CN211243606U - Dual-core MCU intelligent ultrasonic minimally invasive scalpel control device - Google Patents
Dual-core MCU intelligent ultrasonic minimally invasive scalpel control device Download PDFInfo
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- CN211243606U CN211243606U CN202020005356.5U CN202020005356U CN211243606U CN 211243606 U CN211243606 U CN 211243606U CN 202020005356 U CN202020005356 U CN 202020005356U CN 211243606 U CN211243606 U CN 211243606U
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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
Technical Field
The utility model relates to a medical science field especially relates to a double-core MCU intelligence supersound minimal access surgery sword controlling means.
Background
A scalpel, which is an indispensable tool for surgical operations, plays an extremely important role in the whole operation process. With the continuous progress of medical technology, surgical instruments are also continuously improved, and steel knives, electric knives, ultrasonic knives, laser knives, radio frequency knives and the like are appeared. The ultrasonic knife converts electric energy into mechanical energy, drives the knife head to perform high-frequency vibration at a certain resonant frequency, so that water in the tissue is vaporized, protein hydrogen bonds are broken and denatured, cells are disintegrated, the tissue is cut or coagulated, and blood coagulation and hemostasis are performed while the tissue is separated and cut. With the rapid development of computer technology and microelectronic technology, various large enterprises and universities accelerate the innovation and research and development of minimally invasive surgical instruments, and novel minimally invasive surgical instrument systems and products appear in succession.
With the increasing medical level, according to the clinical characteristics of the ultrasonic scalpel system, in the ultrasonic minimally invasive scalpel control device, the tool frequency and the tool power need to be accurately controlled through an additional mechanism, the tool output frequency and the power need to be accurately controlled, and the control precision of the minimally invasive surgery is improved.
At present, domestic autonomous research and development of modern scalpel control devices lack certain strength and depth, and proper frequency is adjusted by using a fuzzy algorithm. However, this solution is not practical in practice at present. The intelligent algorithm consumes a large amount of resources of the processor, resulting in an increase in product cost. The operating frequency of the scalpel is difficult to be accurately controlled under the condition of low cost, and if the operating frequency of the scalpel cannot be accurately and timely controlled, the output power and the efficiency of a power supply can be reduced, the quality of a scalpel head can be reduced for a long time, and the operation effect is influenced. Due to the fact that the domestic research and development results of the high-precision control power supply are insufficient, the modern scalpel is slow in development, most of modern surgical instruments only can depend on import, medical cost is inevitably increased, required people cannot experience good medical effects, and wide popularization and application of the modern scalpel are greatly hindered.
On the other hand, considering the piezoelectric property of the ultrasonic scalpel, the electrical property of the ultrasonic scalpel changes along with the difference of the cut or emulsified tissues, in order to ensure the quality of the operation and the service life of the equipment, the ultrasonic scalpel must be tracked and controlled to strictly work in a resonance state, if the frequency of an ultrasonic power supply cannot be adjusted in time, the vibration system works in a non-resonance state, and the output power and the efficiency of the vibration system are reduced.
Disclosure of Invention
The utility model aims at providing a double-core MCU intelligence supersound minimal access surgery sword controlling means carries out accurate control to cutter output frequency and power, makes ultrasonic transducer maintain at the resonance state, promotes minimal access surgery's control accuracy.
In order to achieve the above object, the utility model provides a following scheme:
a 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 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.
Optionally, the dual-core MCU intelligent ultrasonic minimally invasive scalpel control device further comprises: 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.
Optionally, the driving circuit is composed of two semiconductor field effect transistors connected in parallel.
Optionally, the dual-core MCU intelligent ultrasonic minimally invasive scalpel control device further comprises: an isolation step-up transformer; the drive circuit is connected with the ultrasonic knife through the isolation step-up transformer.
Optionally, the dual-core MCU intelligent ultrasonic minimally invasive scalpel control device further comprises: and the controller is connected with the ultrasonic knife measurer through the optical coupling isolation communication circuit.
Optionally, the dual-core MCU intelligent ultrasonic minimally invasive scalpel control device further comprises: 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.
Optionally, the drain voltage detection circuit includes: 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.
