CN117694968A - Sound-black hole-based longitudinal-bending coupling vibration ultrasonic surgical knife head, surgical knife and design method - Google Patents
Sound-black hole-based longitudinal-bending coupling vibration ultrasonic surgical knife head, surgical knife and design method Download PDFInfo
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Abstract
The invention provides a longitudinal-bending coupling vibration ultrasonic surgical tool bit based on an acoustic black hole, a surgical knife and a design method, and belongs to the technical field of medical instruments, wherein the ultrasonic surgical tool bit comprises an ultrasonic surgical tool bit head, an ultrasonic surgical tool bit back, an ultrasonic surgical tool bit tail and an ultrasonic surgical tool bit arc-shaped blade part which are connected end to end in sequence; the arc structure of the arc blade part of the ultrasonic surgical tool bit meets a one-dimensional sound black hole section height calculation model. According to the ultrasonic surgical tool, the longitudinal shearing force and the transverse shearing force are provided for the ultrasonic surgical tool through the longitudinal-bending coupling vibration mode, and the mechanical vibration capability of the ultrasonic surgical tool is further enhanced by utilizing the focusing effect of the sound-black hole structure, so that the cutting time of the ultrasonic surgical tool in an operation can be greatly shortened, and the working efficiency is greatly improved.
Description
Technical Field
The invention belongs to the technical field of medical instruments, relates to surgical equipment, and particularly relates to a longitudinal-bending coupling vibration ultrasonic surgical knife head based on an acoustic black hole, a surgical knife and a design method.
Background
In recent years, an ultrasonic surgical knife has become a conventional and preferred energy type surgical instrument with the advantages of high cutting precision, high surgical safety coefficient, less instrument exchange, shorter surgical time, shorter postoperative recovery period and the like, and is widely applied to various open surgery and minimally invasive surgery. The main working mechanism of the ultrasonic surgical knife is that the accurate cutting of tissues is realized through the high-frequency vibration of the knife head, friction heat is generated when the ultrasonic surgical knife contacts with the tissues, and simultaneously, cavitation effect is formed in tissue fluid by utilizing ultrasonic waves to cause protein denaturation, so that the aim of simultaneously cutting and solidifying the tissues is fulfilled. See patent document CN201922075221.6, which discloses a cutter bar for an ultrasonic surgical knife and an ultrasonic surgical knife, wherein the front end of the cutter bar is arc-shaped, and comprises a cutter bar body; an outer sleeve; a jaw assembly; a sliding block; a wire rope; and a limiting structure used for limiting the steel wire rope to deviate towards the radial direction is arranged in the outer sleeve. The front end of the cutter bar described in the patent document is arc-shaped, so that the cutter bar is suitable for the cavity structure of a human body and is convenient to enter; after entering the human body, the cutter bar with the arc shape obtains a larger operation range relative to the cutter bar with the straight line structure under the same movable included angle and rotates along the axis of the cutter bar, thereby reducing the operation intensity of an operator and the pain degree of a patient. However, most ultrasonic surgical heads currently adopt a longitudinal vibration design, including the above patent documents, and the ultrasonic surgical blade thereof only relies on a longitudinal shearing force to cut, so that the energy aggregation effect is poor, resulting in limited amplitude of the ultrasonic surgical blade and low cutting efficiency.
Disclosure of Invention
Aiming at the technical problems of limited amplitude and low cutting efficiency of an ultrasonic surgical knife, the invention provides a longitudinal-bending coupling vibration ultrasonic surgical knife head based on an acoustic black hole, a surgical knife and a design method.
The invention is based on the principle that the structural characteristics and energy gathering efficiency of the acoustic black hole are completely matched with the design of the ultrasonic surgical knife head, the structural characteristics of the acoustic black hole are introduced into the ultrasonic surgical knife head to form the coupling of bending vibration modes, so that additional transverse shearing force is provided for the ultrasonic surgical knife head, and meanwhile, the focusing effect of the acoustic black hole structure is utilized to further enhance the mechanical vibration capability of the ultrasonic surgical knife head, thereby greatly improving the working efficiency, shortening the operation time and reducing the operation wound on a patient.
The technical scheme of the invention is as follows:
the invention discloses a longitudinal bending coupling vibration ultrasonic surgical tool bit based on an acoustic black hole, which comprises an ultrasonic surgical tool bit, wherein the ultrasonic surgical tool bit comprises an ultrasonic surgical tool bit head, an ultrasonic surgical tool bit back, an ultrasonic surgical tool bit tail and an ultrasonic surgical tool bit arc-shaped blade part which are connected end to end in sequence; the arc structure of the arc blade part of the ultrasonic surgical tool bit meets a one-dimensional acoustic black hole section height calculation model, and the one-dimensional acoustic black hole section height calculation model is as follows:
Wherein h (x) is a one-dimensional sound black hole section height variation value, and the unit is: m; h is a 1 The tail height of the ultrasonic surgical tool bit is as follows: m; h is a 0 The head height of the ultrasonic surgical tool bit is as follows: m; l (L) ABH The back length of the ultrasonic surgical tool bit is as follows: m; m is a section height change coefficient, m is more than or equal to 2, and dimensionless; x is the back length change value of the ultrasonic surgical knife head, 0<x≤L ABH Units: m;
the back length L of the ultrasonic surgical tool bit ABH And the section height change coefficient m is determined according to the acoustic-black hole longitudinal-bending coupling vibration model of the cutter head.
The sound-black hole longitudinal-bending coupling vibration model of the tool bit comprises a sound-black hole structure longitudinal-bending coupling vibration calculation matrix of the tool bit and a sound-black hole structure longitudinal-bending coupling vibration frequency calculation equation set;
the sound-black hole structure longitudinal-bending coupling vibration calculation matrix of the cutter head is as follows:
in the method, in the process of the invention,and->Are all the longitudinal vibration influence factors of the section i constant cross section rod, and->Are all the bending vibration influence factors of the section i constant cross section rod, v i1 And v i2 Longitudinal vibration speeds of two ends of the section i constant section rod are respectively as follows: m/s; f (F) i1 And F i2 Longitudinal forces at two ends of the section i constant section rod are respectively as follows: n; w (w) i1 And w i2 The transverse displacement of the two ends of the section i constant section rod is respectively as follows: m; / >And->The rotation angles of the two ends of the section i constant section rod are respectively as follows: rad; m is M i1 And M i2 Bending moment at two ends of the section i constant section rod is respectively as follows: n.m; q (Q) i1 And Q i2 Shear force at two ends of the section i constant section rod is respectively as follows: n, i=1, 2,3, N is a natural number of 1 or more; the constant section rod is formed by dividing N parts of ultrasonic surgical heads into equal sections along the length direction of the back of the ultrasonic surgical heads; [ M ] i ] 6×6 A longitudinal-bending coupling vibration matrix of the ith section of constant cross-section rod; />And->Are all longitudinal vibration influencing factors of the cutter head; and->Are all bending vibration influence factors of the cutter head; [ M ] D ] 6×6 Calculating a matrix for longitudinal-bending coupling vibration of the sound-black hole structure of the cutter head;
the sound-black hole structure longitudinal-bending coupling vibration frequency calculation equation set of the cutter head is as follows:
in the method, in the process of the invention,for the longitudinal vibration influencing factor of the cutter head, +.>And->Are all bending vibration influencing factors of the cutter head.
