CN211243606U - A dual-core MCU intelligent ultrasonic minimally invasive scalpel control device - Google Patents

Abstract

The utility model relates to a double-core MCU intelligence supersound wicresoft operation sword controlling means. The dual-core MCU intelligent ultrasonic minimally invasive scalpel control device comprises: the ultrasonic knife measuring device comprises an ultrasonic knife measuring device, a controller, a direct digital frequency synthesizer and a digital potentiometer; the controller is respectively connected with the ultrasonic knife measurer, the direct digital frequency synthesizer and the digital potentiometer; the direct digital frequency synthesizer is connected with the digital potentiometer; the digital potentiometer is connected with the ultrasonic knife. The controller adjusts the frequency of the output current by adjusting the frequency of the direct digital frequency synthesizer, controls the power of the output current by adjusting the resistance of the digital potentiometer, accurately controls the output frequency and the power of the cutter, and improves the control precision of the minimally invasive surgery.

Description

A dual-core MCU intelligent ultrasonic minimally invasive scalpel control device

technical field

The utility model relates to the medical field, in particular to a dual-core MCU intelligent ultrasonic minimally invasive scalpel control device.

Background technique

The scalpel, as an essential tool in surgery, plays an extremely important role in the entire surgical process. With the continuous progress of medical technology, surgical instruments are also constantly improving, and there are steel knives, electric knives, ultrasonic knives, laser knives, radio frequency knives, etc. The ultrasonic knife converts electrical energy into mechanical energy and drives the knife head to vibrate at a high frequency at a certain resonant frequency, so that the water in the tissue is vaporized, the protein hydrogen bonds are broken, denatured, and cells are disintegrated, so that the tissue is cut or solidified. Coagulation and hemostasis are performed simultaneously with tissue dissection and tissue dissection. With the rapid development of computer technology and microelectronics technology, major enterprises and universities have accelerated the innovation and research and development of minimally invasive surgical instruments, and new minimally invasive surgical instrument systems and products have appeared one after another.

With the increasing medical level, according to the clinical characteristics of the ultrasonic scalpel system, in the ultrasonic minimally invasive scalpel control device, it is necessary to accurately control the frequency and power of the tool through an external mechanism, and accurately control the output frequency and power of the tool. Improve the control precision of minimally invasive surgery.

At present, the independent research and development of modern scalpel control devices in China lacks a certain strength and depth, and the appropriate frequency is adjusted by using a fuzzy algorithm. However, at present this scheme is not practical in practical work. Since the intelligent algorithm consumes a lot of resources of the processor, the cost of the product increases. It is difficult to accurately control the operating frequency of the scalpel at low cost. If the operating frequency of the scalpel cannot be controlled accurately and in real time, it will not only reduce the output power and efficiency of the power supply, but also reduce the quality of the knife head. affect the outcome of surgery. It is precisely because the research and development results of high-precision control power supply in China are still insufficient that the development of modern scalpels is slow, and most modern surgical instruments can only rely on imports, which will inevitably increase medical costs and make it difficult for the people in need to experience good medical effects. It also greatly hinders the widespread popularization and application of such modern scalpels.

On the other hand, considering the piezoelectric properties of the ultrasonic scalpel, its own electrical properties will change with the tissue being cut or emulsified. In order to ensure the quality of the operation and the life of the equipment, it must be tracked and controlled to make it work strictly in the In the resonance state, if the frequency of the ultrasonic power supply cannot be adjusted in time, the vibration system will work in a non-resonant state, and the output power and efficiency of the vibration system will be reduced.

SUMMARY OF THE INVENTION

The purpose of the utility model is to provide a dual-core MCU intelligent ultrasonic minimally invasive surgical knife control device, which can precisely control the output frequency and power of the knife, maintain the ultrasonic transducer in a resonance state, and improve the control accuracy of minimally invasive surgery.