Optionally, the controller and the ultrasonic knife measurer are both an STM32F407 single chip microcomputer.
Optionally, the dual-core MCU intelligent ultrasonic minimally invasive scalpel control device further comprises: and the human-computer interaction module is connected with the controller and is used for inputting the set power range value.
According to the utility model provides a concrete embodiment, the utility model discloses a following technological effect: by arranging the controller, the direct digital frequency synthesizer and the digital potentiometer, 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.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive labor.
FIG. 1 is a general schematic diagram of a dual-core MCU intelligent ultrasonic minimally invasive scalpel control device according to an embodiment of the present invention;
FIG. 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;
FIG. 3 is a connection relationship diagram of a controller and an external structure in the dual-core MCU intelligent ultrasonic minimally invasive scalpel control device according to the embodiment of the present invention;
FIG. 4 is a connection relationship diagram of an ultrasonic scalpel measuring device and an external structure in the dual-core MCU intelligent ultrasonic minimally invasive scalpel control device according to the embodiment of the present invention;
fig. 5 is a schematic diagram of a drain voltage detection circuit according to an embodiment of the present invention;
fig. 6 is a flowchart illustrating the operation of providing the drain voltage to the driving circuit according to an embodiment of the present invention;
fig. 7 is a flowchart illustrating the gate voltage supply for the driving circuit according to an embodiment of the present invention;
fig. 8 is a flowchart illustrating a driving circuit for providing voltage to the ultrasonic blade according to an embodiment of the present invention;
fig. 9 is a flowchart of calculating a phase difference according to an embodiment of the present invention;
fig. 10 is a flowchart of calculating the target current and the output frequency according to an embodiment of the present invention.
Description of the symbols: the device comprises a 1-ultrasonic knife measurer, a 2-controller, a 3-direct digital frequency synthesizer, a 4-digital potentiometer, a 5-optical coupling isolation communication circuit, a 6-mainboard information reading module, a 7-resistor network key state detection module, an 8-ultrasonic knife output module, a 9-LED lamp, a 10-man-machine interaction module, an 11-level conversion circuit, a 12-touch screen, a 13-driving circuit, a 14-drain voltage detection circuit, a 15-isolation boosting transformer, a 16-diode clamping circuit, a 17-voltage division circuit, an 18-voltage follower, a 19-valley value detection circuit, a 20-power supply, a 21-common mode choke coil and a 22-control module.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
The utility model aims at providing a double-core MCU intelligence supersound minimal access surgery sword controlling means has set up controller, direct digital frequency synthesizer and digital potentiometer, and the controller carries out accurate control to cutter output frequency and power through the frequency of adjusting direct digital frequency synthesizer output waveform and the resistance of adjustment digital potentiometer, promotes minimal access surgery's control accuracy.
In order to make the above objects, features and advantages of the present invention more comprehensible, the present invention is described in detail with reference to the accompanying drawings and the detailed description.
Example 1
As shown in fig. 1 to 4, a dual-core MCU intelligent ultrasonic minimally invasive scalpel control device includes: the ultrasonic scalpel comprises an ultrasonic scalpel measurer 1, a controller 2, a direct digital frequency synthesizer 3 and a digital potentiometer 4; 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 measurer 1, the direct digital frequency synthesizer 3 and the digital potentiometer 4; 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 measurer 1 is used for measuring the actual current and the actual voltage of the ultrasonic knife, and the ultrasonic knife measurer 1 is used for measuring and sampling a plurality of electric signals at the same time, so that the time is saved; the controller 2 is configured to adjust the resistance of the digital potentiometer 4 according to an input set power range value, the actual current, and the actual voltage, communicate with the direct digital frequency synthesizer 3 through an SPI communication protocol, and control the direct digital frequency synthesizer 3 to output a waveform of a target frequency; the digital potentiometer 4 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 blade so as to change the working power and the working frequency of the ultrasonic blade.
As an optional implementation manner, the dual-core MCU intelligent ultrasonic minimally invasive scalpel control device further includes: the optical coupling isolation communication circuit 5, the controller 2 pass through the optical coupling isolation communication circuit with the supersound sword caliber 1 is connected, the optical coupling isolation communication circuit uses multistage high accuracy fortune to put will controller 2 with supersound sword caliber 1 keeps apart, prevents to arouse signal interference because of having the connection of electricity, reduces the interference between voltage control circuit and the outside high voltage circuit, reduces the influence of measuring the return circuit to the signal of telecommunication.