The invention discloses a sound-black hole-based longitudinal-bending coupling vibration ultrasonic surgical tool bit design method, which comprises the following steps of:
1) Establishing a sound-black hole structure longitudinal-bending coupling vibration calculation matrix of the cutter head and a sound-black hole structure longitudinal-bending coupling vibration frequency calculation equation set of the cutter head by using a transmission matrix method; longitudinal bending coupling according to sound-black hole structure of cutter head Determining back length L of ultrasonic surgical tool bit by vibration calculation matrix and acoustic-black hole structure longitudinal-bending coupling vibration frequency calculation equation set of tool bit ABH And a section height variation coefficient m;
2) Length L of back of ultrasonic surgical knife head ABH Substituting the section height change coefficient m into a one-dimensional sound black hole section height calculation model to determine the arc-shaped structure of the arc-shaped blade part of the ultrasonic surgical tool bit;
the one-dimensional sound black hole section height calculation model is as follows:
wherein h (x) is a one-dimensional sound black hole section height variation value, and the unit is: m; h is a 1 The tail height of the ultrasonic surgical tool bit is as follows: m; h is a 0 The head height of the ultrasonic surgical tool bit is as follows: m; l (L) ABH The back length of the ultrasonic surgical tool bit is as follows: m; m is a section height change coefficient, m is more than or equal to 2, and dimensionless; x is the back length change value of the ultrasonic surgical knife head, 0<x≤L ABH Units: m;
3) According to the arc structure of the arc blade part of the ultrasonic surgical knife head and the back length L of the ultrasonic surgical knife head ABH Head height h of ultrasonic surgical tool 0 And ultrasonic surgical tool tip tail height h 1 The structure of the ultrasonic surgical blade is determined.
Further defined, the sound-black hole structure longitudinal-bending coupling vibration calculation matrix of the cutter head in the step 1) is as follows:
in the method, in the process of the invention,and->Are all the longitudinal vibration influence factors of the section i constant cross section rod, And->Are all the bending vibration influence factors of the section i constant cross section rod, v i1 And v i2 Longitudinal vibration speeds of two ends of the section i constant section rod are respectively as follows: m/s; f (F) i1 And F i2 Longitudinal forces at two ends of the section i constant section rod are respectively as follows: n; w (w) i1 And w i2 The transverse displacement of the two ends of the section i constant section rod is respectively as follows: m; />And->The rotation angles of the two ends of the section i constant section rod are respectively as follows: rad; m is M i1 And M i2 Bending moment at two ends of the section i constant section rod is respectively as follows: n.m; q (Q) i1 And Q i2 Shear force at two ends of the section i constant section rod is respectively as follows: n, i=1, 2,3, N is a natural number of 1 or more; the constant section rod is formed by dividing N parts of ultrasonic surgical heads into equal sections along the length direction of the back of the ultrasonic surgical heads; [ M ] i ] 6×6 A longitudinal-bending coupling vibration matrix of the ith section of constant cross-section rod; />And->Are all longitudinal vibration influencing factors of the cutter head; and->Are all bending vibration influence factors of the cutter head; [ M ] D ] 6×6 Calculating a matrix for longitudinal-bending coupling vibration of the sound-black hole structure of the cutter head;
the sound-black hole structure longitudinal-bending coupling vibration frequency calculation equation set of the cutter head in the step 1) is as follows:
in the method, in the process of the invention,for the longitudinal vibration influencing factor of the cutter head, +.>And->Are all bending vibration influencing factors of the cutter head.
The invention discloses a longitudinal-bending coupling vibration ultrasonic surgical knife based on an acoustic black hole, which comprises a reinforcing node, a knife bar and an ultrasonic surgical knife head, wherein the ultrasonic surgical knife head comprises an ultrasonic surgical knife head part, an ultrasonic surgical knife head back part, an ultrasonic surgical knife head tail part and an ultrasonic surgical knife head arc-shaped blade part which are sequentially connected end to end; the tail part of the ultrasonic surgical tool bit is connected with the tool bar through a reinforcing node; the arc structure of the arc blade part of the ultrasonic surgical tool bit meets a one-dimensional acoustic black hole section height calculation model, and the one-dimensional acoustic black hole section height calculation model is as follows:
wherein h (x) is a one-dimensional sound black hole section height variation value, and the unit is: m; h is a 1 The tail height of the ultrasonic surgical tool bit is as follows: m; h is a 0 The head height of the ultrasonic surgical tool bit is as follows: m; l (L) ABH The back length of the ultrasonic surgical tool bit is as follows: m; m is a section height change coefficient, m is more than or equal to 2, and dimensionless; x is the back length change value of the ultrasonic surgical knife head, 0<x≤L ABH Units: m;
the back length L of the ultrasonic surgical tool bit ABH And the section height change coefficient m is determined according to the acoustic black hole longitudinal and bending coupling vibration model of the scalpel.
Further limiting, the acoustic black hole longitudinal and bending coupling vibration model of the scalpel comprises an acoustic black hole structure longitudinal and bending coupling vibration calculation matrix of the scalpel and an acoustic black hole structure longitudinal and bending coupling vibration frequency calculation equation set of the scalpel;
The sound-black hole structure longitudinal-bending coupling vibration calculation matrix of the scalpel is as follows:
in the method, in the process of the invention,and->Are all the factors influencing the longitudinal vibration of the scalpel, and->Are all bending vibration influence factors of the surgical knife, [ M ] D ] 6×6 Is a knifeA sound-black hole structure longitudinal-bending coupling vibration calculation matrix of the head; [ M ] H ] 6×6 Calculating a matrix for longitudinal-bending coupling vibration of the sound-black hole structure of the reinforced node; [ M ] R ] 6×6 Calculating a matrix for the longitudinal-bending coupling vibration of the sound-black hole structure of the cutter bar; [ M ] US ] 6×6 Calculating a matrix for longitudinal-bending coupling vibration of the sound-black hole structure of the scalpel;
the sound-black hole structure longitudinal-bending coupling vibration frequency calculation equation set of the scalpel is as follows:
in the method, in the process of the invention,is the influence factor of the longitudinal vibration of the scalpel, +.>And->Are all bending vibration influencing factors of the surgical knife.
Further defined, a transducer or vibration transmitting rod is connected to the cutter bar.
The invention discloses a method for designing a longitudinal-bending coupling vibration ultrasonic surgical knife based on an acoustic black hole, which comprises the following steps:
1) Establishing a sound-black hole structure longitudinal-bending coupling vibration calculation matrix of the scalpel and a sound-black hole structure longitudinal-bending coupling vibration frequency calculation equation set of the scalpel by using a transmission matrix method; determining the back length L of the ultrasonic surgical tool bit according to a sound-black hole structure longitudinal-bending coupling vibration calculation matrix of the surgical tool and a sound-black hole structure longitudinal-bending coupling vibration frequency calculation equation set of the surgical tool ABH And a section height variation coefficient m;
2) Length L of back of ultrasonic surgical knife head ABH Substituting the section height change coefficient m into a one-dimensional sound black hole section height calculation model to determine the arc-shaped structure of the arc-shaped blade part of the ultrasonic surgical tool bit;
the one-dimensional sound black hole section height calculation model is as follows:
wherein h (x) is a one-dimensional sound black hole section height variation value, and the unit is: m; h is a 1 The tail height of the ultrasonic surgical tool bit is as follows: m; h is a 0 The head height of the ultrasonic surgical tool bit is as follows: m; l (L) ABH The back length of the ultrasonic surgical tool bit is as follows: m; m is a section height change coefficient, m is more than or equal to 2, and dimensionless; x is the back length change value of the ultrasonic surgical knife head, 0<x≤L ABH Units: m;
3) According to the arc structure of the arc blade part of the ultrasonic surgical knife head and the back length L of the ultrasonic surgical knife head ABH Head height h of ultrasonic surgical tool 0 And ultrasonic surgical tool tip tail height h 1 Determining the structure of an ultrasonic surgical tool bit;
4) The tail part of the ultrasonic surgical tool bit is connected with the tool bar through the reinforcing node to form the ultrasonic surgical tool.
