JP5773032B2 - Control device for fluid ejection device and surgical knife - Google Patents

Description

  The present invention relates to a fluid ejecting method and a fluid ejecting apparatus that eject fluid in pulses.

  2. Description of the Related Art Conventionally, as a surgical tool for incising or excising a living tissue, a fluid ejecting apparatus has been proposed in which a fluid is converted into a pulsating flow by driving a pulsating flow generating unit and the fluid is ejected in a pulsed manner at a high speed. This fluid ejecting apparatus can eject fluid under appropriate fluid ejecting conditions by a one-input multi-control parameter changing unit that simultaneously changes a plurality of control parameters that determine fluid ejecting conditions (see, for example, Patent Document 1).

JP 2009-39384 A

  When injecting or excising a living tissue by ejecting fluid in pulses, the excision force per pulse and the excision speed per unit time are important fluid ejection conditions. However, in Patent Document 1, since one set of fluid injection conditions is selected from a plurality of control parameters assumed in advance by the one-input multiple control parameter changing means and the fluid injection conditions are determined, the fluid injection conditions are finely determined. It is necessary to prepare an enormous number of parameter combinations in order to set. This is presumed that it is not easy to select the optimum fluid ejection condition for the user each time and the operability is poor.

  SUMMARY An advantage of some aspects of the invention is to solve at least a part of the problems described above, and the invention can be implemented as the following forms or application examples.

  [Application Example 1] The fluid ejection method according to this application example generates a pulsating flow by supplying a fluid having a predetermined fluid supply flow rate to a pressure chamber and changing the volume of the pressure chamber at a predetermined frequency. And jetting the pulsating flow, wherein the fluid supply flow rate is proportional to the frequency.

  Here, the volume change amount of the pressure chamber determines the ablation force (ablation depth) per pulse. That is, the volume change amount of the pressure chamber corresponds to the excluded volume of the fluid discharged from the pressure chamber. The frequency of volume change in the pressure chamber determines the excision speed (ablation trajectory length) per unit time.

  Since the fluid injection flow rate ejected from the fluid ejection opening is considered to be proportional to the product of the volume of the fluid discharged from the pressure chamber and the frequency of volume change, the fluid injection flow rate and the frequency of volume change are proportional to each other. become. Therefore, if the frequency of the volume change of the pressure chamber is increased, the fluid ejection flow rate also increases. In this application example, the fluid supply flow rate from the fluid supply means can be changed in proportion to the frequency of volume change. Therefore, the fluid supply flow rate required for the fluid ejection flow rate can be secured and the ablation force per a pulse and the ablation speed can be adjusted appropriately and independently, without preparing a huge combination of parameters, The user can easily operate the fluid ejecting apparatus under optimum fluid ejecting conditions.

  Application Example 2 In the fluid ejection method according to the application example, generating the pulsating flow includes changing the volume of the pressure chamber by applying a voltage to the piezoelectric element, and the volume of the pressure chamber. It is preferable that the voltage application period corresponding to the period of decreasing the frequency is constant regardless of the frequency.

  The change in the volume of the pressure chamber corresponds to the change in the drive waveform of the volume changing means. Therefore, if the change time of the volume changing means is made constant corresponding to the time during which the volume of the pressure chamber is reduced, the slew rate of the drive waveform during the volume reduction time will not change even if the volume change frequency is changed. The excision power per pulse is hardly changed. Therefore, the ablation rate can be changed while keeping the ablation force per pulse constant, rather than simply changing the frequency.

  Application Example 3 In the fluid ejection method according to the application example, it is preferable that the fluid supply flow rate is proportional to an excluded volume of the fluid discharged from the pressure chamber.

  When the fluid supply flow rate is proportional to the volume change frequency, the change in the fluid supply flow rate with respect to the frequency is represented by a straight line having a gradient. At this time, if the excluded volume is changed, the fluid ejection flow rate is also changed, so that the fluid supply flow rate is excessive or insufficient. Therefore, the amount of change in the fluid supply flow rate can be changed by changing the slope of the above-mentioned line in accordance with the change in the exclusion volume, and while appropriately compensating for excess or deficiency of the fluid supply flow rate, The excision power can be changed. Therefore, the ablation force per pulse and the ablation rate per unit time can be independently adjusted within a wider range than application example 1, and the user can easily set and operate the optimum fluid ejection conditions.