As an optional implementation manner, the controller 2 and the ultrasonic blade measurer 1 are both an STM32F407 single chip microcomputer, and the single chip microcomputer is low in power consumption, high in performance, fast in speed and large in storage capacity.
As an optional implementation manner, the dual-core MCU intelligent ultrasonic minimally invasive scalpel control device further includes: the ultrasonic scalpel power generation device comprises a mainboard information reading module 6, wherein the mainboard information reading module 6 is connected with the controller 2, and the mainboard information reading module 6 is used for acquiring the ID and other setting parameters of the ultrasonic scalpel power generator.
As an optional implementation manner, the dual-core MCU intelligent ultrasonic minimally invasive scalpel control device further includes: the resistance network key state detection module 7 is connected with the ultrasonic knife measurer 1, and the resistance network key state detection module 7 is used for reading the ID of the ultrasonic knife equipment and judging the key state of the ultrasonic knife.
As an optional implementation manner, the dual-core MCU intelligent ultrasonic minimally invasive scalpel control device further includes: the digital potentiometer 4 is connected with the ultrasonic knife through the ultrasonic knife output module 8, and the ultrasonic knife output module 8 is used for providing an interface for ultrasonic transducer equipment.
As an optional implementation, the ultrasonic blade output module 8 includes a filter circuit and an interface circuit, the filter circuit connects the digital potentiometer 4 and the interface circuit, and the interface circuit connects the ultrasonic blade.
As an optional implementation manner, the dual-core MCU intelligent ultrasonic minimally invasive scalpel control device further includes: the LED lamp 9, the LED lamp 9 with the ultrasonic knife measurer 1 is connected, LED lamp 9 is used for instructing ultrasonic knife measurer 1 whether work is normal.
As an optional implementation manner, the dual-core MCU intelligent ultrasonic minimally invasive scalpel control device further includes: and the human-computer interaction module 10 is connected with the controller 2, and the human-computer interaction module 10 is used for inputting the set power range value.
The human-computer interaction module 10 comprises a level conversion circuit 11 and a touch screen 12, wherein the level conversion circuit 11 is respectively connected with the touch screen 12 and the controller 2. The level conversion circuit 11 is configured to convert a TTL level signal generated by the controller 2 into an RS232 level signal recognizable by the touch screen 12, and convert an RS232 level signal generated by the touch screen 12 into a TTL level signal recognizable by the controller 2. The touch screen 12 is used for realizing a visual graphical interface and further realizing a human-computer interaction function, and the touch screen 12 mainly realizes the functions of: displaying the name of a knife handle, displaying and adjusting the power grade of the ultrasonic knife, adjusting the volume, adjusting the brightness of the touch screen 12, selecting the excitation mode of ultrasonic knife equipment, selecting a system language, testing a handle, displaying system information, displaying working parameters of the ultrasonic knife during operation, and reading and writing logs.
The controller 2 reads the system language, the volume, the display brightness and other historical data stored in the memory of the touch screen 12 through the level conversion circuit 11, and then sends an instruction to the touch screen 12 through the serial port to complete initialization of the touch screen 12. In the using process, the touch screen 12 sends the using state of the touch screen 12 to the controller 2 in real time, and the controller 2 realizes the operation expected by the user according to the using state of the touch screen 12. The human-computer interaction module 10 adopts a visual graphical interface to realize a human-computer interaction function, so that the practicability and operability of the whole equipment system are greatly improved, a user can select different working modes through the graphical interface according to different operation requirements, the functions of the equipment can be further enriched, the working state of the system can be better monitored in real time in the operation process, and the safety and reliability of the operation are greatly improved.
As an alternative embodiment, the power source is connected to the touch screen 12.
As an alternative embodiment, the level shift circuit 11 is a TIL _ RS232 level shift circuit.
As an optional implementation mode, 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 driving circuit 13, the present invention adjusts the current output by the driving circuit 13 by adjusting the gate voltage of the driving circuit 13.