Further defined, the acoustic black hole structure longitudinal-bending coupling vibration calculation matrix in the step 1) is as follows:
in the method, in the process of the invention,and->Are all the factors influencing the longitudinal vibration of the scalpel, And->Are all bending vibration influence factors of the surgical knife, [ M ] D ] 6×6 Calculating a matrix for longitudinal-bending coupling vibration of the sound-black hole structure of the cutter head; [ M ] H ] 6×6 Calculating a matrix for longitudinal-bending coupling vibration of the sound-black hole structure of the reinforced node; [ M ] R ] 6×6 Calculating a matrix for the longitudinal-bending coupling vibration of the sound-black hole structure of the cutter bar; [ M ] US ] 6×6 Calculating a matrix for longitudinal-bending coupling vibration of the sound-black hole structure of the scalpel;
the sound-black hole structure longitudinal-bending coupling vibration frequency calculation equation set of the scalpel in the step 1) is as follows:
in the method, in the process of the invention,is the influence factor of the longitudinal vibration of the scalpel, +.>And->Are all bending vibration influencing factors of the surgical knife.
Further defined, the step 4) specifically comprises: the tail part of the ultrasonic surgical tool bit is connected with the tool bar through a reinforcing node, and the transducer or the vibration transmission rod is connected with the tool bar to form the ultrasonic surgical tool.
Compared with the prior art, the invention has the beneficial effects that:
1. the invention discloses a longitudinal-bending coupling vibration ultrasonic surgical tool bit based on a sound-black hole, which is based on the principle that the structural characteristics and energy gathering efficiency of the sound-black hole are completely matched with the design of the ultrasonic surgical tool bit, the structural characteristics of the sound-black hole are introduced into the ultrasonic surgical tool bit to form the coupling of bending vibration modes, the longitudinal shearing force and the transverse shearing force are simultaneously provided by the longitudinal-bending coupling vibration modes, the additional transverse shearing force is added for the ultrasonic surgical tool, and the focusing effect of the sound-black hole structure is utilized to further enhance the mechanical vibration capability of the ultrasonic surgical tool bit, so that the cutting time of the ultrasonic surgical tool bit in surgery can be greatly shortened, the working efficiency is greatly improved, the surgery time is shortened, and the surgical trauma to a patient is reduced.
2. The novel ultrasonic surgical tool bit based on the sound-black hole structure is a vibration enhanced ultrasonic surgical tool bit, and the cross section height change function of the ultrasonic surgical tool bit is designed to be a power function (m is more than or equal to 2), so that the propagation speed of bending waves in the ultrasonic surgical tool bit can be slowed down, the amplitudes of bending vibration and longitudinal vibration are increased, the focusing of acoustic energy is realized, and the working efficiency of an ultrasonic surgical tool can be further improved.
3. The invention discloses a sound-black hole-based longitudinal-bending coupling vibration ultrasonic surgical tool bit design method, which establishes a theoretical calculation model capable of rapidly designing an ultrasonic surgical tool bit, provides a brand-new design method, and overcomes the defect that the ultrasonic surgical tool bit can be designed only by means of finite element simulation software at present.
4. The invention discloses a longitudinal-bending coupling vibration ultrasonic surgical knife based on an acoustic black hole.
Drawings
FIG. 1 is a schematic view of the structure of an ultrasonic surgical blade of the present invention;
FIG. 2 is a schematic view of the structure of the ultrasonic surgical blade of the present invention divided into N equal cross-section bars along the length thereof;
FIG. 3 is a schematic view of the structure of the ultrasonic surgical blade of the present invention;
FIG. 4 shows vibration modes of three different frequencies of the sound-black hole based buckling coupling vibration ultrasonic surgical blade according to example 3;
FIG. 5 is a finite element simulation experiment curve of a longitudinal and bending coupled vibration ultrasonic surgical blade based on an acoustic black hole and a conventional longitudinal vibration ultrasonic surgical blade according to example 3;
wherein, 1-ultrasonic surgical tool bit, 2-reinforcing node, 3-cutter arbor.
Detailed Description
The technical scheme of the present invention will be further explained with reference to the drawings and examples, but the present invention is not limited to the embodiments described below.
Example 1
Referring to fig. 1, the ultrasonic surgical tool comprises an ultrasonic surgical tool bit 1, wherein the ultrasonic surgical tool bit 1 comprises an ultrasonic surgical tool bit head, an ultrasonic surgical tool bit back, an ultrasonic surgical tool bit tail and an ultrasonic surgical tool bit arc-shaped blade part which are sequentially connected end to end, namely, the head end of the ultrasonic surgical tool bit head is connected with the tail end of the ultrasonic surgical tool bit back, the tail end of the ultrasonic surgical tool bit back is connected with the head end of the ultrasonic surgical tool bit tail, and the tail end of the ultrasonic surgical tool bit tail is connected with the head end of the ultrasonic surgical tool bit arc-shaped blade part; the arc structure of the arc blade part of the ultrasonic surgical tool bit meets a one-dimensional acoustic black hole section height calculation model, and the one-dimensional acoustic black hole section height calculation model is as follows:
Wherein h (x) is a one-dimensional sound black hole section height variation value, and the unit is: m; h is a 1 The tail height of the ultrasonic surgical tool bit is as follows: m; h is a 0 The head height of the ultrasonic surgical tool bit is as follows: m; l (L) ABH The back length of the ultrasonic surgical tool bit is as follows: m; m is a section height change coefficient, m is more than or equal to 2, and dimensionless; x is the back length change value of the ultrasonic surgical knife head, 0<x≤L ABH Units: m;
back length L of ultrasonic surgical tool bit ABH And the section height change coefficient m is determined according to the acoustic-black hole longitudinal-bending coupling vibration model of the cutter head.
The sound-black hole longitudinal-bending coupling vibration model of the tool bit comprises a sound-black hole structure longitudinal-bending coupling vibration calculation matrix of the tool bit and a sound-black hole structure longitudinal-bending coupling vibration frequency calculation equation set;
the sound-black hole structure longitudinal-bending coupling vibration calculation matrix of the cutter head is as follows:
in the method, in the process of the invention,and->Are all the longitudinal vibration influence factors of the section i constant cross section rod, and->Are all the bending vibration influence factors of the section i constant cross section rod, v i1 And v i2 Longitudinal vibration speeds of two ends of the section i constant section rod are respectively as follows: m/s; f (F) i1 And F i2 Longitudinal forces at two ends of the section i constant section rod are respectively as follows: n; w (w) i1 And w i2 The transverse displacement of the two ends of the section i constant section rod is respectively as follows: m; / >And->Corner of the two ends of the i-th section constant section rodUnits: rad; m is M i1 And M i2 Bending moment at two ends of the section i constant section rod is respectively as follows: n.m; q (Q) i1 And Q i2 Shear force at two ends of the section i constant section rod is respectively as follows: n, i=1, 2,3, N is a natural number of 1 or more; referring to fig. 2, the constant cross section rod is formed by dividing the ultrasonic surgical tool bit 1 into N parts in the length direction of the back of the ultrasonic surgical tool bit; [ M ] i ] 6×6 A longitudinal-bending coupling vibration matrix of the ith section of constant cross-section rod; />And->Are all longitudinal vibration influencing factors of the cutter head; and->Are all bending vibration influence factors of the cutter head; [ M ] D ] 6×6 Calculating a matrix for longitudinal-bending coupling vibration of the sound-black hole structure of the cutter head;
the sound-black hole structure longitudinal-bending coupling vibration frequency calculation equation set of the cutter head is as follows:
in the method, in the process of the invention,for the longitudinal vibration influencing factor of the cutter head, +.>And->Are all bending vibration influencing factors of the cutter head.