For achieving the above object, the utility model provides the following scheme:

A dual-core MCU intelligent ultrasonic minimally invasive surgical knife control device, comprising: an ultrasonic knife measuring device, a controller, a direct digital frequency synthesizer and a digital potentiometer; the controller is respectively connected with the ultrasonic knife measuring device, the direct the digital frequency synthesizer is connected with the digital potentiometer; the direct digital frequency synthesizer is connected with the digital potentiometer; the digital potentiometer is connected with the ultrasonic knife;

The ultrasonic knife measuring device is used to measure the actual current and actual voltage of the ultrasonic knife; the controller is used to adjust the resistance value of the digital potentiometer according to the input set power range value, the actual current and the actual voltage, and control the direct digital frequency synthesizer to output the waveform of the target frequency; the digital potentiometer after resistance adjustment is used to output the target voltage according to the waveform of the target frequency, and input the target voltage to the ultrasonic knife, To change the working power and working frequency of the ultrasonic knife.

Optionally, the dual-core MCU intelligent ultrasonic minimally invasive scalpel control device further includes: a drive circuit and a drain voltage detection circuit;

The drive circuit is respectively connected with the direct digital frequency synthesizer, the digital potentiometer, the drain voltage detection circuit and the ultrasonic knife; the drain voltage detection circuit is connected with the controller; the The drain voltage detection circuit is used for detecting the drain voltage of the driving circuit, and sending the drain voltage to the controller; the controller is used for controlling the driving circuit to work in a saturation region.

Optionally, the driving circuit is composed of two parallel semiconductor field effect transistors.

Optionally, the dual-core MCU intelligent ultrasonic minimally invasive scalpel control device further includes: an isolation booster transformer; and the drive circuit is connected to the ultrasound scalpel through the isolation booster transformer.

Optionally, the dual-core MCU intelligent ultrasonic minimally invasive scalpel control device further includes: an optocoupler isolation communication circuit, and the controller is connected to the ultrasonic scalpel measuring device through the optocoupler isolation communication circuit.

Optionally, the dual-core MCU intelligent ultrasonic minimally invasive scalpel control device further includes: a power supply and a common mode choke coil, the power supply is respectively connected to the common mode choke coil and the controller, and the common mode choke coil is respectively connected. The mode choke coil is connected to the driving circuit, and the power supply is used for providing a drain voltage for the driving circuit.

Optionally, the drain voltage detection circuit includes: a diode clamp circuit, a voltage divider circuit, a voltage follower and a valley detection circuit, and the diode clamp circuit is respectively connected to the voltage divider circuit and the drive circuit , the voltage divider circuit is connected to the voltage follower, the voltage follower is connected to the valley value detection circuit, and the valley value detection circuit is connected to the controller.

Optionally, both the controller and the ultrasonic knife measuring device are STM32F407 microcontrollers.

Optionally, the dual-core MCU intelligent ultrasonic minimally invasive scalpel control device further includes: a human-computer interaction module, the human-computer interaction module is connected to the controller, and the human-computer interaction module is used to input the device. Constant power range value.

According to the specific embodiment provided by the utility model, the utility model discloses the following technical effects: by setting the controller, the direct digital frequency synthesizer and the digital potentiometer, the controller adjusts the output current by adjusting the frequency of the direct digital frequency synthesizer By adjusting the resistance of the digital potentiometer to control the power of the output current, the output frequency and power of the tool can be precisely controlled, and the control accuracy of the minimally invasive surgery can be improved.

Description of drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the accompanying drawings required in the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only of the present invention. For some embodiments of the present invention, for those of ordinary skill in the art, other drawings can also be obtained according to these drawings without any creative effort.

1 is an overall schematic diagram of a dual-core MCU intelligent ultrasonic minimally invasive scalpel control device according to an embodiment of the present invention;

2 is a block diagram of a dual-core MCU intelligent ultrasonic minimally invasive scalpel control device according to an embodiment of the present invention;

3 is a connection diagram of a controller and an external structure in a dual-core MCU intelligent ultrasonic minimally invasive scalpel control device according to an embodiment of the present invention;

Fig. 4 is the connection relation diagram of the ultrasonic knife measuring device and the external structure in the dual-core MCU intelligent ultrasonic minimally invasive surgical knife control device according to the embodiment of the present invention;

5 is a schematic diagram of a drain voltage detection circuit according to an embodiment of the present invention;

6 is a flow chart of providing a drain voltage for a driving circuit according to an embodiment of the present invention;

FIG. 7 is a flow chart of providing a gate voltage for a drive circuit according to an embodiment of the present invention;

Fig. 8 is the flow chart that the drive circuit of the embodiment of the present utility model provides the voltage for the ultrasonic knife;

Fig. 9 is the flow chart of calculating phase difference in the embodiment of the present utility model;

FIG. 10 is a flow chart of calculating target current and output frequency according to an embodiment of the present invention.