The driving circuit 13 is respectively connected with the direct digital frequency synthesizer, the digital potentiometer 4, the drain voltage detection circuit 14 and the ultrasonic blade; the drain voltage detection circuit 14 is connected with the controller 2; the drain voltage detection circuit 14 is configured to detect a drain voltage of the driving circuit 13 and send the drain voltage to the controller 2; the controller 2 is configured to control the driving circuit 13 to operate in a saturation region. One part of the voltage in the direct digital frequency synthesizer is divided into the digital potentiometer 4 to provide the grid voltage for the driving circuit 13, and the other part of the voltage is directly used as the driving voltage of the driving circuit to drive the driving circuit to work.
As an alternative embodiment, the driving circuit 13 is composed of two parallel semiconductor field effect transistors.
As an optional implementation manner, the dual-core MCU intelligent ultrasonic minimally invasive scalpel control device further includes: an isolation step-up transformer 15; drive circuit 13 passes through keep apart step-up transformer 15 with the supersound sword is connected, keep apart step-up transformer 15 and carry out effectual isolation to the signal of telecommunication and the drive circuit 13 end of applying to the scalpel, avoid the electric current and the direct external non-isolation electric region of flow direction of energy of patient's contact zone, avoid causing ground fault because of unordered flows such as the current information of unexpected production, cut off current ground return, guarantee circuit work safety, stability.
As an alternative embodiment, as shown in fig. 5, the drain voltage detection circuit 14 includes: the voltage stabilizing circuit comprises a diode clamp circuit 16, a voltage dividing circuit 17, a voltage follower 18 and a valley detection circuit 19, wherein the diode clamp circuit 16 is respectively connected with the voltage dividing circuit 17 and the driving circuit 13, the voltage dividing circuit 17 is connected with the voltage follower 18, the voltage follower 18 is connected with the valley detection circuit 19, the valley detection circuit 19 is connected with the controller 2, the voltage is stabilized by using the voltage follower 18 and the voltage dividing circuit 17, and the input voltage of the valley detection circuit 19 is reduced by using the voltage dividing circuit 17.
As an optional implementation manner, the dual-core MCU intelligent ultrasonic minimally invasive scalpel control device further includes: a power source 20 and a common mode choke coil 21, wherein the power source 20 is respectively connected with the common mode choke coil 21 and the controller 2, the common mode choke coil 21 is connected with the driving circuit 13, the common mode choke coil 21 filters common mode electromagnetic interference signals, the power source 20 is used for providing drain voltage for the driving circuit 13 for reducing drivingThe influence of the drain voltage of the circuit 13 on the current output from the driving circuit 13 requires that the driving circuit 13 always operates in the saturation region. The driving circuit 13 operating in the saturation region needs to satisfy the condition: vdsat≥Vgs-VthIn the formula VdsatA drain voltage, V, representing the operation of the driving circuit 13 in the saturation regiongsRepresents the drain voltage, VthRepresenting the threshold voltage of the driver circuit 13.
To make Vdsat≥Vgs-VthAlways on but not because of VdsatThe excessive loss of the driving circuit 13 is caused by the excessive loss, and the output voltage of the power supply 20 needs to be continuously adjusted to change VdsatThe size of (2).
As shown in fig. 6 to 8, adjusting the drain voltage of the driving circuit 13 specifically includes:
the diode clamp circuit 16 is used for measuring the drain voltages of two groups of MOSFETs (metal-oxide semiconductor field effect transistors) in the driving circuit 13, filtering the minimum drain voltage, transmitting the minimum drain voltage according to the sequence of the divider resistor, the voltage follower 18 and the valley detection circuit 19, and measuring the value of the minimum drain voltage by using the valley detection circuit 19; the controller 2 controls the duty ratio of the PWM wave of the voltage outputted from the power supply 20 based on the detected value of the minimum drain voltage, and supplies the drain voltage to the drive circuit 13 after passing through the common mode choke coil 21.