Wherein [ M i ] 6×6 The derivation process of the longitudinal-bending coupling vibration matrix for the ith section of the constant section rod comprises the following steps:
ω＝2πf (6)
Z i ＝ρc 0 h i b i (7)
in the method, in the process of the invention,and->Are all the longitudinal vibration influence factors of the section i constant cross section rod, and->The bending vibration influence factors of the section i and the section i are the same, omega is the angular frequency of the ultrasonic surgical knife, and the unit is: rad/s; l (L) i ＝L ABH /N，L ABH The back length of the ultrasonic surgical tool bit is as follows: m; n is the number of parts of the constant cross section rod, and the unit is: a part(s); l (L) i Length of the i section constant section rod is as follows: m; j is an imaginary number and is dimensionless; z is Z i The characteristic impedance of the section i equal section rod is as follows: omega, c 0 The sound velocity is the longitudinal vibration of the ultrasonic scalpel, and the unit is: m/s; f is the vibration frequency in units of: hz; ρ is the density of the ultrasonic surgical blade in kg/m 3 ；h i Height of the section i constant section rod, unit: m; b i The width of the section i equal section rod is as follows: m; e is Yang Shimo of ultrasonic surgical knifeQuantity in Pa; h is a 1 The tail height of the ultrasonic surgical tool bit is as follows: m; h is a 0 The head height of the ultrasonic surgical tool bit is as follows: m; l (L) ABH The back length of the ultrasonic surgical tool bit is as follows: m; i i The unit of the section moment of inertia is m, which is the section moment of inertia of the ith section constant section rod 4 The method comprises the steps of carrying out a first treatment on the surface of the K is a shear stress coefficient related to the cross section shape, the circular cross section is 0.9, and the rectangular cross section is 5/6; />The shear modulus of the ultrasonic surgical knife is Pa; c s The shear wave speed of the ultrasonic surgical knife head 1 is m/s; sigma is poisson's ratio; />τ 1 ，τ 2 ，α i ，c i Is equivalent substitution quantity and is dimensionless.
Sound-black hole structure longitudinal-bending coupling vibration calculation matrix [ M ] of tool bit D ] 6×6 The method comprises the following steps:
In the method, in the process of the invention,and->Are all longitudinal vibration influencing factors of the cutter head; and->Are all bending vibration influencing factors of the cutter head.
In the embodiment, given the longitudinal-bending coupling vibration working frequency and material parameters of the ultrasonic surgical tool bit, other dimensions are determined to be unchanged, and the longitudinal-bending coupling vibration frequency of the sound-black hole structure of the tool bit is substituted into a calculation equation set: in the middle, two equations are combined to solve for the last two unknown dimensions (ultrasonic surgical blade back length L ABH And a section height variation coefficient m). Furthermore, in this embodiment, the design may be completed by performing structural optimization by replacing and solving different unknown dimensions. It is emphasized that the optimization process of the replacement size always satisfies the precondition of consistent frequency. Compared with a finite element method, the design method provided by the research requires fewer calculation resources and has higher calculation speed, and the design and optimization efficiency of the ultrasonic surgical tool bit can be greatly improved.
As a special example, the back length L of the ultrasonic surgical tool bit ABH And section height change coefficient m are taken as two unknowns, the embodiment provides three longitudinal-bending coupling vibration ultrasonic surgical tool bit designs based on the acoustic black hole, and the design frequencies are respectively set as follows: 45kHz, 50kHz and 55kHz; the material is selected as titanium alloy TC4; head height h of ultrasonic surgical tool 0 0.00046m, 0.00050m and 0.00050m respectively; see table 1.
Table 1: three longitudinal-bending coupling vibration ultrasonic surgical tool bit designs based on acoustic black hole
Example 2
The embodiment relates to a sound-black hole-based longitudinal-bending coupling vibration ultrasonic surgical tool bit design method, which comprises the following steps of:
1) Establishing a sound-black hole structure longitudinal-bending coupling vibration calculation matrix of the cutter head and a sound-black hole structure longitudinal-bending coupling vibration frequency calculation equation set of the cutter head by using a transmission matrix method; determining the back length L of the ultrasonic surgical tool bit according to a sound-black hole structure longitudinal-bending coupling vibration calculation matrix of the tool bit and a sound-black hole structure longitudinal-bending coupling vibration frequency calculation equation set of the tool bit ABH And a section height variation coefficient m;
2) Length L of back of ultrasonic surgical knife head ABH Substituting the section height change coefficient m into a one-dimensional sound black hole section height calculation model to determine the arc-shaped structure of the arc-shaped blade part of the ultrasonic surgical tool bit;
the one-dimensional sound black hole section height calculation model is as follows:
wherein h (x) is a one-dimensional sound black hole section height variation value, and the unit is: m; h is a 1 The tail height of the ultrasonic surgical tool bit is as follows: m; h is a 0 The head height of the ultrasonic surgical tool bit is as follows: m; l (L) ABH The back length of the ultrasonic surgical tool bit is as follows: m; m is a section height change coefficient, m is more than or equal to 2, and dimensionless; x is the back length change value of the ultrasonic surgical knife head, 0 <x≤L ABH Units: m;
3) According to the arc structure of the arc blade part of the ultrasonic surgical knife head and the back length L of the ultrasonic surgical knife head ABH Head height h of ultrasonic surgical tool 0 And ultrasonic surgical tool tip tail height h 1 The structure of the ultrasonic surgical blade 1 is determined.
In this embodiment, the longitudinal-bending coupling vibration calculation matrix of the acoustic-black hole structure of the cutter head in step 1) is:
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in the method, in the process of the invention,and->Are all the longitudinal vibration influence factors of the section i constant cross section rod, and->Are all the bending vibration influence factors of the section i constant cross section rod, v i1 And v i2 Longitudinal vibration speeds of two ends of the section i constant section rod are respectively as follows: m/s; f (F) i1 And F i2 Longitudinal forces at two ends of the section i constant section rod are respectively as follows: n; w (w) i1 And w i2 The transverse displacement of the two ends of the section i constant section rod is respectively as follows: m; />And->The rotation angles of the two ends of the section i constant section rod are respectively as follows: rad; m is M i1 And M i2 Bending moment at two ends of the section i constant section rod is respectively as follows: n.m; q (Q) i1 And Q i2 Shear force at two ends of the section i constant section rod is respectively as follows: n, i=1, 2,3, N is a natural number of 1 or more; the constant section bar is formed by dividing the ultrasonic surgical knife head 1 into N parts along the length direction of the back of the ultrasonic surgical knife head；[M i ] 6×6 A longitudinal-bending coupling vibration matrix of the ith section of constant cross-section rod; / >And->Are all longitudinal vibration influencing factors of the cutter head; and->Are all bending vibration influence factors of the cutter head; [ M ] D ] 6×6 And calculating a matrix for the longitudinal-bending coupling vibration of the sound-black hole structure of the cutter head.
In this embodiment, the equation set for calculating the longitudinal-bending coupling vibration frequency of the acoustic-black hole structure of the cutter head in step 1) is as follows:
in the method, in the process of the invention,for the longitudinal vibration influencing factor of the cutter head, +.>And->Are all bending vibration influencing factors of the cutter head.
In this embodiment, the derivation process of the acoustic black hole structure buckling coupling vibration calculation matrix of the cutter head and the acoustic black hole structure buckling coupling vibration frequency calculation equation set of the cutter head is described in embodiment 1.
The implementation isFor example, given the longitudinal-bending coupling vibration working frequency and material parameters of the ultrasonic surgical tool bit, determining other dimensions unchanged, and substituting the parameters into a sound-black hole structure longitudinal-bending coupling vibration frequency calculation equation set of the tool bit: in the middle, two equations are combined to solve for the last two unknown dimensions (ultrasonic surgical blade back length L ABH And a section height variation coefficient m). Furthermore, in this embodiment, the design may be completed by performing structural optimization by replacing and solving different unknown dimensions. It is emphasized that the optimization process of the replacement size always satisfies the precondition of consistent frequency. Compared with a finite element method, the design method provided by the research requires fewer calculation resources and has higher calculation speed, and the design and optimization efficiency of the ultrasonic surgical tool bit can be greatly improved.
