CN117982202A - Frequency tracking method, computer device and storage medium - Google Patents
Frequency tracking method, computer device and storage medium Download PDFInfo
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Abstract
The present disclosure relates to the field of electronic technology, and discloses a frequency tracking method, a computer device and a storage medium, wherein the method includes: driving the transducer in a first driving mode, the first driving mode comprising: generating a signal of a first frequency according to the current phase difference corresponding to the transducer by using a hardware phase-locked loop circuit; generating a first transducer driving signal of a first frequency according to the signal of the first frequency, and driving the transducer by using the first transducer driving signal; when the current first parameter is detected to meet the first condition, driving the transducer in a second driving mode, wherein the second driving mode comprises the following steps: generating a signal of a second frequency according to the current phase difference corresponding to the transducer by using a direct digital frequency synthesizer; generating a second transducer driving signal of a second frequency from the signal of the second frequency, and driving the transducer with the second transducer driving signal.
Description
Technical Field
The present disclosure relates to the field of electronic technology, and in particular, to a frequency tracking method, a computer device, and a storage medium.
Background
During operation of the ultrasonic surgical system, the transducer receives a drive signal to drive an ultrasonic surgical instrument, such as an ultrasonic surgical blade, coupled to the transducer to vibrate at high frequencies. In order to make the ultrasonic surgical instrument have higher working accuracy and higher stability, a driving signal which can make the transducer work at a system resonance point needs to be provided for the transducer, so that the transducer works at the system resonance point, and the ultrasonic surgical instrument vibrates in a resonance state. How to provide a driving signal at the resonance frequency point to the transducer becomes a problem to be solved.
Disclosure of Invention
The embodiment of the disclosure provides a frequency tracking method, computer equipment and a storage medium.
In a first aspect, the present disclosure provides a frequency tracking method, the method comprising:
Driving the transducer in a first driving mode, the first driving mode comprising: generating a signal of a first frequency according to the current phase difference corresponding to the transducer by using a hardware phase-locked loop circuit; generating a first transducer driving signal of the first frequency according to the signal of the first frequency, and driving the transducer by using the first transducer driving signal so that the transducer works at a system resonance point;
When the current first parameter is detected to meet the first condition when the transducer is driven in the first driving mode, switching the driving mode from the first driving mode to the second driving mode to drive the transducer in the second driving mode, wherein the second driving mode comprises: generating a signal of a second frequency according to the current phase difference corresponding to the transducer by using a direct digital frequency synthesizer; generating a second transducer driving signal of the second frequency from the signal of the second frequency, and driving the transducer with the second transducer driving signal such that the transducer operates at a system resonance point, wherein the first condition is related to a parameter threshold.
The frequency tracking method provided by the embodiment of the disclosure combines a hardware phase-locked loop with a direct digital frequency Synthesizer (DIRECT DIGITAL Synthesizer, DDS for short) to perform frequency tracking. When the current impedance is small, a hardware phase-locked loop is adopted for frequency tracking, and a driving signal which can enable the transducer to work at a system resonance point is provided for the transducer at a high frequency response speed. When the current impedance is large, DDS is adopted for frequency tracking. When the current impedance is large, the DDS is adopted for frequency tracking, the condition that the state of the transducer is capacitive when the current impedance is large is considered, so that a current signal and a voltage signal do not have a cophase point, a hardware phase-locked loop cannot work normally, and the ultrasonic surgical instrument can possibly break. When the current impedance is large, the DDS is adopted for frequency tracking, so that a driving signal which can enable the transducer to work at a system resonance point can be provided for the transducer, and meanwhile, the situation that the ultrasonic surgical instrument breaks a knife can be avoided.
In a second aspect, the present disclosure provides a computer device comprising: the memory and the processor are in communication connection, the memory stores computer instructions, and the processor executes the computer instructions to perform the method of the first aspect or any implementation manner corresponding to the first aspect.
In a third aspect, the present disclosure provides a computer-readable storage medium having stored thereon computer instructions for causing a computer to perform the method of the first aspect or any of its corresponding embodiments described above.
Drawings
In order to more clearly illustrate the embodiments of the present disclosure or the prior art, the drawings that are required in the detailed description or the prior art will be briefly described, it will be apparent that the drawings in the following description are some embodiments of the present disclosure, and other drawings may be obtained according to the drawings without inventive effort for a person of ordinary skill in the art.