Symbol description: 1- ultrasonic knife measuring instrument, 2- controller, 3- direct digital frequency synthesizer, 4- digital potentiometer, 5- optocoupler isolation communication circuit, 6- motherboard information reading module, 7- resistance network Button state detection module, 8-ultrasonic knife output module, 9-LED light, 10-human-computer interaction module, 11-level conversion circuit, 12-touch screen, 13-drive circuit, 14-drain voltage detection circuit, 15- Isolation step-up transformer, 16-diode clamping circuit, 17-voltage divider circuit, 18-voltage follower, 19-valley detection circuit, 20-power supply, 21-common mode choke coil, 22-control module.

Detailed ways

The technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the implementations. example. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present invention.

The purpose of the utility model is to provide a dual-core MCU intelligent ultrasonic minimally invasive scalpel control device, which is provided with a controller, a direct digital frequency synthesizer and a digital potentiometer. The controller adjusts the frequency of the output waveform of the direct digital frequency synthesizer. And adjust the resistance of the digital potentiometer, accurately control the output frequency and power of the tool, and improve the control accuracy of minimally invasive surgery.

In order to make the above objects, features and advantages of the present utility model more clearly understood, the present utility model will be described in further detail below with reference to the accompanying drawings and specific embodiments.

Example 1

As shown in Figures 1-4, a dual-core MCU intelligent ultrasonic minimally invasive surgical knife control device includes: an ultrasonic knife measuring device 1, a controller 2, a direct digital frequency synthesizer 3 and a digital potentiometer 4; the control device The controller 2, the direct digital frequency synthesizer 3 and the digital potentiometer 4 form a control module 22; the controller 2 is respectively connected with the ultrasonic knife measuring device 1, the direct digital frequency synthesizer 3 and the The digital potentiometer 4 is connected; the direct digital frequency synthesizer 3 is connected with the digital potentiometer 4; the digital potentiometer 4 is connected with the ultrasonic knife.

The ultrasonic knife measuring device 1 is used to measure the actual current and actual voltage of the ultrasonic knife. The ultrasonic knife measuring device 1 measures and samples multiple electrical signals simultaneously, saving time; The constant power range value, the actual current and the actual voltage adjust the resistance value of the digital potentiometer 4, and communicate with the direct digital frequency synthesizer 3 through the SPI communication protocol to control the direct digital frequency synthesizer 3 Output the waveform of the target frequency; the digital potentiometer 4 after resistance adjustment is used to output the target voltage according to the waveform of the target frequency, and input the target voltage to the ultrasonic knife to change the working power of the ultrasonic knife and operating frequency.

As an optional implementation manner, the dual-core MCU intelligent ultrasonic minimally invasive scalpel control device further includes: an optocoupler isolation communication circuit 5, and the controller 2 communicates with the ultrasonic scalpel through the optocoupler isolation communication circuit The measuring device 1 is connected, and the optocoupler isolation communication circuit uses a multi-stage high-precision operational amplifier to isolate the controller 2 from the ultrasonic knife measuring device 1 to prevent signal interference caused by electrical connections and reduce the voltage control circuit. Interference with external high-voltage circuits, reducing the impact of measurement loops on electrical signals.

As an optional implementation manner, the controller 2 and the ultrasonic knife measuring device 1 are both STM32F407 single-chip microcomputers, and the single-chip microcomputer has low power consumption, high performance, high speed and large storage capacity.