As a special example, the back length L of the ultrasonic surgical tool bit ABH And section height change coefficient m are taken as two unknowns, the embodiment provides three longitudinal-bending coupling vibration ultrasonic surgical tool bit designs based on the acoustic black hole, and the design frequencies are respectively set as follows: 45kHz, 50kHz and 55kHz; selecting titanium alloy TC4 as a material; head height h of ultrasonic surgical tool 0 0.00046m, 0.00050m and 0.00050m respectively; see table 1.
Example 3
Referring to fig. 3, the embodiment of the longitudinally-bending coupled vibration ultrasonic surgical knife based on the acoustic black hole comprises a reinforcing node 2, a knife bar 3 and an ultrasonic surgical knife head 1, wherein the ultrasonic surgical knife head 1 comprises an ultrasonic surgical knife head, an ultrasonic surgical knife head back, an ultrasonic surgical knife head tail and an ultrasonic surgical knife arc-shaped blade part which are sequentially connected end to end, the tail end of the ultrasonic surgical knife head is connected with the head end of the ultrasonic surgical knife head back, the tail end of the ultrasonic surgical knife head back is connected with the head end of the ultrasonic surgical knife tail, and the tail end of the ultrasonic surgical knife head tail is connected with the head end of the ultrasonic surgical knife arc-shaped blade part; the tail part of the ultrasonic surgical tool bit 1 is connected with the tool bar 3 through the reinforcing node 2, namely, the head and the tail of the ultrasonic surgical tool bit 1 are fixedly connected with one end of the reinforcing node 2, and the other end of the reinforcing node 2 is fixedly connected with the tool bar 3; the arc structure of the arc blade part of the ultrasonic surgical tool bit meets a one-dimensional acoustic black hole section height calculation model, and the one-dimensional acoustic black hole section height calculation model is as follows:
Wherein h (x) is a one-dimensional sound black hole section height variation value, and the unit is: m; h is a 1 The tail height of the ultrasonic surgical tool bit is as follows: m; h is a 0 The head height of the ultrasonic surgical tool bit is as follows: m; l (L) ABH The back length of the ultrasonic surgical tool bit is as follows: m; m is a section height change coefficient, m is more than or equal to 2, and dimensionless; x is the back length change value of the ultrasonic surgical knife head, 0<x≤L ABH Units: m.
Back length L of ultrasonic surgical tool bit ABH And the section height change coefficient m is determined according to the acoustic black hole longitudinal and bending coupling vibration model of the scalpel.
The sound-black hole longitudinal-bending coupling vibration model of the scalpel comprises a sound-black hole structure longitudinal-bending coupling vibration calculation matrix of the scalpel and a sound-black hole structure longitudinal-bending coupling vibration frequency calculation equation set of the scalpel.
The sound-black hole structure longitudinal-bending coupling vibration calculation matrix of the scalpel is as follows:
in the method, in the process of the invention,and->Are all the factors influencing the longitudinal vibration of the scalpel, and->Are all bending vibration influence factors of the surgical knife, [ M ] D ] 6×6 Calculating a matrix for longitudinal-bending coupling vibration of the sound-black hole structure of the cutter head; [ M ] H ] 6×6 Calculating a matrix for longitudinal-bending coupling vibration of the sound-black hole structure of the reinforcement node 2; [ M ] R ] 6×6 Calculating a matrix for the longitudinal-bending coupling vibration of the acoustic black hole structure of the cutter bar 3; [ M ] US ] 6×6 And calculating a matrix for the longitudinal-bending coupling vibration of the sound-black hole structure of the scalpel.
The sound-black hole structure longitudinal-bending coupling vibration frequency calculation equation set of the scalpel is as follows:
in the method, in the process of the invention,is the influence factor of the longitudinal vibration of the scalpel, +.>And->Are all bending vibration influencing factors of the surgical knife.
The deduction process of the sound-black hole structure longitudinal-bending coupling vibration calculation matrix of the scalpel is as follows:
sound-black hole structure longitudinal-bending coupling vibration calculation matrix [ M ] of tool bit D ] 6×6 See example 1.
Sound-black hole structure longitudinal-bending coupling vibration calculation matrix [ M ] of reinforcement node 2 H ] 6×6 The method comprises the following steps:
ω＝2ωf (43)
/>
in the method, in the process of the invention,and->To strengthen the node longitudinal vibration influencing factor, andare all reinforcing node bending vibration influence factors, L 1 To strengthen the length of the node 2, units: m; omega is the angular frequency of the ultrasonic surgical blade in units of: rad/s; c 0 The sound velocity is the longitudinal vibration of the ultrasonic scalpel, and the unit is: m/s; j is an imaginary number and is dimensionless; z is Z H To strengthen the characteristic impedance of the node 2, unit: omega; f is the vibration frequency in units of: hz; ρ is the density of the ultrasonic surgical blade in kg/m 3 ；R 1 To strengthen the radius of the node 2, units: m/s; e is Young's modulus of the ultrasonic surgical knife, and the unit is Pa; i H To strengthen the moment of inertia of the joint 2, the unit is m 4 The method comprises the steps of carrying out a first treatment on the surface of the K is a shear stress coefficient related to the cross section shape, the circular cross section is 0.9, and the rectangular cross section is 5/6;the shear modulus of the ultrasonic surgical knife is Pa; sigma is poisson's ratio; c s The shear wave speed of the ultrasonic surgical knife is m/s; /> α H ，c H All are equivalent substitution and have no dimension. />
Sound-black hole structure longitudinal-bending coupling vibration calculation matrix [ M ] of cutter bar (3) R ] 6×6 The method comprises the following steps:
ω＝2πf (73)
/>
in the method, in the process of the invention,and->Are all the influence factors of the longitudinal vibration of the cutter bar, +.> And->As the cutter bar bending vibration influence factor, omega is the angular frequency of the ultrasonic surgical knife, and the unit is: rad/s; l (L) 2 The length of the cutter bar 3 is as follows: m; c 0 The sound velocity is the longitudinal vibration of the ultrasonic scalpel, and the unit is: m/s; j is an imaginary number and is dimensionless; z is Z R The unit is the characteristic impedance of the cutter bar 3:omega; f is the vibration frequency in units of: hz; r is R 2 The radius of the cutter bar 3 is given by: m; ρ is the density of the ultrasonic surgical blade in kg/m 3 The method comprises the steps of carrying out a first treatment on the surface of the E is Young's modulus of the ultrasonic surgical knife, and the unit is Pa; i R The unit is m, which is the section moment of inertia of the cutter bar 3 4 The method comprises the steps of carrying out a first treatment on the surface of the K is a shear stress coefficient related to the cross section shape, the circular cross section is 0.9, and the rectangular cross section is 5/6; g is the shear modulus of the ultrasonic surgical knife, and the unit is Pa; c s The shear wave speed of the ultrasonic surgical knife is m/s; / >α R And c R All are equivalent substitution and have no dimension.
In the method, in the process of the invention,and->Are all the factors influencing the longitudinal vibration of the scalpel, and->Are all bending vibration influence factors of the surgical knife, [ M ] D ] 6×6 Calculating a matrix for longitudinal-bending coupling vibration of the sound-black hole structure of the cutter head; [ M ] H ] 6×6 Calculating a matrix for longitudinal-bending coupling vibration of the sound-black hole structure of the reinforcement node 2; [ M ] R ] 6×6 Calculating a matrix for the longitudinal-bending coupling vibration of the acoustic black hole structure of the cutter bar 3; [ M ] US ] 6×6 And calculating a matrix for the longitudinal-bending coupling vibration of the sound-black hole structure of the scalpel.