FIG. 1 is a schematic diagram of one example of an ultrasonic surgical system provided by an embodiment of the present disclosure;
FIG. 2 is an example flow chart of a frequency tracking method provided by an embodiment of the present disclosure;
FIG. 3 is an example flow chart of another frequency tracking method provided by embodiments of the present disclosure;
FIG. 4 is a flow chart of one example of performing frequency tracking;
fig. 5 is a schematic hardware structure of a computer device according to an embodiment of the disclosure.
Detailed Description
For the purposes of making the objects, technical solutions and advantages of the embodiments of the present disclosure more apparent, the technical solutions of the embodiments of the present disclosure will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present disclosure, and it is apparent that the described embodiments are some embodiments of the present disclosure, but not all embodiments. Based on the embodiments in this disclosure, all other embodiments that a person skilled in the art would obtain without making any inventive effort are within the scope of protection of this disclosure.
Referring to fig. 1, a schematic diagram of one example of an ultrasonic surgical system provided by an embodiment of the present disclosure is shown.
The ultrasonic surgical system 100 includes: a central processing unit 101, a hardware phase-locked loop circuit 102, a direct digital frequency synthesizer 103, a drive signal generation circuit 104, a transducer 105, an ultrasonic surgical instrument 106.
As one example, the central processing unit 101 may be a single-chip microcomputer and the ultrasonic surgical instrument 106 may be an ultrasonic surgical blade.
When the hardware pll circuit 102 needs to generate a driving signal for driving the transducer, the central processing unit 101 may send a trigger signal to the hardware pll circuit 102 to trigger the hardware pll circuit 102 to generate a signal of a first frequency, and output the signal of the first frequency. The drive signal generation circuit 104 receives a signal of a first frequency output from the hardware phase-locked loop circuit. The driving signal generation circuit 104 converts the signal of the first frequency into a sinusoidal signal of the first frequency, and the driving signal generation circuit 104 outputs the sinusoidal signal of the first frequency. The sinusoidal signal at the first frequency serves as a first transducer drive signal at the first frequency. The driving signal generating circuit 104 may include a power amplifying circuit, and the power amplifying circuit in the driving signal generating circuit 104 amplifies on the basis of the voltage peak value of the signal of the first frequency such that the voltage peak value of the sinusoidal signal of the first frequency is a preset multiple of the voltage peak value of the signal of the first frequency, the preset multiple being greater than 1. The first transducer drive signal is provided as an input to the transducer 105, such that the transducer 105 is driven, the first transducer drive signal being configured to cause the drive transducer 105 to operate at a system resonance point and the drive transducer 105 to cause the ultrasonic surgical instrument 106 to vibrate. The hardware phase-locked loop circuit 102 may generate a current phase difference corresponding to the transducer, generate a signal of a first frequency according to the current phase difference corresponding to the transducer, where the signal of the first frequency may be a square wave signal of the first frequency, and the hardware phase-locked loop circuit 102 outputs the signal of the first frequency.
When the direct digital frequency synthesizer 103 needs to be utilized to generate a driving signal for driving the transducer, the central processing unit 101 may send a trigger signal to the direct digital frequency synthesizer 103 to trigger the direct digital frequency synthesizer 103 to generate a signal of a second frequency, and output the signal of the second frequency. The driving signal generating circuit 104 receives a signal of a second frequency output from the direct digital frequency synthesizer, the driving signal generating circuit 104 converts the square wave signal of the second frequency into a sinusoidal signal of the second frequency, and the driving signal generating circuit 104 outputs the sinusoidal signal of the second frequency. The sinusoidal signal at the second frequency acts as a second transducer drive signal at the second frequency. The driving signal generating circuit 104 may include a power amplifying circuit, and the power amplifying circuit in the driving signal generating circuit 104 amplifies on the basis of the voltage peak value of the signal of the second frequency such that the voltage peak value of the sinusoidal signal of the second frequency is a preset multiple of the voltage peak value of the signal of the second frequency, the preset multiple being greater than 1. The second transducer drive signal is provided as an input to the transducer 105, thereby driving the transducer 105, the second transducer drive signal being configured to cause the transducer 105 to operate at a system resonance point, and driving the transducer 105 to cause the ultrasonic surgical instrument 106 to vibrate. When frequency tracking is desired using the direct digital frequency synthesizer 103, the current phase difference corresponding to the transducer may be calculated by the central processing unit 101. The direct digital frequency synthesizer 103 generates a signal of a second frequency according to the current phase difference corresponding to the transducer, the signal of the second frequency may be a square wave signal of the second frequency, and the direct digital frequency synthesizer 103 outputs the signal of the second frequency.