As an optional implementation manner, the dual-core MCU intelligent ultrasonic minimally invasive scalpel control device further includes: a main board information reading module 6, the main board information reading module 6 is connected to the controller 2, the The main board information reading module 6 is used to obtain the ID and other setting parameters of the ultrasonic blade power generator.

As an optional implementation manner, the dual-core MCU intelligent ultrasonic minimally invasive scalpel control device further includes: a resistance network button state detection module 7, the resistance network button state detection module 7 and the ultrasonic scalpel measurer 1 connection, the resistance network button state detection module 7 is used to read the ID of the ultrasonic knife device and judge the button state of the ultrasonic knife.

As an optional implementation manner, the dual-core MCU intelligent ultrasonic minimally invasive surgical knife control device further includes: an ultrasonic knife output module 8, and the digital potentiometer 4 is connected to the ultrasonic knife through the ultrasonic knife output module 8, The ultrasonic blade output module 8 is used to provide an interface for the ultrasonic transducer device.

As an optional implementation manner, the ultrasonic blade output module 8 includes a filter circuit and an interface circuit, the filter circuit is connected to the digital potentiometer 4 and the interface circuit, and the interface circuit is connected to the ultrasonic blade.

As an optional implementation manner, the dual-core MCU intelligent ultrasonic minimally invasive scalpel control device further includes: an LED light 9, the LED light 9 is connected to the ultrasonic knife measuring device 1, and the LED light 9 is used for It is used to indicate whether the ultrasonic knife measuring device 1 is working normally.

As an optional implementation manner, the dual-core MCU intelligent ultrasonic minimally invasive scalpel control device further includes: a human-computer interaction module 10, the human-computer interaction module 10 is connected to the controller 2, and the human-computer interaction module 10 is connected to the controller 2. The interaction module 10 is used for inputting the set power range value.

The human-computer interaction module 10 includes a level conversion circuit 11 and a touch screen 12 , and the level conversion circuit 11 is respectively connected to the touch screen 12 and the controller 2 . The level conversion circuit 11 is used to convert the TTL level signal generated by the controller 2 into an RS232 level signal recognizable by the touch screen 12, and convert the RS232 level signal generated by the touch screen 12 into a TTL level signal that the controller 2 can recognize. flat signal. The touch screen 12 is used to realize a visual graphic interface and then realize the function of human-computer interaction. The main functions of the touch screen 12 include: displaying the name of the tool handle, displaying and adjusting the power level of the ultrasonic knife, adjusting the volume, adjusting the brightness of the touch screen 12, selecting ultrasonic Knife equipment excitation mode, selection of system language, handle test, display of system information, display of working parameters of ultrasonic knife, log reading and writing.

The controller 2 reads the system language, volume, display brightness and other historical data stored in the memory of the touch screen 12 through the level conversion circuit 11 , and then sends commands to the touch screen 12 through the serial port to complete the initialization of the touch screen 12 . During use, the touch screen 12 sends the use state of the touch screen 12 to the controller 2 in real time, and the controller 2 implements the operation desired by the user according to the use state of the touch screen 12 . The human-computer interaction module 10 adopts a visual graphical interface to realize the human-computer interaction function, which greatly improves the practicability and operability of the entire equipment system, so that the user can select different working modes through the graphical interface according to different surgical needs. , which can not only further enrich the functions of the equipment, but also better monitor the working status of the system in real time during the operation, which greatly improves the safety and reliability of the operation.

As an optional implementation manner, the power supply is connected to the touch screen 12 .

As an optional implementation manner, the level conversion circuit 11 is a TIL_RS232 level conversion circuit.

As an optional implementation manner, the TTL-RS232 level conversion circuit uses an SP3232 chip.

As an optional implementation manner, the dual-core MCU intelligent ultrasonic minimally invasive scalpel control device further includes: a drive circuit 13 and a drain voltage detection circuit 14; in order to better control the current output by the drive circuit 13, the utility model The new type adopts the method of adjusting the gate voltage of the driving circuit 13 to adjust the current output by the driving circuit 13 .