Adjusting the gate voltage of the driving circuit 13 specifically includes:
a voltage detection circuit and a current detection circuit in the ultrasonic knife measurer 1 respectively measure actual voltage and actual current, the measured actual voltage and actual current are processed and then are transmitted to a controller 2 through an optical coupling isolation circuit 5, the controller 2 adjusts an output waveform of a direct digital frequency synthesizer 3 and inputs the output waveform to a digital potentiometer 4, the digital potentiometer 4 outputs grid voltage to a driving circuit 13, the driving circuit 13 is driven to generate drain current, and the drain current generates voltage required by an ultrasonic knife through an isolation step-up transformer 15 and an ultrasonic knife output module 8.
The specific use method of the dual-core MCU intelligent ultrasonic minimally invasive scalpel control device in the embodiment is as follows:
the first step is as follows: initializing an ultrasonic knife measurer, specifically comprising:
after the ultrasonic knife measurer is powered on, a serial port and subsystem hardware platform are initialized. The ultrasonic blade meter uses an external crystal oscillator as a clock source of the ultrasonic blade meter. The serial port 1 and the serial port 5 are respectively initialized, the serial port 1 is used for being connected with a USB-to-UART serial port module to debug a computer or read data, the serial port 5 is used for achieving communication with a controller, and finally, initialization of each serial port and a timer are respectively carried out.
The second step is that: the controller initialization specifically comprises the following steps:
after the controller is powered on, the serial port and subsystem hardware platform are initialized. The controller uses an external crystal oscillator. The method comprises the steps of respectively initializing serial ports 1, 2, 3, 4 and 5, controlling the output of an internal digital-to-analog converter by the serial port 1, communicating with a digital potentiometer by the serial port 2, communicating with a direct digital frequency synthesizer by the serial port 3, communicating with a touch screen by the serial port 4, communicating with an ultrasonic knife measurer by the serial port 5, and finally respectively initializing the SPI port, the digital-to-analog converter, the digital potentiometer, the direct digital frequency synthesizer, a timer and the switch power supply voltage.
The third step: the controller initializing the touch screen specifically comprises the following steps:
step 1: dividing a 512-byte buffer area, storing the instruction sent by the touch screen by using a circular queue, reading the instruction of the instruction buffer area once every 5ms, and processing the buffer area if the buffer area is not empty.
Step 2: and reading a real-time clock instruction from the touch screen, judging a variable address in the real-time clock instruction after receiving the real-time clock instruction returned by the touch screen, and recording data of year, month, day, hour, minute, second and the like in the instruction if the variable address is 0x0010 (variable address for storing real-time).
And step 3: and sending an instruction for reading NorFlash to the touch screen, and respectively configuring the history values read from NorFlash after receiving the instruction returned by the touch screen. The historical values stored in the NorFlash touch screen include log content, display brightness, system volume, log number, system language and power generator excitation mode.
And 4, step 4: and after the system language is read from NorFlash, reconfiguring 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 that text information needs to be transmitted to the touch screen in the UTF-8 encoding format of the text conversion bits Unicode encoding format.
And 5: the MIN rating of the ultrasonic blade was set to 3.
Step 6: the watchdog is opened.
The fourth step: the target current and output frequency are controlled every 5ms using a timed interrupt.
The fifth step: and entering a working state, and pressing a start button or a foot switch on the ultrasonic knife equipment.
And a sixth step: and (3) closing the system: when the equipment system is closed, the equipment system is powered down by disconnecting the medical power switch so as to close the system.
And finally, if the equipment system is restarted, repeating the first step to the fourth step, and enabling the system to 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 simply described, and specifically includes:
step 101: and determining the expected current value and the expected phase difference according to the set power range value.
Step 102: acquiring an actual current measured by an ultrasonic knife measurer 1 and an actual phase difference calculated by the ultrasonic knife measurer 1; the actual phase difference is determined from the actual current and the actual voltage measured by the ultrasonic blade measurer 1.
The acquiring of the actual current measured by the ultrasonic blade measurer 1 and the actual phase difference calculated by the ultrasonic blade measurer 1 specifically includes: the voltage acquisition function, the current acquisition function and the timer of the analog-digital converter in the ultrasonic blade measurer 1 are used for detecting the amplitude and the phase of the current and the amplitude and the phase of the voltage of the ultrasonic blade interface circuit at regular time, measuring the actual current value and calculating the actual phase difference value.
