the ultrasonic knife rod and is->Is a coefficient related to the material of the ultrasonic cutter bar; />Is the thermal expansion coefficient; t is the temperature; n is a positive integer.
Preferably, in the step S2, when calculating the temperature parameter, a temperature distribution term generated by an additional heat source set at a predetermined position is added to the temperature calculation model to be solved.
Preferably, the position coordinate of the predetermined position is L, the additional heat source is a transducer, and the temperature distribution term is obtained by multiplying the total energy of the transducer by a predetermined constant coefficient.
Preferably, in the step S3, at least one temperature estimated value of the temperature parameters is compared with a set value, and the output power of the generator is adjusted according to the comparison result so as to control the temperature of the ultrasonic cutter bar.
An ultrasonic blade bar temperature control system comprising:
the acquisition unit is used for acquiring input data required by calculating the temperature parameters of the ultrasonic cutter bar, wherein the input data at least comprises real-time resonant frequency of the ultrasonic cutter bar during working ；
A temperature determining unit for substituting the input data into a temperature calculation model to calculate the temperature parameter of the ultrasonic cutter bar, wherein the temperature calculation model is determined according to a heat conduction equation and the relation between sound velocity and temperature;
and the adjusting unit is used for controlling the temperature of the ultrasonic cutter bar according to the temperature parameter.
Generator comprising a processor and a memory, the memory having stored therein a computer program executable by the processor, the computer program when executed implementing a method as described in any of the above.
An ultrasonic medical device comprising a generator as described above.
The technical scheme of the invention has the advantages that:
the method of the invention determines the temperature calculation model based on the relation between the heat conduction equation and the sound velocity and the temperature, so that the method can complete the calculation and the prediction of the real-time temperature of the ultrasonic tool bit with very little information and at least only needing real-time resonance frequency, the prediction result is more accurate and close to the actual result, the effect is stable and reliable, the information acquisition requirement is very low, the real-time calculation amount is very small, the required hardware configuration is very low, no additional temperature sensor is required, the method can be applied to the existing ultrasonic tool system, and meanwhile, a large amount of training data is not required to be acquired, and the method is easier to realize.
According to the ultrasonic cutter bar temperature distribution method, initial temperature distribution information of the ultrasonic cutter bar is further increased in the calculation process, so that calculation errors can be reduced, and calculation accuracy is improved.
The method of the invention can effectively overcome the influence of characteristic parameters such as environment and the like on estimation and improve estimation accuracy by compensating the extra heat source in the calculation process.
Drawings
FIG. 1 is a schematic structural view of an ultrasonic blade system of the present invention;
FIG. 2 is a schematic illustration of temperature changes at different locations of an ultrasonic blade bar;
FIG. 3 is a schematic diagram of a control method of the present invention;
FIG. 4 is a graph comparing the temperature of an ultrasonic blade estimated by the method of the present invention with the temperature of an ultrasonic blade measured over time.
Detailed Description
The objects, advantages and features of the present invention are illustrated and explained by the following non-limiting description of preferred embodiments. These embodiments are only typical examples of the technical scheme of the invention, and all technical schemes formed by adopting equivalent substitution or equivalent transformation fall within the scope of the invention.
In the description of the embodiments, it should be noted that the positional or positional relationship indicated by the terms such as "center", "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "inner", "outer", etc. are based on the positional or positional relationship shown in the drawings, are merely for convenience of description and simplification of description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be configured and operated in the specific orientation, and thus are not to be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Example 1
The temperature control method of the ultrasonic cutter bar disclosed by the invention is explained below with reference to the attached drawings.
The actual temperature of the ultrasonic cutter bar is one-dimensional space distribution along the ultrasonic cutter bar when the ultrasonic cutter bar works, each temperature distribution corresponds to a solution of a temperature distribution function, and the temperature distribution function can be approximately solved by establishing a model by using a mathematical physical equation.
First, assuming that the heating is caused by the front end of the ultrasonic blade head of the ultrasonic blade bar, there is no heat source on the ultrasonic blade bar, the temperature distribution at different positions on the ultrasonic blade bar is shown in fig. 2, and the temperature follows the heat conduction equation. Meanwhile, the frequency of the known wave is only related to a signal source and is irrelevant to a propagation medium, namely the real-time resonance frequencies of different positions on the ultrasonic cutter bar at the same moment are the same regardless of the temperature of the ultrasonic cutter bar;
there is a one-dimensional heat conduction equation as shown in formula (1):
；
where T is the temperature, is a function of position x and time T (x, T),mu is thermal conductivity, ">For material density, C is the specific heat capacity.