The drive circuit 13 is respectively connected with the direct digital frequency synthesizer, the digital potentiometer 4, the drain voltage detection circuit 14 and the ultrasonic knife; the drain voltage detection circuit 14 is connected with the control connected to the controller 2; the drain voltage detection circuit 14 is used to detect the drain voltage of the drive circuit 13 and send the drain voltage to the controller 2; the controller 2 is used to control the The driving circuit 13 operates in the saturation region. A part of the voltage in the direct digital frequency synthesizer is distributed to the digital potentiometer 4 to provide the gate voltage for the drive circuit 13, and the other part is directly used as the drive voltage of the drive circuit to drive the drive circuit to work.

As an optional implementation manner, the driving circuit 13 is composed of two parallel-connected semiconductor field effect transistors.

As an optional implementation manner, the dual-core MCU intelligent ultrasonic minimally invasive scalpel control device further includes: an isolation booster transformer 15 ; the drive circuit 13 is connected to the ultrasound scalpel through the isolation booster transformer 15 , the isolation step-up transformer 15 effectively isolates the electrical signal applied to the scalpel and the drive circuit 13 to prevent the current and energy in the patient contact area from directly flowing to the external non-isolated electrical area, and avoid accidental generation of current information If the disordered flow causes a ground fault, cut off the current ground loop to ensure the safe and stable operation of the circuit.

As an optional implementation manner, as shown in FIG. 5 , the drain voltage detection circuit 14 includes: a diode clamp circuit 16 , a voltage divider circuit 17 , a voltage follower 18 and a valley detection circuit 19 . The diode The clamping circuit 16 is respectively connected with the voltage divider circuit 17 and the drive circuit 13 , the voltage divider circuit 17 is connected with the voltage follower 18 , and the voltage follower 18 is connected with the valley detection circuit 19 , the valley detection circuit 19 is connected to the controller 2 , the voltage follower 18 and the voltage divider circuit 17 are used to make the voltage more stable, and the voltage divider circuit 17 is used to reduce the input voltage of the valley detection circuit 19 .

As an optional implementation manner, the dual-core MCU intelligent ultrasonic minimally invasive scalpel control device further includes: a power supply 20 and a common mode choke coil 21, the power supply 20 is respectively connected with the common mode choke coil 21 and the common mode choke coil 21 and The controller 2 is connected, the common mode choke coil 21 is connected to the drive circuit 13 , the common mode choke coil 21 filters the common mode electromagnetic interference signal, and the power supply 20 is used to provide the drive circuit 13 For the drain voltage, in order to reduce the influence of the drain voltage of the driving circuit 13 on the current output by the driving circuit 13, the driving circuit 13 needs to always work in the saturation region. The driving circuit 13 needs to meet the conditions to work in the saturation region: V _dsat ≥V _gs -V _th , where V _dsat represents the drain voltage of the driving circuit 13 operating in the saturation region, V _gs represents the drain voltage, and V _th represents the driving circuit 13 critical voltage.

In order to make V _dsat ≥V _gs -V _th always established without excessive loss of the driving circuit 13 due to excessive V _dsat , it is necessary to continuously adjust the output voltage of the power supply 20 to change the magnitude of V _dsat .

As shown in FIGS. 6-8 , adjusting the drain voltage of the driving circuit 13 specifically includes:

Use the diode clamp circuit 16 to measure the drain voltages of the two groups of MOSFETs (metal-oxide semiconductor field effect transistors) in the drive circuit 13, filter the minimum drain voltage, and follow the minimum drain voltage according to the voltage divider resistance and voltage The sequence transmission between the controller 18 and the valley detection circuit 19, the minimum drain voltage value is measured by the valley detection circuit 19; the controller 2 outputs the voltage to the power supply 20 according to the measured value of the minimum drain voltage The duty cycle of the PWM wave is controlled, and after passing through the common mode choke coil 21 , the drain voltage is provided for the driving circuit 13 .