The signal input to the transducer is a voltage signal, and the phase difference corresponding to the transducer may refer to: a phase difference between a voltage signal input to the transducer and a current signal flowing through the transducer. The current phase difference corresponding to the transducer specifically refers to: a current phase difference between a voltage signal currently input to the transducer and a current signal currently flowing through the transducer.
The impedance in embodiments of the present disclosure may be determined from the voltage signal input to the transducer and the current signal flowing through the transducer. As one example, the impedance may be: the voltage signal input to the transducer is divided by the current signal flowing through the transducer. The present impedance may be determined from the present voltage signal input to the transducer and the present current signal flowing through the transducer. As one example, the current impedance may be: the voltage signal currently input to the transducer is divided by the current signal currently flowing through the transducer.
When the central processing unit 101 calculates the current phase difference corresponding to the transducer, any existing manner of calculating the phase difference between the voltage signal and the current signal may be used to calculate the current phase difference corresponding to the transducer. As one example, when the central processing unit 101 calculates a phase difference corresponding to the transducer, a voltage signal input to the transducer is set to a square wave signal corresponding to the voltage signal. The current signal flowing through the transducer is set to a square wave signal corresponding to the current signal. The central processing unit 101 calculates a square wave signal corresponding to the voltage signal and a square wave signal delay corresponding to the current signal to calculate a current phase difference corresponding to the transducer.
Referring to fig. 2, an example flow chart of a frequency tracking method provided by an embodiment of the present disclosure is shown.
In step S201, the transducer is driven in a first driving manner, which includes: generating a signal of a first frequency according to the current phase difference corresponding to the transducer by using a hardware phase-locked loop circuit; a first transducer driving signal is generated based on the signal at the first frequency, and the transducer is driven with the first transducer driving signal such that the transducer operates at a system resonance point.
Wherein the resonance point may also be called resonance frequency.
The system resonance point in embodiments of the present disclosure may refer to the resonance point of an ultrasonic surgical instrument coupled to a transducer when loaded.
Step S201 may be triggered by a load on an ultrasonic surgical instrument coupled to the transducer. Once the ultrasonic surgical instrument is loaded, the transducer is driven in a first drive mode. In operation of the ultrasonic surgical instrument, it can also be said that the transducer is first driven in a first drive mode. The transducer is driven in a first driving mode when the transducer is driven for the first time.
The hardware phase-locked loop circuit receives a voltage signal input to the transducer and a current signal flowing through the transducer. A phase detector in the hardware phase locked loop circuit outputs an error signal and a lock signal based on a voltage signal input to the transducer and a current signal flowing through the transducer. The error signal is indicative of the current phase difference corresponding to the transducer. The locking signal is used for judging whether the two input signals are in phase or not, namely whether the two input signals lose lock or not. The hardware phase-locked loop circuit may generate a signal at a first frequency based on the error signal.
When the first transducer driving signal is generated from the signal of the first frequency, the signal of the first frequency may be received by the driving signal generating circuit, and the signal of the first frequency may be converted into the first transducer driving signal of the first frequency. The first transducer driving signal of the first frequency is input as an input to the transducer, i.e. the first transducer driving signal of the first frequency is input to the transducer, thereby driving the transducer, which converts electrical energy into mechanical energy.
In the embodiments of the present disclosure, the transducer may be driven multiple times during one time of driving the transducer in the first driving manner. In the process of driving the transducers in the first driving mode, the phase difference corresponding to the transducers can be periodically determined, the phase difference corresponding to one transducer is determined each time, the determined phase difference corresponding to the transducers can be used as the current phase difference corresponding to the transducers, a hardware phase-locked loop circuit is utilized to generate signals with corresponding first frequencies according to the current phase difference corresponding to the transducers, first transducer driving signals with corresponding first frequencies are generated according to the signals with corresponding first frequencies, and the transducers are driven by utilizing the first transducer driving signals with corresponding first frequencies.
Step S202, when it is detected that the current first parameter satisfies the first condition when the transducer is driven in the first driving mode, switching the driving mode from the first driving mode to the second driving mode to drive the transducer in the second driving mode.
That is, when it is detected that the current first parameter satisfies the first condition when the transducer is driven in the first driving manner, the driving of the transducer in the first driving manner is stopped, and the transducer is driven in the second driving manner.
The second driving method includes: and generating a signal of a second frequency according to the current phase difference corresponding to the transducer by using a direct digital frequency synthesizer, generating a second transducer driving signal according to the signal of the second frequency, and driving the transducer by using the second transducer driving signal so that the transducer works at a system resonance point.
The first condition is associated with a parameter threshold. In one possible implementation, the first condition is that the current first parameter is greater than or equal to a parameter threshold. The current first parameter may be a current impedance. The parameter threshold may be an impedance threshold.