  Application Example 4 In the fluid ejection method according to the application example, it is preferable that the fluid supply flow rate is equal to or greater than a product of the excluded volume and the frequency.

  When the fluid supply flow rate is smaller than the fluid ejection flow rate, the ablation force per pulse is weakened due to insufficient supply. Further, when the fluid supply flow rate is larger than the fluid ejection flow rate, the supply amount is excessive, and it is predicted that the fluid flows out from the fluid ejection opening and the visibility of the surgical site is deteriorated except during fluid ejection. Therefore, when the fluid ejection flow rate ejected from the fluid ejection opening is proportional to the product of the excluded volume of the fluid ejected from the pressure chamber and the frequency of volume change, when the proportionality coefficient is close to 1, the fluid is ejected from the pressure chamber. The product of the excluded volume of the fluid to be discharged and the frequency of the volume change can be considered as the fluid injection flow rate injected from the fluid injection opening, and the product of the excluded volume and the frequency is equal to the fluid supply amount, The excision force per one pulse can be obtained and good visibility can be realized.

  Depending on the structure of the fluid ejection device and the degree of fluid ejection, it is considered that the fluid is drawn to the fluid ejection opening side by the fluid inertance effect immediately after fluid ejection, and more fluid flows out than the excluded volume. It is done. In such a case, the ablation force per pulse may be weak. Therefore, by making the fluid supply flow rate slightly larger than the product of the excluded volume and the frequency, the fluid supply flow rate can be increased at least by the outflow due to the inertance effect, so that a desired ablation force per pulse is obtained. The effect on the visibility of the surgical site can be reduced.

  Application Example 5 A fluid ejecting apparatus according to this application example generates a pulsating flow by changing a volume of the pressure chamber at a predetermined frequency with fluid supply means for supplying a fluid having a predetermined fluid supply flow rate to the pressure chamber. Pulsating flow generating means for generating and injecting the pulsating flow; and control means for controlling at least one of the fluid supplying means and the pulsating flow generating means so that the fluid supply flow rate is proportional to the frequency. It is characterized by having.

  Since the fluid injection flow rate ejected from the fluid ejection opening is considered to be proportional to the product of the volume of the fluid discharged from the pressure chamber and the frequency of volume change, the fluid injection flow rate and the frequency of volume change are proportional to each other. become. Therefore, if the frequency of the volume change of the pressure chamber is increased, the fluid ejection flow rate also increases. In this application example, the fluid supply flow rate from the fluid supply means can be changed in proportion to the frequency of volume change. Therefore, the fluid supply flow rate from the fluid supply means required for the fluid ejection flow rate can be ensured, and the ablation force and ablation rate per pulse can be adjusted appropriately and independently. Therefore, the user can easily operate the fluid ejecting apparatus under optimum fluid ejecting conditions without preparing a huge number of parameter combinations.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. Sectional drawing which cut | disconnected the pulsating flow generation | occurrence | production part along the injection direction of a fluid. FIG. 3 is an explanatory block diagram illustrating a schematic configuration of a drive control unit. The drive waveform figure which shows one example of the drive waveform of a piezoelectric element. It is a schematic diagram which shows the volume change of a pressure chamber, (a) is a state which does not apply a voltage to a piezoelectric element, (b) shows the case where a voltage is applied. The graph which shows typically the relationship between a drive frequency and a fluid supply flow volume. The drive waveform figure which represents typically the drive waveform of a piezoelectric element in the case of changing an exclusion volume. The graph which shows typically the relationship between the drive frequency at the time of changing an exclusion volume, and a fluid supply flow rate. FIG. 6 is a drive waveform diagram schematically showing a drive waveform according to the second embodiment. The graph which shows typically the relationship between fluid supply flow volume and exclusion volume. The graph which shows typically the relationship between the exclusion volume at the time of changing a drive frequency, and a fluid supply flow rate. The drive waveform figure which represents typically the drive waveform at the time of making a repetition frequency low. The drive waveform figure which represents typically the drive waveform at the time of making a repetition frequency high. The drive waveform figure which represents typically the drive waveform at the time of making a repetition frequency still higher. The graph which represents typically the relationship between the product of exclusion volume, a drive frequency, and a fluid supply flow rate.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
The fluid ejecting apparatus according to the present invention can be used in various ways such as drawing using ink, washing fine objects and structures, and a scalpel. However, in the embodiment described below, incision or excision of living tissue is performed. A fluid ejecting apparatus suitable for this will be described as an example. Therefore, the fluid used in the embodiment is a liquid such as water or physiological saline.
(Embodiment 1)