Adjusting the gate voltage of the driving circuit 13 specifically includes:

The voltage detection circuit and the current detection circuit in the ultrasonic knife measuring device 1 measure the actual voltage and actual current respectively, and process the measured actual voltage and actual current, and then transmit them to the controller 2 through the optocoupler isolation circuit 5. The controller 2. Adjust the output waveform of the direct digital frequency synthesizer 3 and input the output waveform to the digital potentiometer 4, which outputs the gate voltage to the driver circuit 13, which drives the driver circuit 13 to generate a drain current that The voltage required by the ultrasonic blade is generated through the isolation step-up transformer 15 and the ultrasonic blade output module 8 .

The specific use method of the dual-core MCU intelligent ultrasonic minimally invasive scalpel control device in this embodiment is as follows:

Step 1: Initialize the ultrasonic knife measuring instrument, including:

After the ultrasonic knife measuring instrument is powered on, the serial port and subsystem hardware platform are initialized. The ultrasonic knife measurer uses an external crystal oscillator as the clock source of the ultrasonic knife measurer. Initialize serial port 1 and serial port 5 respectively, serial port 1 is used to connect the USB to UART serial port module for computer debugging or read data, serial port 5 is used to communicate with the controller, and finally each serial port and timer are initialized respectively.

Step 2: Controller initialization, including:

After the controller is powered on, the serial port and subsystem hardware platform are initialized. The controller uses an external crystal. Initialize serial ports 1, 2, 3, 4, and 5 respectively. Serial port 1 is used to control the output of the internal digital-to-analog converter, serial port 2 is used to communicate with the digital potentiometer, and serial port 3 is used to communicate with the direct digital frequency synthesizer. 4 is used to communicate with the touch screen, the serial port 5 is used to communicate with the ultrasonic knife measuring instrument, and finally the initialization of the SPI port and the digital-to-analog converter, digital potentiometer, direct digital frequency synthesizer, timer and switching power supply voltage are carried out respectively.

Step 3: The controller initializes the touch screen, including:

Step 1: Divide a 512-byte buffer and use a circular queue to store the instructions sent by the touch screen, read the instructions in the instruction buffer every 5ms, and process the buffer if the buffer is not empty.

Step 2: Read the real-time clock command from the touch screen, and judge the variable address in the real-time clock command after receiving the real-time clock command returned by the touch screen. If the variable address is 0x0010 (the variable address for storing real-time time), record the year in the command , month, day, hour, minute, second and other data.

Step 3: Send an instruction to read NorFlash to the touch screen, and configure the historical values read from NorFlash after receiving the instruction returned by the touch screen. The historical values stored in the touch screen NorFlash include log content, display brightness, system volume, log number, system language, and power generator excitation mode.

Step 4: After reading the system language from NorFlash, reconfigure the text information displayed on the touch screen according to the system language. The text encoding format used in the development software KeilMDK is UTF-8, and the text encoding format used in the touch screen is Unicode, so before sending text information to the touch screen, the text in the UTF-8 encoding format needs to be converted to Unicode encoding format .

Step 5: Set the MIN level of the ultrasonic scalpel to 3.

Step 6: Turn on the watchdog.

Step 4: Use timed interrupt to control the target current and output frequency every 5ms.

Step 5: Enter the working state and press the start button or foot switch on the ultrasonic knife device.

Step 6: Shut down the system: when the equipment system is shut down, power off the equipment system by disconnecting the medical power switch to shut down the system.

Finally, if the device system is restarted, repeat the first to fourth steps, and the system can enter the normal working state again.

The control method of the dual-core MCU intelligent ultrasonic minimally invasive scalpel control device provided in this embodiment is briefly described, specifically including:

Step 101: Determine the expected current value and the expected phase difference according to the set power range value.

Step 102: Obtain the actual current measured by the ultrasonic knife measuring device 1 and the actual phase difference calculated by the ultrasonic knife measuring device 1; the actual phase difference is measured by the actual current and the ultrasonic knife measuring device 1. The actual voltage is determined.

The acquisition of the actual current measured by the ultrasonic knife measuring device 1 and the actual phase difference calculated by the ultrasonic knife measuring device 1 specifically includes: using the voltage acquisition function and the current acquisition function of the analog-to-digital converter in the ultrasonic knife measuring device 1 And the timer regularly detects the amplitude and phase of the current, the amplitude and phase of the voltage of the ultrasonic knife interface circuit, measures the actual current value and calculates the actual phase difference value.