During operation of the ultrasonic surgical instrument, switching of the drive modes may occur multiple times. And detecting whether the current first parameter meets the first condition in real time every time the transducer is driven by adopting the first driving mode. Each time when the current first parameter is detected to meet the first condition when the transducer is driven in the first driving mode, the driving mode is switched from the first driving mode to the second driving mode.
The transducer may be driven multiple times during one drive of the transducer using the second drive. In the process of driving the transducers in the second driving mode, the phase difference corresponding to the transducers can be periodically determined, the phase difference corresponding to one transducer is determined each time, the determined phase difference corresponding to the transducers can be used as the current phase difference corresponding to the transducers, a direct digital frequency synthesizer is adopted, signals with second frequencies are generated according to the current phase difference corresponding to the transducers, second transducer driving signals with the second frequencies are generated according to the signals with the second frequencies, and the transducers are driven by the second transducer driving signals with the second frequencies.
When the direct digital frequency synthesizer generates the signal with the corresponding second frequency for the 1 st time in the process of driving the transducer in the second driving mode, the frequency can be increased or decreased on the basis of the current working frequency of the direct digital frequency synthesizer, and the frequency of the signal with the corresponding second frequency generated for the 1 st time is obtained. Wherein the frequency is increased or decreased based on the current operating frequency of the direct digital frequency synthesizer is determined according to the actual situation.
An example of determining the second frequency at step S202 is described below.
When the transducer is driven for the ith time by adopting the second driving mode, the current phase difference when the signal of the corresponding second frequency is generated for the ith time is compared with the current phase difference when the signal of the corresponding second frequency is generated for the ith-1 time. The signal of the second frequency is generated at any time after the signal of the second frequency is generated at the 1 st time.
If the current phase difference when the ith generates the corresponding signal of the second frequency is smaller than the current phase difference when the (i-1) th generates the corresponding signal of the second frequency, the phase difference is smaller, and the frequency adjustment direction is correct. If the second frequency of the i-1 th generated signal of the corresponding second frequency is obtained by increasing the frequency based on the current operating frequency of the direct digital frequency synthesizer, the corresponding second frequency of the i-1 th generated signal of the corresponding second frequency is obtained by increasing the frequency based on the current operating frequency of the direct digital frequency synthesizer. If the second frequency of the i-1 th generated signal of the corresponding second frequency is reduced in frequency based on the current operating frequency of the direct digital frequency synthesizer, the corresponding second frequency of the i-1 th generated signal of the corresponding second frequency is reduced in frequency based on the current operating frequency of the direct digital frequency synthesizer.
If the current phase difference when the ith time generates the signal with the corresponding second frequency is larger than the phase difference when the ith time generates the signal with the corresponding second frequency, the phase difference is larger, and the error of the frequency adjustment direction is indicated. If the second frequency of the i-1 th generated signal of the corresponding second frequency is obtained by increasing the frequency based on the current operating frequency of the direct digital frequency synthesizer, the corresponding second frequency of the i-1 th generated signal of the corresponding second frequency is obtained by decreasing the frequency based on the current operating frequency of the direct digital frequency synthesizer. If the second frequency of the signal of the corresponding second frequency generated in the i-1 th time is obtained by reducing the frequency based on the current operating frequency of the direct digital frequency synthesizer, the second frequency of the signal of the corresponding second frequency generated in the i-th time is obtained by increasing the frequency based on the current operating frequency of the direct digital frequency synthesizer.
After determining the second frequency, a signal of the second frequency is generated by a direct digital frequency synthesizer at step S202.
Referring to fig. 3, an example flow chart of another frequency tracking method provided by an embodiment of the present disclosure is shown.
Step S301, performing self-checking.
The self-test includes: when the ultrasonic surgical instrument connected with the transducer is not loaded, the transducer is driven by transducer driving signals of preset driving frequencies in a plurality of preset driving frequencies in sequence from low to high according to the preset driving frequencies, wherein the transducer driving signals of the preset driving frequencies are generated according to signals of the preset driving frequencies output by the digital frequency synthesizer; when the phase difference corresponding to the transducer is detected to be 0 DEG for the first time, taking the preset driving frequency adopted when the phase difference corresponding to the transducer is detected to be 0 DEG for the first time as a self-checking resonance point; when the phase difference corresponding to the transducer is detected to be 0 DEG for the second time, taking the preset driving frequency adopted when the phase difference corresponding to the transducer is detected to be 0 DEG for the second time as an anti-resonance point; and determining a phase margin according to the anti-resonance point and the self-checking resonance point.