  FIG. 1 is a configuration explanatory view showing a fluid ejecting apparatus as a surgical instrument according to the first embodiment. In FIG. 1, a fluid ejecting apparatus 1 includes a fluid supply container 2 that contains a fluid, a pump 10 as a fluid supply unit, and a pulsating flow as a pulsating flow generation unit that converts the fluid supplied from the pump 10 into a pulsating flow. A generator 20 and a drive controller 15 as control means for controlling the driving of the pump 10 and the pulsating flow generator 20 are provided. The pump 10 and the pulsating flow generation unit 20 are connected by a fluid supply tube 4.

  The pulsating flow generation unit 20 is connected with a thin pipe-shaped connection flow channel tube 90, and a nozzle 95 having a fluid ejection opening 96 with a reduced flow channel diameter is inserted into the distal end portion of the connection flow channel tube 90. ing.

  The pulsating flow generation unit 20 includes a fluid ejection condition switching operation unit 25. In this embodiment, the fluid ejection condition switching operation unit includes an ablation force dial 26, an ablation speed dial 27, and an ON / OFF switch 28. It has been.

  The flow of fluid in the fluid ejecting apparatus 1 configured as described above will be briefly described. The fluid stored in the fluid supply container 2 is sucked by the pump 10 and supplied to the pulsating flow generation unit 20 through the fluid supply tube 4 at a constant pressure. The pulsating flow generation unit 20 includes a pressure chamber 80 (see FIG. 2), and a piezoelectric element 30 and a diaphragm 40 as volume changing means for changing the volume of the pressure chamber 80. Is driven to generate a pulsating flow in the pressure chamber 80, and the fluid is jetted at high speed in a pulsed manner through the connecting flow channel tube 90 and the nozzle 95.

  Here, the pulsating flow means a fluid flow in which the fluid flow direction is constant and the fluid flow rate or flow velocity is accompanied by periodic or irregular fluctuations. Although the pulsating flow includes an intermittent flow in which the fluid flows and stops repeatedly, the flow rate or flow velocity of the fluid only needs to fluctuate periodically or irregularly.

  Similarly, ejecting fluid in pulses means ejecting fluid in which the flow rate or movement speed of the fluid to be ejected varies periodically or irregularly. An example of pulsed injection is intermittent injection in which fluid injection and non-injection are repeated. However, since the flow rate or moving speed of the fluid to be injected only needs to fluctuate periodically or irregularly, it is not always intermittent injection. Need not be.

Next, the structure of the pulsating flow generation unit 20 according to this embodiment will be described.
FIG. 2 is a cross-sectional view of the pulsating flow generation unit 20 according to the present embodiment cut along the fluid ejection direction. The pulsating flow generation unit 20 includes an inlet flow path 81 that supplies a fluid from the pump 10 to the pressure chamber 80 via the fluid supply tube 4, a piezoelectric element 30 that serves as a volume changing unit that changes the volume of the pressure chamber 80, and the diaphragm 40. And an outlet channel 82 communicating with the pressure chamber 80. The fluid supply tube 4 is connected to the inlet channel 81.

  The diaphragm 40 is made of a disk-shaped thin metal plate and is in close contact with the case 50 and the case 70. The piezoelectric element 30 is a laminated piezoelectric element in the present embodiment, and one of both ends is fixed to the diaphragm 40 and the other is fixed to the bottom plate 60.

  The pressure chamber 80 is a space formed by a recess formed on the surface of the case 70 facing the diaphragm 40 and the diaphragm 40. An outlet channel 82 is opened at a substantially central portion of the pressure chamber 80.