The cutter bar 3 of this embodiment is connected with a transducer or vibration transmission bar.
The ultrasonic surgical tool bit 1, the reinforcing node 2 and the tool bar 3 are all made of the same material.
In the embodiment, given the longitudinal-bending coupling vibration working frequency and material parameters of the ultrasonic surgical tool bit, other dimensions are determined to be unchanged, and the parameters are substituted into a sound-black hole structure longitudinal-bending coupling vibration frequency calculation equation set of the ultrasonic surgical tool: in the middle, two equations are combined to solve for the last two unknown dimensions (ultrasonic surgical blade back length L ABH And a section height variation coefficient m). Furthermore, in this embodiment, the design may be completed by performing structural optimization by replacing and solving different unknown dimensions. It is emphasized that the optimization process of the replacement size always satisfies the precondition of consistent frequency. Compared with a finite element method, the design method provided by the research requires fewer calculation resources and has higher calculation speed, and the design and optimization efficiency of the ultrasonic surgical tool bit can be greatly improved.
As a special example, the back length L of the ultrasonic surgical tool bit ABH And section height change coefficient m are taken as two unknowns, the embodiment provides three longitudinal-bending coupling vibration ultrasonic surgical tool bit designs based on the acoustic black hole, and the design frequencies are respectively set as follows: 45kHz, 50kHz and 55kHz; selecting titanium alloy TC4 as a material; head height h of ultrasonic surgical tool 0 0.00046m, 0.00050m and 0.00050m respectively; length L of cutter bar 3 2 0.02620m, 0.02590m and 0.02390m respectively; at L 1 ＝0.002m,R 1 ＝0.002m,R 2 Under the condition of=0.0015 m, wherein L 1 To strengthen the length of the node 2, R 1 To strengthen the radius of the node 2, R 2 Is the radius of the cutter bar 3; see table 2.
Table 2: three longitudinal-bending coupling vibration ultrasonic surgical knife designs based on acoustic black hole
Example 4
The method for designing the longitudinal-bending coupling vibration ultrasonic surgical knife based on the acoustic black hole comprises the following steps:
1) Establishing a sound-black hole structure longitudinal-bending coupling vibration calculation matrix of the scalpel and a sound-black hole structure longitudinal-bending coupling vibration frequency calculation equation set of the scalpel by using a transmission matrix method; determining the back length L of the ultrasonic surgical tool bit according to a sound-black hole structure longitudinal-bending coupling vibration calculation matrix of the surgical tool and a sound-black hole structure longitudinal-bending coupling vibration frequency calculation equation set of the surgical tool ABH And a section height variation coefficient m;
2) Length L of back of ultrasonic surgical knife head ABH Substituting the section height change coefficient m into a one-dimensional sound black hole section height calculation model to determine the arc-shaped structure of the arc-shaped blade part of the ultrasonic surgical tool bit;
the one-dimensional sound black hole section height calculation model is as follows:
wherein h (x) is a one-dimensional sound black hole section height variation value, and the unit is: m; h is a 1 The tail height of the ultrasonic surgical tool bit is as follows: m; h is a 0 The head height of the ultrasonic surgical tool bit is as follows: m; l (L) ABH The back length of the ultrasonic surgical tool bit is as follows: m; m is a section height change coefficient, m is more than or equal to 2, and dimensionless; x is the back length change value of the ultrasonic surgical knife head, 0<x≤L ABH Units: m;
3) According to the arc structure of the arc blade part of the ultrasonic surgical knife head and the back length L of the ultrasonic surgical knife head ABH Head height h of ultrasonic surgical tool 0 And ultrasonic surgical tool tip tail height h 1 Determining the structure of the ultrasonic surgical blade 1;
4) The tail part of the ultrasonic surgical knife head 1 is connected with a knife bar 3 through a reinforcing node 2 to form an ultrasonic surgical knife.
Preferably, the step 4) specifically comprises: the tail part of the ultrasonic surgical tool bit 1 is connected with a tool bar 3 through a reinforcing node 2, and a transducer or a vibration transmission rod is connected on the tool bar 3 to form the ultrasonic surgical tool.
In this embodiment, the acoustic black hole structure buckling coupling vibration calculation matrix of the scalpel in step 1) is:
in the method, in the process of the invention,and->Are all the factors influencing the longitudinal vibration of the scalpel, and->Are all bending vibration influence factors of the surgical knife, [ M ] D ] 6×6 Calculating a matrix for longitudinal-bending coupling vibration of the sound-black hole structure of the cutter head; [ M ] H ] 6×6 Calculating a matrix for longitudinal-bending coupling vibration of the sound-black hole structure of the reinforcement node 2; [ M ] R ] 6×6 Calculating a matrix for the longitudinal-bending coupling vibration of the acoustic black hole structure of the cutter bar 3; [ M ] US ] 6×6 And calculating a matrix for the longitudinal-bending coupling vibration of the sound-black hole structure of the scalpel.
In this embodiment, the equation set for calculating the buckling coupling vibration frequency of the sound-black hole structure of the scalpel in step 1) is as follows:
in the method, in the process of the invention,is the influence factor of the longitudinal vibration of the scalpel, +.>And->Are all bending vibration influencing factors of the surgical knife.
In this embodiment, the derivation process of the acoustic black hole structure buckling coupling vibration calculation matrix of the scalpel and the acoustic black hole structure buckling coupling vibration frequency calculation equation set of the scalpel is specifically referred to embodiment 3.
In the embodiment, given the longitudinal-bending coupling vibration working frequency and material parameters of the ultrasonic surgical tool bit, other dimensions are determined to be unchanged, and the parameters are substituted into a sound-black hole structure longitudinal-bending coupling vibration frequency calculation equation set of the ultrasonic surgical tool: />In the middle, two equations are combined to solve for the last two unknown dimensions (ultrasonic surgical blade back length L ABH And a section height variation coefficient m). Furthermore, in this embodiment, the design may be completed by performing structural optimization by replacing and solving different unknown dimensions. It is emphasized that the optimization process of the replacement size always satisfies the precondition of consistent frequency. Compared with a finite element method, the design method provided by the research requires fewer calculation resources and has higher calculation speed, and the design and optimization efficiency of the ultrasonic surgical tool bit can be greatly improved.
As a special example, the back length L of the ultrasonic surgical tool bit ABH And the section height change coefficient m are taken as two unknown quantities, and three longitudinal and bending couplings based on the acoustic black holes are provided in the embodimentThe design scheme of the vibrating ultrasonic surgical knife head is that the set design frequencies are respectively: 45kHz, 50kHz and 55kHz; selecting titanium alloy TC4 as a material; head height h of ultrasonic surgical tool 0 0.00046m, 0.00050m and 0.00050m respectively; length L of cutter bar 3 2 0.02620m, 0.02590m and 0.02390m respectively; at L 1 ＝0.002m,R 1 ＝0.002m,R 2 Under the condition of=0.0015 m, wherein L 1 To strengthen the length of the node 2, R 1 To strengthen the radius of the node 2, R 2 Is the radius of the cutter bar 3; see table 2 in example 3.
The ultrasonic surgical tool is formed by dividing the length direction of the back of the ultrasonic surgical tool bit 1 into equal sections based on the bending vibration theory of the Tilapia corymbose beam and the one-dimensional longitudinal vibration theory of the rod. The N sections are formed by dividing the sections along the back length direction of the ultrasonic surgical tool bit, and specifically, the equal sections refer to that the back areas of the ultrasonic surgical tool bit with the N sections are equal.