The self-test resonance point may be referred to as a resonance point of an ultrasonic surgical instrument connected to the transducer when no load is applied. The self-test resonance point is denoted as Fs and the antiresonance point is denoted as Fp. The anti-resonance point may be subtracted from the resonance point to yield a phase margin, denoted W, w=fp-Fs.
The absence of a load on the ultrasonic surgical instrument connected to the transducer may also be referred to as the ultrasonic surgical instrument being unloaded.
When the ultrasonic surgical instrument connected with the transducer is not loaded, the transducer is driven by using the transducer driving signals of the preset driving frequencies in sequence from low to high, that is, the transducer is driven by using the transducer driving signals of the preset driving frequencies in sequence from low to high, which can also be called frequency scanning.
In the frequency scanning process, the phase difference corresponding to the transducer is detected in real time.
The driving frequency adopted when the phase difference corresponding to the transducer is detected to be 0 DEG for the first time is used as a self-checking resonance point. The self-test resonance point is denoted as Fs.
The driving frequency adopted when the phase difference corresponding to the transducer is detected to be 0 DEG for the second time is taken as an anti-resonance point, and the anti-resonance point is marked as Fp. The anti-resonance point can be subtracted from the self-test resonance point to obtain a phase margin. The phase margin is denoted W. Phase margin w=fp-Fs.
The starting operating frequency of the direct digital frequency synthesizer may be set to Fs. The initial operating frequency of the phase locked loop circuit may be set to the resonant frequency minus a phase margin, fs-W.
Step S302, driving the transducer in a first driving mode, wherein the first driving mode comprises: generating a signal of a first frequency according to the current phase difference corresponding to the transducer by using a hardware phase-locked loop circuit; a first transducer driving signal is generated based on the signal at the first frequency, and the transducer is driven with the first transducer driving signal such that the transducer operates at a system resonance point.
In step S303, when it is detected that the current first parameter satisfies the first condition when the transducer is driven in the first driving mode, the driving mode is switched from the first driving mode to the second driving mode to drive the transducer in the second driving mode.
The first condition may be: the current first parameter is less than or equal to the parameter threshold, the current first parameter being determined according to: the self-checking resonance point is the resonance point of the ultrasonic surgical instrument connected with the transducer when no load exists.
As one example, the parameter threshold is 1.
The current first parameter is calculated by the following formula:
where f 1 (θ) represents the current first parameter, C 0 represents the static capacitance of the transducer, Representing a self-checking resonance point, R 0 representing a static impedance, θ representing a current phase difference corresponding to the transducer, and Z 1 representing a current impedance. /(I)The circumference ratio is indicated.
The second driving method includes: generating a signal of a second frequency according to the current phase difference corresponding to the transducer by using a direct digital frequency synthesizer; generating a second transducer drive signal based on the signal at the second frequency, and driving the transducer with the second transducer drive signal.
Generating a signal at a second frequency according to the current phase difference corresponding to the transducer comprises: determining a frequency adjustment step according to the current phase difference corresponding to the transducer and the phase margin; and determining the second frequency according to the frequency adjustment step distance. The signal at the second frequency is generated by a direct digital frequency synthesizer.
The size of the frequency adjustment step is denoted as S, the unit of S is Hz, s=a×θ×w.
A=v/T, θ is the current phase difference corresponding to the transducer, W is the phase margin, V is Hz in units of V, V is the frequency of attenuation of the resonant frequency in air per second, T is a preset frequency adjustment period, and T may be seconds in units of seconds.
If the current phase difference when the ith generates the corresponding signal of the second frequency is smaller than the current phase difference when the (i-1) th generates the corresponding signal of the second frequency, the phase difference is smaller, and the frequency adjustment direction is correct. If the second frequency of the corresponding second frequency signal generated in the i-1 th time is obtained by increasing the frequency based on the current operating frequency of the direct digital frequency synthesizer
The current operating frequency of the direct digital frequency synthesizer is added to the frequency adjustment step to obtain a corresponding second frequency of the signal of the corresponding second frequency generated at the ith time, and the corresponding second frequency of the signal of the corresponding second frequency generated at the ith time becomes the current operating frequency of the direct digital frequency synthesizer when the signal of the second frequency generated at the (i+1) th time. If the second frequency of the corresponding second frequency signal generated at the i-1 th time is obtained by reducing the frequency based on the current operating frequency of the direct digital frequency synthesizer
The current operating frequency of the direct digital frequency synthesizer is subtracted by the frequency adjustment step to obtain a corresponding second frequency of the signal of the corresponding second frequency generated at the ith time.