  The case 70 and the case 50 are joined and integrated on opposite surfaces. In the case 70, a connection flow channel pipe 90 having a connection flow channel 91 communicating with the outlet flow channel 82 is fitted, and a nozzle 95 is inserted in the tip of the connection flow channel pipe 90. The nozzle 95 has a fluid ejection opening 96 having a reduced flow path diameter.

Next, the configuration of the drive control unit of the present embodiment will be described.
FIG. 3 is a block diagram illustrating a schematic configuration of the drive control unit according to the present embodiment. The drive controller 15 includes a pump drive circuit 152 that controls the drive of the pump 10, a piezoelectric element drive circuit 153 that controls the drive of the piezoelectric element 30, and a control circuit 151 that controls the pump drive circuit 152 and the piezoelectric element drive circuit 153. And is configured.

  The control circuit 151 includes a pump 10 driving frequency for determining the fluid supply flow rate from the pump 10 and a volume change amount of the pressure chamber 80 for determining the excision force per pulse (exclusion discharged from the pressure chamber 80). And an arithmetic circuit that calculates the volume change frequency of the pressure chamber 80 that determines the ablation speed (corresponding to the drive frequency of the piezoelectric element 30) based on commands from the ablation force dial 26 and the ablation speed dial 27. (Not shown). The piezoelectric element drive circuit 153 includes a waveform shape generation circuit (not shown) that generates a predetermined drive waveform of the piezoelectric element 30.

  Next, the fluid discharge operation of the pulsating flow generation unit 20 in the present embodiment will be described with reference to FIGS. The fluid discharge of the pulsating flow generation unit 20 of the present embodiment is performed by the difference between the synthetic inertance L1 on the inlet flow path 81 side and the synthetic inertance L2 on the outlet flow path 82 side.

First, inertance will be described.
The inertance L is expressed by L = ρ × h / S, where ρ is the density of the fluid, S is the cross-sectional area of the flow path, and h is the length of the flow path. When the pressure difference in the flow path is ΔP and the flow rate of the fluid flowing through the flow path is Q, the relationship of ΔP = L × dQ / dt is derived by modifying the equation of motion in the flow path using the inertance L. It is.

  That is, the inertance L indicates the degree of influence on the time change of the flow rate. The larger the inertance L, the less the time change of the flow rate, and the smaller the inertance L, the greater the time change of the flow rate.

  Here, the combined inertance L1 on the inlet channel 81 side is calculated in the range of the inlet channel 81. At this time, the fluid supply tube 4 that connects the pump 10 and the inlet channel 81 has flexibility, and may be deleted from the calculation of the combined inertance L1.

  The synthetic inertance L2 on the outlet flow channel 82 side is an inertance in the range of the outlet flow channel 82 and the connection flow channel 91 in the present embodiment. In addition, the thickness of the pipe wall of the connection flow path pipe 90 has sufficient rigidity with respect to fluid pressure propagation.

  In this embodiment, the flow path length and cross-sectional area of the inlet flow path 81 and the outlet flow path 82 are set so that the synthetic inertance L1 on the inlet flow path 81 side is larger than the synthetic inertance L2 on the outlet flow path 82 side. Set the channel length and cross-sectional area.

Next, the fluid discharge operation will be described.
A fluid is supplied to the inlet flow path 81 at a predetermined pressure by the pump 10. As a result, when the piezoelectric element 30 does not operate, the fluid flows into the pressure chamber 80 due to the difference between the discharge force of the pump 10 and the channel resistance on the entire inlet channel 81 side.

  Here, if a drive signal is input to the piezoelectric element 30 and the piezoelectric element 30 suddenly extends in a direction perpendicular to the pressure chamber 80 side of the diaphragm 40 (in the direction of arrow A), the expanded piezoelectric element 30 The diaphragm 40 is pressed, and the diaphragm 40 is deformed in a direction to reduce the volume of the pressure chamber 80. If the combined inertances L1 and L2 on the inlet channel 81 side and the outlet channel 82 side have a sufficient size, the pressure in the pressure chamber 80 rapidly increases and reaches several tens of atmospheres.

  Since this pressure is much larger than the pressure by the pump 10 applied to the inlet channel 81, the inflow of fluid from the inlet channel 81 into the pressure chamber 80 is reduced by the pressure, and the pressure from the outlet channel 82 is reduced. Outflow increases.