Since in a metallic material, the sound velocity has a relationship with the material itself as shown in the following formula (2):
；
where u is the speed of sound, the modulus of elasticity E,for density (I)>Is poisson's ratio.
At this time, the following formulas (3) and (4) are obtained by taking only E and the change with temperature into consideration temporarily:
；
；
wherein ,for the modulus of elasticity at the initial temperature +.>As a factor related to the metal itself, for example, the metal is 25, which, as it does not seem to be standard, can be calculated by data measurement and stored as a constant in memory. Of course, in order to meet the actual need, in question, < +.>The coefficient may be a function corresponding to the temperature instead of a constant; />Is the thermal expansion coefficient; />Is the density at the initial temperature.
Due to thermal expansion coefficientVery little, substituting the formulas (3), (4) into the above formula (2) and removing the higher order small amount gives the following formula (5):
；
wherein ,the sound velocity at the initial temperature can be calculated according to the initial frequency, the initial temperature distribution and the standing wave condition, or the sound velocity can be calculated without calculation, and the sound velocity can be about lost in the subsequent calculation process.
At present, the conclusion that the sound velocity and the temperature are in a linear relation in a certain temperature range can be directly obtained, and therefore the following formula (6) can be obtained;
；
assuming that the total length of the ultrasonic cutter bar is L, since the condition of the standing wave requires l=n×λ/2, λ is the ultrasonic wavelength, and n is a positive integer, the following formula (7) can be obtained:
；
substituting equations (5) and (6) into equation (7) yields an integral equation for temperature as shown in equation (8), and then solving is performed based on this equation.
；
In the working process of the ultrasonic knife, the real-time resonant frequency of the ultrasonic knifeConstantly, which can be determined by known algorithms.
The temperature parameters except the heat source temperature can be predicted by using a heat conduction equation through the ambient temperature at the previous time, because the temperature at each place except the heat source on the ultrasonic cutter bar has no external heat influence, the distribution of other temperatures except the heat source temperature at the next time can be calculated according to the heat conduction equation through the distribution of the temperature at the previous time, and the corresponding calculation method is a known technology and is not repeated here.
Heat source temperature as an unknown and known real-time resonant frequencySubstituting the integral equation (8) to solve can obtain the temperature of the heat source to be predicted, namely the temperature of the end (ultrasonic tool bit) of the ultrasonic tool bar.
Required for calculation、/>The data such as L and the like can be stored in a memory in advance, and can be directly read during calculation. The power of the generator can be controlled according to the estimated temperature parameter, so that the temperature of the ultrasonic cutter bar can be adjusted.
Correspondingly, as shown in fig. 3, the ultrasonic cutter bar temperature control method comprises the following steps:
s1, acquiring input data required by calculating temperature parameters of an ultrasonic cutter bar, wherein the input data at least comprises real-time resonant frequency of the ultrasonic cutter bar during working；
S2, the real-time resonance frequency is setSubstituting into a temperature calculation model to calculate the temperature parameters of the ultrasonic cutter bar, wherein the temperature calculation model is determined according to a heat conduction equation and the relation between sound velocity and temperature, and the temperature parameters comprise, but are not limited to, the temperature of an ultrasonic cutter head, and can also comprise the maximum value, the minimum value, the average value and the like of the temperature of any one or more positions or areas of the ultrasonic cutter bar.
S3, controlling the temperature of the ultrasonic cutter bar according to the temperature parameter.
In a practical case, the input data may further include initial temperature distribution information of the ultrasonic blade bar, where the initial temperature distribution information of the ultrasonic blade bar refers to temperature distribution on the ultrasonic blade bar before the start of cutting. If there is no information on the initial temperature distribution of the ultrasonic blade bar, the predicted temperature will deviate slightly from the actual temperature.
Since the initial temperature distribution information of the ultrasonic cutter bar is related to the shearing time, the power and the cooling time of the ultrasonic cutter at last time, the accurate calculation is difficult, and therefore, the initial temperature distribution information of the ultrasonic cutter bar can be determined by a known sine and cosine function superposition or exponential function superposition or a machine learning method of classical solutions of heat conduction equations.