If the current phase difference when the ith time generates the signal with the corresponding second frequency is larger than the phase difference when the ith time generates the signal with the corresponding second frequency, the phase difference is larger, and the error of the frequency adjustment direction is indicated. If the second frequency of the signal of the corresponding second frequency generated in the i-1 th time is obtained by increasing the frequency based on the current working frequency of the direct digital frequency synthesizer, the step pitch can be adjusted by subtracting the frequency from the current working frequency of the direct digital frequency synthesizer, so as to obtain the corresponding second frequency of the signal of the corresponding second frequency generated in the i-th time. If the second frequency of the signal of the corresponding second frequency generated in the i-1 th time is obtained by reducing the frequency based on the current operating frequency of the direct digital frequency synthesizer, the current operating frequency of the direct digital frequency synthesizer and the frequency adjustment step size can be added to obtain the corresponding second frequency of the signal of the corresponding second frequency generated in the i-th time.
Step S304, when it is detected that the abnormal condition is satisfied when the transducer is driven in the first driving mode, switches the driving mode from the first driving mode to the second driving mode to drive the transducer in the second driving mode.
Wherein the exception condition includes: the impedance is always smaller than the impedance threshold value in a preset time period when the transducer is driven in the first driving mode, and the phase difference corresponding to the transducer is always larger than the phase difference threshold value in the preset time period when the transducer is driven in the first driving mode.
In the embodiment of the disclosure, the situation that the impedance is normal within a certain period of time, but the current phase difference is always overlarge within a certain period of time and the tracking effect is poor is considered, and the situation may be caused by the fact that the hardware phase-locked loop cannot work normally, and the ultrasonic surgical instrument breaks the knife due to the fact that the hardware phase-locked loop cannot work normally. For this reason, when it is detected that an abnormal condition is satisfied when the transducer is driven in the first driving mode, the driving mode is switched from the first driving mode to the second driving mode to drive the transducer with the second driving mode. Therefore, the situation that the hardware phase-locked loop cannot work normally and the ultrasonic surgical instrument breaks the knife is avoided.
In the working process of the ultrasonic operation system, each time when the transducer is driven by the first driving mode, the driving mode can be switched from the first driving mode to the second driving mode when the abnormal condition is detected.
In step S305, when it is detected that the current second parameter satisfies the second condition and the current phase difference corresponding to the transducer satisfies the third condition when the transducer is driven in the second driving mode, the driving mode is switched from the second driving mode to the first driving mode to drive the transducer in the first driving mode.
Wherein the second condition is associated with a parameter threshold and the third condition is associated with a phase difference threshold.
In the working process of the ultrasonic surgical instrument, the switching of the driving modes can be carried out for a plurality of times. And detecting whether the current impedance meets a second condition and the current phase difference corresponding to the transducer meets a third condition in real time each time the transducer is driven by adopting the second driving mode. Each time when the transducer is driven in the second driving mode, the current second parameter is detected to meet the second condition, and the current phase difference corresponding to the transducer meets the third condition, the driving mode is switched from the second driving mode to the first driving mode.
The second condition may be: the current second parameter is larger than the parameter threshold, and the third condition is that the current phase difference corresponding to the transducer is smaller than the phase difference threshold, and the current second parameter is determined according to the following steps: the current phase difference, the current impedance, the static capacitance of the transducer, the static impedance, the self-checking resonance point and the preset constant corresponding to the transducer.
The current second parameter is calculated by the following formula:
Where f 2 (θ) represents the current second parameter, C 0 represents the static capacitance of the transducer, The self-checking resonance point is represented, R 0 represents static impedance, θ represents the current phase difference corresponding to the transducer, Z 1 represents the current impedance, and C represents a preset constant. /(I)The circumference ratio is indicated.
As one example, the parameter threshold is 1. As one example, the preset constant is 200Ω. As one example, the phase difference threshold is 10 °.
When the current second parameter is detected to meet the second condition and the current phase difference corresponding to the transducer meets the third condition when the transducer is driven in the second driving mode, the driving mode is switched from the second driving mode to the first driving mode, and the impedance is reduced due to the fact that frequency tracking is performed through the DDS, so that frequency tracking can be performed again through a hardware phase-locked loop circuit, and a driving signal capable of enabling the transducer to work at a system resonance point is provided for the transducer at a high frequency response speed.
Referring to fig. 4, a flow chart of one example of frequency tracking is shown.