  Furthermore, since the synthetic inertance L1 on the inlet flow path 81 side is larger than the synthetic inertance L2 on the outlet flow path 82 side, the amount of flow from the inlet flow path 81 to the pressure chamber 80 is reduced from the outlet flow path 82. The increased amount of fluid to be discharged becomes larger. As a result, a pulsed fluid discharge, that is, a pulsating flow is generated in the connection channel 91. The pressure fluctuation at the time of discharge propagates in the connection flow channel pipe 90 (connection flow channel 91), and the fluid is ejected from the fluid ejection opening 96 of the nozzle 95 at the tip.

  Here, since the flow path diameter of the fluid ejection opening 96 is smaller than the flow path diameter of the outlet flow path 82, the fluid has a higher pressure and is ejected at high speed as pulsed droplets.

  On the other hand, the inside of the pressure chamber 80 is in a vacuum state immediately after the pressure rises due to the interaction between the decrease in the fluid inflow amount from the inlet channel 81 and the increase in the fluid outflow from the outlet channel 82. When the piezoelectric element 30 is restored to its original shape, the fluid in the inlet channel 81 flows before the piezoelectric element 30 operates (before expansion) after a predetermined time has elapsed due to both the pressure of the pump 10 and the vacuum state in the pressure chamber 80. ) Returns to the pressure chamber 80 at the same speed.

If the piezoelectric element 30 is expanded after the fluid flow in the inlet channel 81 is restored, pulsed droplets are continuously ejected from the fluid ejection opening 96.
(Driving method of pulsating flow generation unit according to Embodiment 1)

Next, a driving method of the pulsating flow generation unit 20 will be described.
First, the drive waveform of the piezoelectric element 30 will be described.
FIG. 4 is a drive waveform diagram showing an example of the drive waveform of the piezoelectric element. One cycle of the drive waveform is a time obtained by combining the sin waveform whose phase is shifted by -90 degrees and offset in the positive voltage direction, and the rest period. Assuming that the piezoelectric element 30 expands when a positive voltage is applied (in the direction of arrow A in FIG. 2), the volume of the pressure chamber 80 is reduced during the time t1 (hereinafter referred to as voltage rise time t1). It corresponds to the time. Further, a section of time t2 (represented as voltage drop time t2) is a section in which the electric charge of the piezoelectric element 30 is removed, and the piezoelectric element 30 is reduced. That is, the volume of the pressure chamber 80 increases in the section of the voltage drop time t2.

  Here, when the frequency of the drive waveform is changed, the length of the pause period is changed, so that the voltage rise time t1 does not change and the slew rate of the voltage rise does not change. Therefore, the excision force per pulse does not change. In the present embodiment, the frequency of volume change of the pressure chamber 80 corresponds to the drive frequency of the piezoelectric element 30.

Next, the volume change amount of the pressure chamber in one cycle of the drive waveform will be described.
FIGS. 5A and 5B are schematic diagrams showing changes in the volume of the pressure chamber. FIG. 5A shows a state where no voltage is applied to the piezoelectric element, and FIG. 5B shows a case where a voltage is applied. Note that the volume change during the voltage application period varies depending on the piezoelectric characteristics of the piezoelectric element 30, but in the present embodiment, a case where the volume is reduced by applying a voltage is illustrated. FIG. 5A shows a state in which the piezoelectric element 30 is in an initial state where no voltage is applied, so that the volume of the pressure chamber 80 is not reduced (the position of the diaphragm 40 is indicated by B in the figure).

Note that the volume change amount is represented by the product of the displaceable area of the diaphragm 40 and the length of the expanded piezoelectric element 30.
Here, when a predetermined voltage is applied to the piezoelectric element 30, the volume of the pressure chamber 80 is reduced as shown in FIG. 5B (in the figure, the position of the diaphragm 40 is indicated by B ′). Here, when the diaphragm 40 moves from B to B ′, the volume of the pressure chamber 80 changes by the amount indicated by the oblique lines in the figure. Then, a fluid corresponding to this volume is delivered from the outlet channel 82. Therefore, hereinafter, the change in the volume of the pressure chamber 80 is expressed as a fluid exclusion volume.