Preferably, the initial temperature distribution information of the ultrasonic cutter bar can be determined by the following formula (9):
；
wherein , for the distribution function of the temperature at different positions on the ultrasonic blade bar,/->Is a suitable coefficient constant satisfying the boundary conditions, which can be selected from the actual data to a suitable value, not limited herein,/or->For a suitable fundamental frequency constant, which can be selected from the actual data to a suitable value, which is not limited herein,/for>Is a position coordinate, and n is a positive integer. The formula is set in advance as long as the corresponding +.> and />And the initial temperature distribution information of the ultrasonic cutter bar can be rapidly and accurately calculated by combining the position coordinates, so that the ultrasonic cutter bar is easier to realize.
In actual use, because heating at other positions can have a certain influence on the temperature of the ultrasonic cutter bar, when the temperature parameter is calculated, a temperature distribution item generated by an additional heat source arranged at a preset position is added into a temperature calculation model to be solved. The heating at other positions is mainly the heating of the energy converter, so that a temperature distribution item caused by the heating of the energy converter can be added into the temperature calculation model, and the temperature parameter estimation result is more accurate.
Namely inAn additional heat source is added at the position of =l to simulate the transducer, and since the temperature distribution of the ultrasonic cutter bar changes with the power and time accumulation of the transducer, the total energy of the transducer can be multiplied by a suitable constant coefficient (predetermined constant coefficient) to obtain a temperature distribution term caused by the additional heat source on the ultrasonic cutter bar, and then the determined temperature distribution term is added to the integral equation to solve, and the specific solving process is a known technology and is not repeated herein.
In the step S3, at least one temperature estimated value in the temperature parameters is compared with a set value, and the output power of the generator is regulated according to the comparison result so as to control the temperature of the ultrasonic cutter bar. The specific adjustment process may refer to the adjustment process of the prior art described in the background art, and will not be described herein.
Example 2
The embodiment discloses an ultrasonic cutter bar temperature control system, including:
the acquisition unit is used for acquiring input data required by calculating the temperature parameters of the ultrasonic cutter bar, wherein the input data at least comprises real-time resonant frequency of the ultrasonic cutter bar during working；
A temperature determining unit for determining the real-time resonance frequencySubstituting a temperature calculation model to calculate the temperature parameter of the ultrasonic cutter bar, wherein the temperature calculation model is determined according to a heat conduction equation and the relation between sound velocity and temperature;
and the adjusting unit is used for controlling the temperature of the ultrasonic cutter bar according to the temperature parameter.
Example 3
The present embodiment discloses a generator comprising a processor and a memory, the memory storing a computer program executable by the processor, the computer program implementing the temperature control method as described above when executed.
Example 4
This embodiment discloses an ultrasonic medical instrument comprising a generator as described above.
Example 5
The embodiment discloses an ultrasonic cutter bar temperature prediction method, which comprises the following steps:
s10, acquiring input data required by calculating temperature parameters of an ultrasonic cutter bar, wherein the input data at least comprises real-time resonant frequency of the ultrasonic cutter bar during working；
S20, substituting the input data into a temperature calculation model to calculate the temperature parameter of the ultrasonic cutter bar, wherein the temperature calculation model is determined based on a heat conduction model and the relation between sound velocity and temperature.
The cowhide is sheared by using the ultrasonic knife system, the actual temperature of the ultrasonic knife head is measured by the infrared thermometer, the temperature of the ultrasonic knife head is estimated by using the temperature prediction method, the temperature of the ultrasonic knife head is estimated every 10ms, the temperature measured by the infrared thermometer is acquired, a temperature change chart shown in fig. 4 is drawn, and as can be seen from fig. 4, the deviation between the temperature of the ultrasonic knife head estimated by the temperature prediction method and the temperature measured by the infrared thermometer is extremely small, the coincidence degree of the temperature and the temperature is higher, and the estimation accuracy is higher.
The invention has various embodiments, and all technical schemes formed by equivalent transformation or equivalent transformation fall within the protection scope of the invention.