The acoustic black hole structure longitudinal-bending coupling vibration calculation matrix and the acoustic black hole structure longitudinal-bending coupling vibration frequency calculation equation set are established by combining a bending vibration theory of a Tilapia corbel and a one-dimensional longitudinal vibration theory of a rod (from Lin Shuyu. Principle and design of an ultrasonic transducer [ M ]. Scientific press, 2004.) with boundary conditions.
Referring to fig. 4, the vibration mode of the longitudinally and flexibly coupled vibration ultrasonic surgical knife based on the acoustic black hole in embodiment 3 is simulated by adopting a finite element method, and the dimensional calculation results obtained by the two methods are well matched, and the error is smaller than 0.5%, so that the mode design of the design scheme provided by the invention is accurate, the calculation accuracy is high, the speed is high, and the method defects existing in the design of the current ultrasonic surgical knife can be overcome.
Referring to fig. 5, the output amplitudes of example 3 acoustic black hole based buckling coupled vibratory ultrasonic surgical blade (m=2.94) and conventional buckling vibratory ultrasonic surgical blade (m=1) were compared using finite element simulation experiments. The given design frequency is 55kHz, and the other dimensions are selected to be L 1 ＝0.002m，R 1 ＝0.002m，R 2 ＝0.0015m，L ABH ＝0.0305m，L 2 Frequency compensation as a result of m-variationsThe material is selected as the titanium alloy TC4. Through simulation experiments, displacement distribution of the output end is extracted respectively, and compared with a traditional longitudinal vibration ultrasonic surgical knife, the maximum displacement amplification of the longitudinal-bending coupled vibration ultrasonic surgical knife based on the acoustic black hole in the embodiment 3 can reach 119%, which shows that the design of the vibration capability of the longitudinal-bending coupled vibration ultrasonic surgical knife based on the acoustic black hole is feasible and the amplification effect is very obvious.
Claims (10)
1. The longitudinal-bending coupling vibration ultrasonic surgical tool bit based on the acoustic black hole is characterized by comprising an ultrasonic surgical tool bit (1), wherein the ultrasonic surgical tool bit (1) comprises an ultrasonic surgical tool bit head, an ultrasonic surgical tool bit back, an ultrasonic surgical tool bit tail and an ultrasonic surgical tool bit arc-shaped blade part which are connected end to end in sequence; the arc structure of the arc blade part of the ultrasonic surgical tool bit meets a one-dimensional acoustic black hole section height calculation model, and the one-dimensional acoustic black hole section height calculation model is as follows:
wherein h (x) is a one-dimensional sound black hole section height variation value, and the unit is: m; h is a 1 The tail height of the ultrasonic surgical tool bit is as follows: m; h is a 0 The head height of the ultrasonic surgical tool bit is as follows: m; l (L) ABH The back length of the ultrasonic surgical tool bit is as follows: m; m is a section height change coefficient, m is more than or equal to 2, and dimensionless; x is the back length change value of the ultrasonic surgical knife head, 0<x≤L ABH Units: m;
the back length L of the ultrasonic surgical tool bit ABH And the section height change coefficient m is determined according to the acoustic-black hole longitudinal-bending coupling vibration model of the cutter head.
2. The acoustic black hole based longitudinal and bending coupled vibration ultrasonic surgical tool bit according to claim 1, wherein the acoustic black hole longitudinal and bending coupled vibration model of the tool bit comprises an acoustic black hole structure longitudinal and bending coupled vibration calculation matrix of the tool bit and an acoustic black hole structure longitudinal and bending coupled vibration frequency calculation equation set of the tool bit;
the sound-black hole structure longitudinal-bending coupling vibration calculation matrix of the cutter head is as follows:
in the method, in the process of the invention,and->Is the longitudinal vibration influence factor of the section i equal section rod,> and->Are all the bending vibration influence factors of the section i constant cross section rod, v i1 And v i2 Longitudinal vibration speeds of two ends of the section i constant section rod are respectively as follows: m/s; f (F) i1 And F i2 Longitudinal forces at two ends of the section i constant section rod are respectively as follows: n; w (w) i1 And w i2 The transverse displacement of the two ends of the section i constant section rod is respectively as follows: m; />And->The rotation angles of the two ends of the section i constant section rod are respectively as follows: rad; m is M i1 And M i2 Bending moment at two ends of the section i constant section rod is respectively as follows: n.m; q (Q) i1 And Q i2 Shear force at two ends of the section i constant section rod is respectively as follows: n, i=1, 2,3, N is a natural number of 1 or more; the constant section rod is formed by dividing N parts of the ultrasonic surgical tool bit (1) into constant sections along the back length direction of the ultrasonic surgical tool bit; [ M ] i ] 6×6 A longitudinal-bending coupling vibration matrix of the ith section of constant cross-section rod;and->Are all longitudinal vibration influencing factors of the cutter head; and->Are all bending vibration influence factors of the cutter head; [ M ] D ] 6×6 Calculating a matrix for longitudinal-bending coupling vibration of the sound-black hole structure of the cutter head;
the sound-black hole structure longitudinal-bending coupling vibration frequency calculation equation set of the cutter head is as follows:
in the method, in the process of the invention,for the longitudinal vibration influencing factor of the cutter head, +.>And->Are all bending vibration influencing factors of the cutter head.
3. The method for designing the longitudinal-bending coupling vibration ultrasonic surgical tool bit based on the acoustic black hole is characterized by comprising the following steps of:
1) Establishing a sound-black hole structure longitudinal-bending coupling vibration calculation matrix of the cutter head and a sound-black hole structure longitudinal-bending coupling vibration frequency calculation equation set of the cutter head by using a transmission matrix method; determining the back length L of the ultrasonic surgical tool bit according to a sound-black hole structure longitudinal-bending coupling vibration calculation matrix of the tool bit and a sound-black hole structure longitudinal-bending coupling vibration frequency calculation equation set of the tool bit ABH And a section height variation coefficient m;
2) Length L of back of ultrasonic surgical knife head ABH Substituting the section height change coefficient m into a one-dimensional sound black hole section height calculation model to determine the arc-shaped structure of the arc-shaped blade part of the ultrasonic surgical tool bit;
the one-dimensional sound black hole section height calculation model is as follows:
wherein h (x) is a one-dimensional sound black hole section height variation value, and the unit is: m; h is a 1 The tail height of the ultrasonic surgical tool bit is as follows: m; h is a 0 The head height of the ultrasonic surgical tool bit is as follows: m; l (L) ABH The back length of the ultrasonic surgical tool bit is as follows: m; m is a section height change coefficient, m is more than or equal to 2, and dimensionless; x is the back length change value of the ultrasonic surgical knife head, 0<x≤L ABH Units: m;
3) According to the arc structure of the arc blade part of the ultrasonic surgical knife head and the back length L of the ultrasonic surgical knife head ABH Head height h of ultrasonic surgical tool 0 And ultrasonic surgical tool tip tail height h 1 The structure of the ultrasonic surgical blade (1) is determined.