First, a hardware phase-locked loop circuit is utilized to track the frequency. In operation of the ultrasonic surgical instrument, it can also be said that the transducer is first driven in a first drive mode. When the hardware phase-locked loop circuit is utilized for frequency tracking, whether the current first parameter meets a first condition is detected. When the hardware phase-locked loop circuit is utilized for frequency tracking, whether an abnormal condition is met or not is detected. When the current first parameter is detected to meet the first condition during frequency tracking by the hardware phase-locked loop circuit, stopping frequency tracking by the hardware phase-locked loop circuit and performing frequency tracking by the direct digital frequency synthesizer. When the abnormal condition is detected to be met when the transducer is driven in the first driving mode, the frequency tracking by the hardware phase-locked loop circuit is stopped, and the frequency tracking by the direct digital frequency synthesizer is performed. When the current second parameter is detected to meet the second condition and the current phase difference corresponding to the transducer meets the third condition during frequency tracking by using the direct digital frequency synthesizer, stopping frequency tracking by using the direct digital frequency synthesizer and performing frequency tracking by using the hardware phase-locked loop circuit.
Referring to fig. 5, fig. 5 is a schematic hardware structure of a computer device according to an embodiment of the disclosure, where the computer device includes: one or more processors 10, memory 20, and interfaces for connecting the various components, including high-speed interfaces and low-speed interfaces. The various components are communicatively coupled to each other using different buses and may be mounted on a common motherboard or in other manners as desired. The processor may process instructions executing within the computer device, including instructions stored in or on memory to display graphical information of the GUI on an external input/output device, such as a display device coupled to the interface. In some alternative embodiments, multiple processors and/or multiple buses may be used, if desired, along with multiple memories and multiple memories. Also, multiple computer devices may be connected, each providing a portion of the necessary operations (e.g., as a server array, a set of blade servers, or a multiprocessor system).
The processor 10 may be a central processor, a network processor, or a combination thereof. The processor 10 may further include a hardware chip, among others. The hardware chip may be an application specific integrated circuit, a programmable logic device, or a combination thereof. The programmable logic device may be a complex programmable logic device, a field programmable gate array, a general-purpose array logic, or any combination thereof.
Wherein the memory 20 stores instructions executable by the at least one processor 10 to cause the at least one processor 10 to perform the methods shown in implementing the above embodiments.
The memory 20 may include a storage program area that may store an operating system, at least one application program required for functions, and a storage data area; the storage data area may store data created according to the use of the computer device, etc. In addition, the memory 20 may include high-speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid-state storage device. In some alternative embodiments, memory 20 may optionally include memory located remotely from processor 10, which may be connected to the computer device via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
Memory 20 may include volatile memory, such as random access memory; the memory may also include non-volatile memory, such as flash memory, hard disk, or solid state disk; the memory 20 may also comprise a combination of the above types of memories.
The computer device further comprises input means 30 and output means 40. The processor 10, memory 20, input device 30, and output device 40 may be connected by a bus or other means.
The input device 30 may receive input numeric or character information and generate key signal inputs related to user settings and function control of the computer apparatus, such as a touch screen, a keypad, a mouse, a trackpad, a touchpad, a pointer stick, one or more mouse buttons, a trackball, a joystick, and the like. The output means 40 may include a display device, auxiliary lighting means (e.g., LEDs), tactile feedback means (e.g., vibration motors), and the like. Such display devices include, but are not limited to, liquid crystal displays, light emitting diodes, displays and plasma displays. In some alternative implementations, the display device may be a touch screen.
The presently disclosed embodiments also provide a computer readable storage medium, and the methods described above according to the presently disclosed embodiments may be implemented in hardware, firmware, or as recordable storage medium, or as computer code downloaded over a network that is originally stored in a remote storage medium or a non-transitory machine-readable storage medium and is to be stored in a local storage medium, such that the methods described herein may be stored on such software processes on a storage medium using a general purpose computer, special purpose processor, or programmable or dedicated hardware. The storage medium can be a magnetic disk, an optical disk, a read-only memory, a random access memory, a flash memory, a hard disk, a solid state disk or the like; further, the storage medium may also comprise a combination of memories of the kind described above. It will be appreciated that a computer, processor, microprocessor controller or programmable hardware includes a storage element that can store or receive software or computer code that, when accessed and executed by the computer, processor or hardware, implements the methods illustrated by the above embodiments.
Although embodiments of the present disclosure have been described in connection with the accompanying drawings, various modifications and variations may be made by those skilled in the art without departing from the spirit and scope of the disclosure, and such modifications and variations are within the scope defined by the appended claims.