Therefore, if the gain of the driving voltage of the piezoelectric element 30 is fixed, the excluded volume by the piezoelectric element 30 is substantially constant. Here, if the drive frequency of the piezoelectric element 30 is increased in a state where the excluded volume is constant, the fluid ejection flow rate is also proportionally increased according to the drive frequency. Therefore, it is necessary to increase the fluid supply flow rate from the pump 10 in accordance with the fluid ejection flow rate.
(Fluid injection method)

Next, the fluid ejection method in this embodiment will be described.
FIG. 6 is a graph schematically showing the relationship between the drive frequency and the fluid supply flow rate.
A case where the drive frequency of the piezoelectric element 30 is changed in a state where the excluded volume is initially set will be described. First, the excision force is set by the excision force dial 26. In the ablation force dial 26, a desired excluded volume is selected and thereafter fixed. In the setting of the ablation force by the ablation force dial 26, when the conditions such as the piezoelectric constant of the piezoelectric element 30 are already known, the gain of the driving voltage, which is a condition for determining the exclusion volume, is used instead of the exclusion volume. Also good.

  Then, the ablation speed dial 27 is operated to select a desired driving frequency and set the fluid ejection flow rate. The fluid ejection flow rate is calculated by the product of the excluded volume and the driving frequency of the piezoelectric element 30. Therefore, when the excluded volume is constant, increasing the driving frequency of the piezoelectric element 30 increases the fluid ejection flow rate in proportion to the driving frequency. When the fluid jet flow rate is increased, the cutting speed is increased.

In this way, when the drive frequency is increased to increase the fluid ejection flow rate, it is necessary to increase the fluid supply flow rate from the pump 10. Therefore, as shown in FIG. 6, the fluid supply flow rate from the pump 10 is determined so as to have a relationship proportional to the driving frequency of the piezoelectric element 30.
The driving frequency of the piezoelectric element 30 and the fluid supply flow rate of the pump 10 are calculated by a calculation unit included in the control circuit 151, input to the piezoelectric element driving circuit 153 and the pump driving circuit 152, and driven under the respective driving conditions. .

  According to this embodiment, if the frequency of volume change of the pressure chamber 80, that is, the drive frequency of the piezoelectric element 30 is increased, the fluid ejection flow rate also increases. Therefore, it is required by changing the fluid supply flow rate from the pump 10 in proportion to the change of the fluid injection flow rate accompanying the change of the driving frequency while maintaining the excluded volume of the pressure chamber 80 at the optimum (constant). The fluid supply flow rate can be secured and the ablation force and ablation speed per pulse can be adjusted independently and independently, so that the user can easily adjust the optimum fluid ejection conditions without preparing a huge number of parameter combinations. The fluid ejection device can be operated.

  In addition, it is possible to eliminate a problem that the fluid supply flow rate is excessive and excess fluid flows out of the nozzle 95 except when the fluid is ejected, resulting in poor visibility of the surgical site.

Next, a case where the excluded volume is changed when the fluid supply flow rate and the drive frequency are in a proportional relationship (see FIG. 6) will be described.
First, the removal volume is set by operating the excision force dial 26. The excluded volume is calculated by the product of the extension length of the piezoelectric element 30 and the movable area of the diaphragm 40. The extension length is determined by controlling the voltage applied to the piezoelectric element 30. In this way, the ablation force per pulse is determined.

  FIG. 7 is a drive waveform diagram schematically showing the drive waveform of the piezoelectric element when the excluded volume is changed. When the ablation force per pulse is adjusted by the ablation force dial 26, the gain (voltage) of the drive waveform is increased when the excluded volume is increased, and the gain (voltage) of the drive waveform is decreased when the excluded volume is decreased. . That is, the excluded volume changes relatively by the gain of the drive waveform.

Next, the cutting frequency dial 27 is operated to set the driving frequency of the piezoelectric element 30.
FIG. 8 is a graph schematically showing the relationship between the drive frequency and the fluid supply flow rate when the excluded volume is changed. The fluid supply flow rate is proportional to the frequency of the drive waveform (drive frequency) and is represented by a straight line (see also FIG. 6). The fluid supply flow rate is at least the same as the fluid ejection flow rate. Since the fluid ejection flow rate is calculated by the product of the excluded volume and the driving frequency of the piezoelectric element 30, when increasing the excluded volume as shown in FIG. 8, the linear gradient is increased in accordance with the increased amount of the excluded volume, In order to reduce the excluded volume, the linear gradient may be reduced in accordance with the reduced volume reduction.