4. The method for designing the ultrasonic surgical tool bit based on the acoustic-black hole longitudinal-bending coupling vibration according to claim 3, wherein the acoustic-black hole structure longitudinal-bending coupling vibration calculation matrix of the tool bit in the step 1) is as follows:
in the method, in the process of the invention,and->Is the longitudinal vibration influence factor of the section i equal section rod, > And->Are all the bending vibration influence factors of the section i constant cross section rod, v i1 And v i2 Longitudinal vibration speeds of two ends of the section i constant section rod are respectively as follows: m/s; f (F) i1 And F i2 Longitudinal forces at two ends of the section i constant section rod are respectively as follows: n; w (w) i1 And w i2 The transverse displacement of the two ends of the section i constant section rod is respectively as follows: m; />And->The rotation angles of the two ends of the section i constant section rod are respectively as follows: rad; m is M i1 And M i2 Bending moment at two ends of the section i constant section rod is respectively as follows: n.m; q (Q) i1 And Q i2 Shear force at two ends of the section i constant section rod is respectively as follows: n, i=1, 2,3, N is a natural number of 1 or more; the constant section rod is formed by dividing N parts of the ultrasonic surgical tool bit (1) into constant sections along the back length direction of the ultrasonic surgical tool bit; [ M ] i ] 6×6 A longitudinal-bending coupling vibration matrix of the ith section of constant cross-section rod;and->Are all longitudinal vibration influencing factors of the cutter head; and->Are all bending vibration influence factors of the cutter head; [ M ] D ] 6×6 Calculating a matrix for longitudinal-bending coupling vibration of the sound-black hole structure of the cutter head;
the sound-black hole structure longitudinal-bending coupling vibration frequency calculation equation set of the cutter head in the step 1) is as follows:
in the method, in the process of the invention,for the longitudinal vibration influencing factor of the cutter head, +.>And->Are all bending vibration influencing factors of the cutter head.
5. The longitudinal-bending coupling vibration ultrasonic surgical knife based on the acoustic black hole is characterized by comprising a reinforcing node (2), a knife bar (3) and an ultrasonic surgical knife head (1), wherein the ultrasonic surgical knife head (1) comprises an ultrasonic surgical knife head part, an ultrasonic surgical knife head back part, an ultrasonic surgical knife head tail part and an ultrasonic surgical knife head arc-shaped blade part which are sequentially connected end to end; the tail part of the ultrasonic surgical tool bit (1) is connected with the tool bar (3) through the reinforcing node (2); the arc structure of the arc blade part of the ultrasonic surgical tool bit meets a one-dimensional acoustic black hole section height calculation model, and the one-dimensional acoustic black hole section height calculation model is as follows:
wherein h (x) is a one-dimensional sound black hole section height variation value, and the unit is: m; h is a 1 The tail height of the ultrasonic surgical tool bit is as follows: m; h is a 0 The head height of the ultrasonic surgical tool bit is as follows: m; l (L) ABH The back length of the ultrasonic surgical tool bit is as follows: m; m is a section height change coefficient, m is more than or equal to 2, and dimensionless; x is the back length change value of the ultrasonic surgical knife head, 0<x≤L ABH Units: m;
the back length L of the ultrasonic surgical tool bit ABH And the section height change coefficient m is determined according to the acoustic black hole longitudinal and bending coupling vibration model of the scalpel.
6. The acoustic black hole based longitudinal and bending coupled vibration ultrasonic surgical blade of claim 5, wherein the acoustic black hole longitudinal and bending coupled vibration model of the surgical blade comprises an acoustic black hole structure longitudinal and bending coupled vibration calculation matrix of the surgical blade and an acoustic black hole structure longitudinal and bending coupled vibration frequency calculation equation set of the surgical blade;
the sound-black hole structure longitudinal-bending coupling vibration calculation matrix of the scalpel is as follows:
in the method, in the process of the invention,and->Are all the factors influencing the longitudinal vibration of the scalpel, < -> And->Are all bending vibration influence factors of the surgical knife, [ M ] D ] 6×6 Calculating a matrix for longitudinal-bending coupling vibration of the sound-black hole structure of the cutter head; [ M ] H ] 6×6 Calculating a matrix for longitudinal-bending coupling vibration of the sound-black hole structure of the reinforcing node (2); [ M ] R ] 6×6 Calculating a matrix for the longitudinal-bending coupling vibration of the acoustic black hole structure of the cutter bar (3); [ M ] US ] 6×6 Calculating a matrix for longitudinal-bending coupling vibration of the sound-black hole structure of the scalpel;
the sound-black hole structure longitudinal-bending coupling vibration frequency calculation equation set of the scalpel is as follows:
in the method, in the process of the invention,is the influence factor of the longitudinal vibration of the scalpel, +.>And->Are all bending vibration influencing factors of the surgical knife.
7. The sound-black hole based longitudinal-bending coupled vibration ultrasonic surgical knife according to claim 5 or 6, wherein the knife bar (3) is connected with a transducer or a vibration transmission rod.
8. The design method of the longitudinal-bending coupling vibration ultrasonic surgical knife based on the acoustic black hole is characterized by comprising the following steps of:
1) Establishing a sound-black hole structure longitudinal-bending coupling vibration calculation matrix of the scalpel and a sound-black hole structure longitudinal-bending coupling vibration frequency calculation equation set of the scalpel by using a transmission matrix method; determining the back length L of the ultrasonic surgical tool bit according to a sound-black hole structure longitudinal-bending coupling vibration calculation matrix of the surgical tool and a sound-black hole structure longitudinal-bending coupling vibration frequency calculation equation set of the surgical tool ABH And a section height variation coefficient m;
2) Length L of back of ultrasonic surgical knife head ABH Substituting the section height change coefficient m into a one-dimensional sound black hole section height calculation model to determine the arc-shaped structure of the arc-shaped blade part of the ultrasonic surgical tool bit;
the one-dimensional sound black hole section height calculation model is as follows:
wherein h (x) is a one-dimensional sound black hole section height variation value, and the unit is: m; h is a 1 Is of the super typeTail height of acoustic surgical tool bit, unit: m; h is a 0 The head height of the ultrasonic surgical tool bit is as follows: m; l (L) ABH The back length of the ultrasonic surgical tool bit is as follows: m; m is a section height change coefficient, m is more than or equal to 2, and dimensionless; x is the back length change value of the ultrasonic surgical knife head, 0<x≤L ABH Units: m;
3) According to the arc structure of the arc blade part of the ultrasonic surgical knife head and the back length L of the ultrasonic surgical knife head ABH Head height h of ultrasonic surgical tool 0 And ultrasonic surgical tool tip tail height h 1 Determining the structure of an ultrasonic surgical tool head (1);
4) The tail part of the ultrasonic surgical knife head (1) is connected with the knife bar (3) through the reinforcing joint (2) to form the ultrasonic surgical knife.
9. The method for designing the acoustic black hole based buckling coupling vibration ultrasonic surgical blade according to claim 8, wherein the acoustic black hole structure buckling coupling vibration calculation matrix in step 1) is:
in the method, in the process of the invention,and->Are all the factors influencing the longitudinal vibration of the scalpel, < -> And->All are surgical knivesBending vibration influencing factor of [ M ] D ] 6×6 Calculating a matrix for longitudinal-bending coupling vibration of the sound-black hole structure of the cutter head; [ M ] H ] 6×6 Calculating a matrix for longitudinal-bending coupling vibration of the sound-black hole structure of the reinforcing node (2); [ M ] R ] 6×6 Calculating a matrix for the longitudinal-bending coupling vibration of the acoustic black hole structure of the cutter bar (3); [ M ] US ] 6×6 Calculating a matrix for longitudinal-bending coupling vibration of the sound-black hole structure of the scalpel;
the sound-black hole structure longitudinal-bending coupling vibration frequency calculation equation set of the scalpel in the step 1) is as follows:
in the method, in the process of the invention,is the influence factor of the longitudinal vibration of the scalpel, +. >And->Are all bending vibration influencing factors of the surgical knife.
10. The method for designing a sound-black hole-based buckling-coupling vibration ultrasonic surgical blade according to claim 8 or 9, wherein the step 4) specifically comprises: the tail part of the ultrasonic surgical knife head (1) is connected with the knife bar (3) through the reinforcing joint (2), and the transducer or the vibration transmission rod is connected on the knife bar (3) to form the ultrasonic surgical knife.
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| CN202311655011.9A CN117694968A (en) | 2023-12-05 | 2023-12-05 | Sound-black hole-based longitudinal-bending coupling vibration ultrasonic surgical knife head, surgical knife and design method |
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