Claims (10)
1. A method of frequency tracking, characterized by being applied to an ultrasonic surgical system comprising: a transducer, the method comprising:
Driving the transducer in a first driving mode, the first driving mode comprising: generating a signal of a first frequency according to the current phase difference corresponding to the transducer by using a hardware phase-locked loop circuit; generating a first transducer driving signal of the first frequency according to the signal of the first frequency, and driving the transducer by using the first transducer driving signal so that the transducer works at a system resonance point;
When the current first parameter is detected to meet the first condition when the transducer is driven in the first driving mode, switching the driving mode from the first driving mode to the second driving mode to drive the transducer in the second driving mode, wherein the second driving mode comprises: generating a signal of a second frequency according to the current phase difference corresponding to the transducer by using a direct digital frequency synthesizer; generating a second transducer driving signal of the second frequency from the signal of the second frequency, and driving the transducer with the second transducer driving signal such that the transducer operates at a system resonance point, wherein the first condition is related to a parameter threshold.
2. The method of claim 1, wherein the first condition is that a current first parameter is less than or equal to a parameter threshold, the current first parameter being determined from: the self-checking resonance point is the resonance point of the ultrasonic surgical instrument connected with the transducer when no load exists.
3. The method of claim 2, wherein the current first parameter is calculated by the formula:
Where f 1 (θ) represents the current first parameter, C 0 represents the static capacitance of the transducer, Representing a self-checking resonance point, R 0 representing a static impedance, θ representing a current phase difference corresponding to the transducer, and Z 1 representing a current impedance.
4. The method according to claim 1, wherein the method further comprises:
When an abnormal condition is detected to be satisfied when the transducer is driven in the first driving mode, switching the driving mode from the first driving mode to the second driving mode to drive the transducer in the second driving mode, wherein the abnormal condition includes: the impedance is always smaller than the impedance threshold value in a preset time period when the transducer is driven in the first driving mode, and the phase difference corresponding to the transducer is always larger than the phase difference threshold value in the preset time period when the transducer is driven in the first driving mode.
5. The method according to any one of claims 1-4, further comprising:
When the current second parameter is detected to meet the second condition when the transducer is driven in the second driving mode and the current phase difference corresponding to the transducer meets the third condition, the driving mode is switched from the second driving mode to the first driving mode, so that the transducer is driven in the first driving mode, wherein the second condition is related to a parameter threshold value, and the third condition is related to a phase difference threshold value.
6. The method of claim 5, wherein the second condition is that the current second parameter is greater than a parameter threshold, and the third condition is that the current phase difference corresponding to the transducer is less than a phase difference threshold, the current second parameter being determined according to: the transducer comprises a current phase difference, a current impedance, a static capacitance of the transducer, a static impedance, a self-checking resonance point and a preset constant, wherein the current phase difference and the current impedance correspond to the transducer.
7. The method of claim 6, wherein the current second parameter is calculated by the formula:
Wherein f 2 (θ) represents a current second parameter, C 0 represents a static capacitance of the transducer, fs represents a self-checking resonance point, R 0 represents a static impedance, θ represents a current phase difference corresponding to the transducer, Z 1 represents a current impedance, and C represents a preset constant.
8. The method of claim 1, wherein prior to driving the transducer in the first driving mode, the method further comprises:
When the ultrasonic surgical instrument connected with the transducer is not loaded, the transducer is driven by transducer driving signals of preset driving frequencies in a plurality of preset driving frequencies in sequence from low to high according to the preset driving frequency, wherein the transducer driving signals of the preset driving frequencies are generated according to the signals of the preset driving frequencies output by the digital frequency synthesizer;
When the phase difference corresponding to the transducer is detected for the first time and is 0 DEG, taking a preset driving frequency adopted when the phase difference corresponding to the transducer is detected for the first time and is 0 DEG as a self-checking resonance point;
when the phase difference corresponding to the transducer is detected to be 0 DEG for the second time, taking the preset driving frequency adopted when the phase difference corresponding to the transducer is detected to be 0 DEG for the second time as an anti-resonance point;
Determining a phase margin according to the anti-resonance point and the self-checking resonance point; and
The generating a signal of a second frequency according to the current phase difference corresponding to the transducer comprises:
Determining a frequency adjustment step according to the current phase difference corresponding to the transducer and the phase margin;
and determining the second frequency according to the frequency adjustment step distance.
9. A computer device, comprising:
a memory and a processor in communication with each other, the memory having stored therein computer instructions which, upon execution, cause the processor to perform the method of any of claims 1 to 8.
10. A computer readable storage medium having stored thereon computer instructions for causing a computer to perform the method of any one of claims 1 to 8.
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