Claims (8)
1. The ultrasonic cutter bar temperature control method is characterized by comprising the following steps of:
s1, acquiring input data required by calculating temperature parameters of an ultrasonic cutter bar, wherein the input data at least comprises real-time resonant frequency of the ultrasonic cutter bar during working；
S2, substituting the input data into a temperature calculation model to calculate the temperature parameter of the ultrasonic cutter bar, wherein the temperature calculation model is determined according to a heat conduction equation and the relation between sound velocity and temperature, and the temperature calculation model is used for calculating the temperature parameter of the ultrasonic cutter bar according to the following integral equation:
;
wherein , is the sound velocity at the initial temperature, +.>Is the real-time resonant frequency; l is the length of the ultrasonic knife rod and is->Is a coefficient related to the material of the ultrasonic cutter bar; />Is the thermal expansion coefficient; t is the temperature; n is a positive integer;
s3, controlling the temperature of the ultrasonic cutter bar according to the temperature parameter.
2. The ultrasonic blade bar temperature control method of claim 1, wherein the input data comprises initial temperature profile information of the ultrasonic blade bar, the initial temperature profile information of the ultrasonic blade bar being determined by the following formula:
;
wherein ,for the distribution function of the temperature at different positions on the ultrasonic blade bar,/->Is a suitable coefficient constant satisfying the boundary conditions, < ->Is a suitable fundamental frequency constant, +.>Is a position coordinate, and n is a positive integer.
3. The ultrasonic tool bar temperature control method according to claim 1, wherein in S2, when calculating the temperature parameter, a temperature distribution term generated by an additional heat source set at a predetermined position is added to a temperature calculation model for solving.
4. The ultrasonic blade bar temperature control method of claim 3, wherein the position coordinates of the predetermined position are L, the additional heat source is a transducer, and the temperature distribution term is obtained by multiplying total energy of the transducer by a predetermined constant coefficient.
5. The ultrasonic blade bar temperature control method according to any one of claims 1 to 4, wherein in S3, at least one temperature estimated value of the temperature parameters is compared with a set value, and the output power of the generator is adjusted according to the comparison result to control the temperature of the ultrasonic blade bar.
6. Ultrasonic knife bar temperature control system, its characterized in that includes:
the acquisition unit is used for acquiring input data required by calculating the temperature parameters of the ultrasonic cutter bar, wherein the input data at least comprises real-time resonant frequency of the ultrasonic cutter bar during working ；
The temperature determining unit is used for substituting the input data into a temperature calculation model to calculate the temperature parameter of the ultrasonic cutter bar, the temperature calculation model is determined according to a heat conduction equation and the relation between sound velocity and temperature, and the temperature calculation model is used for calculating the temperature parameter of the ultrasonic cutter bar according to the following integral equation:
;
wherein , is the sound velocity at the initial temperature, +.>Is the real-time resonant frequency; l is the length of the ultrasonic knife rod and is->Is a coefficient related to the material of the ultrasonic cutter bar; />Is the thermal expansion coefficient; t is the temperature; n is a positive integer;
and the adjusting unit is used for controlling the temperature of the ultrasonic cutter bar according to the temperature parameter.
7. Generator comprising a processor and a memory, in which a computer program is stored which is executable by the processor, characterized in that the computer program, when executed, implements the method according to any of claims 1-5.
8. An ultrasonic medical device comprising the generator of claim 7.
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| CN113722994A (en) * | 2021-08-30 | 2021-11-30 | 以诺康医疗科技（苏州）有限公司 | Ultrasonic cutter bar temperature control method and system based on temperature distribution function model |
| CN113729864A (en) * | 2021-08-30 | 2021-12-03 | 以诺康医疗科技（苏州）有限公司 | Ultrasonic knife blood vessel self-adaptive shearing method and system based on intelligent temperature sensing |
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| US11259830B2 (en) * | 2018-03-08 | 2022-03-01 | Cilag Gmbh International | Methods for controlling temperature in ultrasonic device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113722994A (en) * | 2021-08-30 | 2021-11-30 | 以诺康医疗科技（苏州）有限公司 | Ultrasonic cutter bar temperature control method and system based on temperature distribution function model |
| CN113729864A (en) * | 2021-08-30 | 2021-12-03 | 以诺康医疗科技（苏州）有限公司 | Ultrasonic knife blood vessel self-adaptive shearing method and system based on intelligent temperature sensing |
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