As shown in Figure 9, the calculation process of the actual phase difference in step 102 is as follows:

S1: Enable capture channel CH2 and initialize CH2.

S2: Determine whether CH2 captures the first rising edge, if not, CH2 continues to capture the first rising edge; if so, Tim6 starts timing, Tim8 count is cleared to start timing and capture channel CH3 is enabled.

S3: Determine whether CH3 captures the first rising edge. If not, CH3 continues to capture the first rising edge. If so, Tim6 stops timing and obtains the value of Tim6.

S4: Determine whether CH2 captures the second rising edge. If not, CH2 continues to capture the second rising edge. If so, Tim8 stops timing and obtains the value of Tim8, and Tim8 and Tim6 are reset.

S5: Determine whether CH3 captures the second rising edge. If not, CH3 continues to capture the second rising edge. If so, Tim8 and Tim6 are reset, and then S2 is performed for the next cycle.

If the enabled capture channel CH2 captures the rising edge of the current, then the enabled capture channel CH3 captures the voltage rising edge. If the enabled capture channel CH3 captures the rising edge of the current, then the enabled capture channel CH2 captures the voltage rising edge.

S6: Calculate the actual phase difference according to Tim6 obtained by S3 and Tim8 obtained by S4; the formula for calculating the actual phase difference is as follows:

Step 103: Calculate the current deviation value and the phase difference deviation value; the current deviation value is determined by the expected current value and the actual current value; the phase difference deviation value is determined by the expected phase difference value and the actual phase The difference is determined.

Step 104: Calculate the target current and the output frequency from the current deviation value and the phase difference deviation value.

As shown in Figure 10, the process of the PID algorithm specifically includes: obtaining the last deviation value, the last deviation value and the current deviation value, and entering the obtained deviation value into the formula E=K _P *(Err-Err_last )+K _i *Err+Kd*(Err-2*Err_last+Err_last_last)+E′ to get the target value, judge whether the limit value is exceeded, if it exceeds the limit value, the limit value will be output as the target value, if not exceeded The limit value directly outputs the obtained target value. E means the target value, Err means the deviation value this time, Err_last means the last deviation value, Err_last_last means the last deviation value, and E' means the last time The target value of , K _P , K _I , and K _D are the parameters of the PID controller.

In step 104, the target current is calculated according to the PID algorithm, which specifically includes:

Using I=K _P *(ΔI _(K) -ΔI _(K-1) )+K _i *ΔI _(K) +K _d *(ΔI _(K) -2*ΔI _(K-1) +ΔI _{(K- 2)} )+I′ to find the target current. Wherein I is the target current, ΔI _(K) is the current deviation value, ΔI _(K-1) is the previous current deviation value, ΔI _(K-2) is the previous current deviation value, K _P , K _i , K _d is the parameter of the PID controller, and I' is the last target current.

In step 104, the output frequency is calculated according to the PID algorithm, which specifically includes:

求输出频率，其中，f为输出频率，

为本次相位差偏差值、

为上次相位差偏差值、

为上上次相位差偏差值、K_P、K_i、K_d为PID控制器的参数、f′为上次的输出频率。according to

Find the output frequency, where f is the output frequency,

is the current phase difference deviation value,

is the last phase difference deviation value,

is the last and last phase difference deviation value, K _P , K _i , K _d are the parameters of the PID controller, and f' is the last output frequency.

Step 105: Adjust the resistance of the digital potentiometer 4 according to the target current. The larger the target current, the smaller the resistance value of the set working resistance of the digital potentiometer 4 and the smaller the target current. the larger the value.

Step 106: Adjust the output waveform of the direct digital frequency synthesizer 3 according to the output frequency, so that the direct digital frequency synthesizer 3 outputs the waveform of the target frequency.

Step 107: The direct digital frequency synthesizer 3 inputs the waveform of the target frequency into the digital potentiometer 4 after the resistance value adjustment, and the digital potentiometer 4 after the resistance value adjustment outputs the target frequency according to the waveform of the target frequency voltage, and input the target voltage to the ultrasonic blade to change the working power and frequency of the ultrasonic blade.