As shown in fig. 9, the actual phase difference is calculated in step 102 as follows:
s1: the capture channel CH2 is enabled and CH2 is initialized.
S2: judging whether the CH2 captures a first rising edge or not, if not, continuing to capture the first rising edge by the CH 2; if so, Tim6 begins timing, Tim8 counts clear to begin timing and enables the capture channel CH 3.
S3: and judging whether the CH3 captures a first rising edge or not, if not, continuing to capture the first rising edge by the CH3, and if so, stopping timing by the Tim6 and acquiring the value of the Tim 6.
S4: and judging whether the CH2 captures a second rising edge, if not, the CH2 continues to capture the second rising edge, if so, the Tim8 stops timing, the numerical value of the Tim8 is obtained, and the Tim8 and the Tim6 are reset.
S5: and judging whether the CH3 captures a second rising edge, if not, continuing to capture the second rising edge by the CH3, if so, resetting the Tim8 and the Tim6, and then performing S2 for the next cycle.
If the enable capture channel CH2 captures a rising edge of current, the enable capture channel CH3 captures a rising edge of voltage. If the enable capture channel CH3 captures a rising edge of current, the enable capture channel CH2 captures a rising edge of voltage.
S6: calculating an actual phase difference according to the Tim6 obtained at S3 and the Tim8 obtained at S4; the formula for calculating the actual phase difference is specifically as follows:
step 103: calculating a current deviation value and a phase difference deviation value; the current offset value is determined from the desired current value and the actual current value; the phase difference offset value is determined from the desired phase difference value and the actual phase difference value.
Step 104: and calculating the target current and the output frequency according to the current deviation value and the phase difference deviation value.
As shown in figure 10 of the drawings,the process of the PID algorithm specifically comprises the following steps: obtaining the last deviation value, the last deviation value and the current deviation value, and inputting the obtained deviation value into a formula E which is equal to KP*(Err-Err_last)+KiAnd obtaining a target value by Err + Kd (Err-2 Err _ last + Err _ last _ last) + E', judging whether the amplitude limit value is exceeded, outputting the amplitude limit value as the target value if the amplitude limit value is exceeded, and directly outputting the obtained target value if the amplitude limit value is not exceeded. E means the target value, Err means the current offset value, Err _ last means the last offset value, Err _ last _ last means the last offset value, E' means the last target value, KP、KI、KDAre parameters of the PID controller.
In step 104, calculating the target current according to a PID algorithm, specifically including:
by using I ═ KP*(ΔI(K)-ΔI(K-1))+Ki*ΔI(K)+Kd*(ΔI(K)-2*ΔI(K-1)+ΔI(K-2)) And solving the target current by + I'. Where I is the target current, Δ I(K)Is the current deviation value, delta I(K-1)Is last time current deviation value, delta I(K-2)Is the last current deviation value, KP、Ki、KdThe parameter for the PID controller, I', is the last target current.
In step 104, calculating the output frequency according to a PID algorithm, specifically including:
according to
Calculating an output frequency, wherein f is the output frequency,
the current phase difference deviation value,
Is the last time phase difference deviation value,
Is the deviation value of the previous phase difference, KP、Ki、KdThe parameter for the PID controller, f' is the last output frequency.
Step 105: and adjusting the resistance of the digital potentiometer 4 according to the target current, wherein the larger the target current is, the smaller the set working resistance value of the digital potentiometer 4 is, and the smaller the target current is, the larger the set working resistance value of the digital potentiometer 4 is.
Step 106: and adjusting 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 with the adjusted resistance value, the digital potentiometer 4 with the adjusted resistance value outputs the target voltage according to the waveform of the target frequency, and inputs the target voltage into the ultrasonic blade so as to change the working power and the working frequency of the ultrasonic blade.
According to the utility model provides a concrete embodiment, the utility model discloses a following technological effect: by arranging the controller, the direct digital frequency synthesizer and the digital potentiometer, 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.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The principle and the implementation of the present invention are explained herein by using specific examples, and the above description of the embodiments is only used to help understand the method and the core idea of the present invention; meanwhile, for the general technical personnel in the field, according to the idea of the present invention, there are changes in the concrete implementation and the application scope. In summary, the content of the present specification should not be construed as a limitation of 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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