According to the specific embodiment provided by the utility model, the utility model discloses the following technical effects: by setting the controller, the direct digital frequency synthesizer and the digital potentiometer, the controller adjusts the output current by adjusting the frequency of the direct digital frequency synthesizer By adjusting the resistance of the digital potentiometer to control the power of the output current, the output frequency and power of the tool can be precisely controlled, and the control accuracy of the minimally invasive surgery can be improved.

The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments, and the same and similar parts between the various embodiments can be referred to each other.

The principles and implementations of the present utility model are described herein using specific examples. The descriptions of the above embodiments are only used to help understand the method and the core idea of the present utility model; meanwhile, for those skilled in the art, according to The idea of the present utility model will have changes in the specific implementation and application scope. In conclusion, the content of this specification should not be construed as a limitation on the present invention.

Claims (9)

1. The utility model provides a double-core MCU intelligence supersound wicresoft operation sword controlling means which characterized in that includes: the ultrasonic knife measuring device comprises an ultrasonic knife measuring device, a controller, a direct digital frequency synthesizer and a digital potentiometer; the controller is respectively connected with the ultrasonic knife measurer, the direct digital frequency synthesizer and the digital potentiometer; the direct digital frequency synthesizer is connected with the digital potentiometer; the digital potentiometer is connected with the ultrasonic knife;

the ultrasonic knife measurer is used for measuring the actual current and the actual voltage of the ultrasonic knife; the controller is used for adjusting the resistance value of the digital potentiometer according to the input set power range value, the actual current and the actual voltage and controlling the direct digital frequency synthesizer to output the waveform of the target frequency; the digital potentiometer with the adjusted resistance value is used for outputting a target voltage according to the waveform of the target frequency and inputting the target voltage to the ultrasonic knife so as to change the working power and the working frequency of the ultrasonic knife.

2. The dual-core MCU intelligent ultrasonic minimally invasive scalpel control device according to claim 1, further comprising: a drive circuit and a drain voltage detection circuit;

the driving circuit is respectively connected with the direct digital frequency synthesizer, the digital potentiometer, the drain voltage detection circuit and the ultrasonic knife; the drain voltage detection circuit is connected with the controller; the drain voltage detection circuit is used for detecting the drain voltage of the driving circuit and sending the drain voltage to the controller; the controller is used for controlling the driving circuit to work in a saturation region.

3. The dual-core MCU intelligent ultrasonic minimally invasive scalpel control device according to claim 2, wherein the driving circuit is composed of two semiconductor field effect transistors connected in parallel.

4. The dual-core MCU intelligent ultrasonic minimally invasive scalpel control device according to claim 2, further comprising: an isolation step-up transformer; the drive circuit is connected with the ultrasonic knife through the isolation step-up transformer.

5. The dual-core MCU intelligent ultrasonic minimally invasive scalpel control device according to claim 1, further comprising: and the controller is connected with the ultrasonic knife measurer through the optical coupling isolation communication circuit.

6. The dual-core MCU intelligent ultrasonic minimally invasive scalpel control device according to claim 2, further comprising: the power supply is respectively connected with the common mode choke coil and the controller, the common mode choke coil is connected with the driving circuit, and the power supply is used for providing drain voltage for the driving circuit.

7. The dual-core MCU intelligent ultrasonic minimally invasive scalpel control device according to claim 2, wherein the drain voltage detection circuit comprises: the diode clamping circuit is respectively connected with the voltage dividing circuit and the driving circuit, the voltage dividing circuit is connected with the voltage follower, the voltage follower is connected with the valley detection circuit, and the valley detection circuit is connected with the controller.

8. The dual-core MCU intelligent ultrasonic minimally invasive scalpel control device according to claim 1, wherein the controller and the ultrasonic scalpel measurer are both STM32F407 single-chip microcomputers.

9. The dual-core MCU intelligent ultrasonic minimally invasive scalpel control device according to claim 1, further comprising: and the human-computer interaction module is connected with the controller and is used for inputting the set power range value.

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