  At this time, if the gain of the drive waveform is changed, as shown in FIG. 7, the slew rate of the voltage rise time t1 of the drive waveform also changes. Strictly speaking, the fluid ejection flow rate and the excluded volume are not proportional. Therefore, when changing the slope of the straight line, the data of the straight line slope is stored as a look-up table in the control circuit 151 (see FIG. 3), and can be read from the look-up table when the ablation force dial 26 is operated. That's fine.

Therefore, when the fluid supply flow rate and the drive frequency of the piezoelectric element 30 are in a proportional relationship, if the excluded volume is changed, the fluid ejection flow rate also changes, so that the fluid supply flow rate becomes excessive or insufficient. Therefore, the amount of change in the fluid supply flow rate can be changed by changing the slope of the above-mentioned line in accordance with the change in the exclusion volume, and while appropriately compensating for excess or deficiency of the fluid supply flow rate, The excision power can be changed. Therefore, the ablation force per pulse and the ablation rate per unit time can be independently adjusted within a wider range than application example 1, and the user can easily set and operate the optimum fluid ejection conditions.
(Embodiment 2)

  Subsequently, a fluid ejection method according to the second embodiment will be described. In the second embodiment, the first embodiment described above changes the fluid supply flow rate in a proportional relationship with the driving frequency of the piezoelectric element, whereas the fluid supply flow rate has a proportional relationship with the excluded volume. It is characterized by changing. The configuration of the fluid ejecting apparatus 1 and the pulsating flow generation unit 20 and the fluid ejecting action are the same as those in the first embodiment, and thus description thereof is omitted.

  FIG. 9 is a drive waveform diagram schematically showing the drive waveform according to the present embodiment, and FIG. 10 is a graph schematically showing the relationship between the fluid supply flow rate and the excluded volume. The drive waveform illustrated in FIG. 9 illustrates a rectangular wave. In order to increase the frequency of the drive waveform, the length of the pause period is changed. Since the drive waveform is a rectangular wave, the slew rate of the voltage rise does not change even if the gain of the drive voltage is changed. Therefore, if the displacement volume in one drive of the piezoelectric element is increased by increasing the gain of the drive voltage and increasing the displacement of the diaphragm 40, the fluid ejection flow rate also increases in proportion to the displacement volume.

  Here, in a state where the driving frequency of the piezoelectric element 30 is optimized (constant), the ablation force dial 26 is operated to select a desired excluded volume. Then, a drive command is input from the control circuit 151 to the pump drive circuit 152 and the piezoelectric element drive circuit 153, and the pump 10 and the piezoelectric element 30 are driven. That is, the fluid is supplied from the pump 10 at a fluid supply flow rate corresponding to the change in the fluid ejection flow rate.

  Here, since the fluid ejection flow rate is proportional to the product of the displacement volume and the drive frequency, the fluid ejection flow rate changes in proportion to the change in the displacement volume. Therefore, in order to supply the fluid without excess or deficiency with respect to the fluid ejection flow rate, the fluid supply flow rate may be changed in proportion to the change in the excluded volume as shown in FIG.

  Thus, in the present embodiment, the required fluid supply flow rate is secured by changing the fluid supply flow rate in proportion to the change in the excluded volume, and the ablation force per pulse and the ablation per unit time are secured. Each speed can be adjusted independently, and the optimum fluid ejection conditions can be easily set and operated.

  Further, it is possible to suppress an excessive fluid supply flow rate, and it is possible to eliminate such a problem that extra fluid flows out from the nozzle 95 at the time other than the time of ejecting the fluid and the visibility of the surgical site is deteriorated.

Next, as described above, a case where the drive frequency is changed when the fluid supply flow rate and the excluded volume are in a proportional relationship (see FIG. 10) will be described.
FIG. 11 is a graph schematically showing the relationship between the excluded volume and the fluid supply flow rate when the drive frequency is changed. The fluid supply flow rate is represented by a straight line having a slope that is proportional to the excluded volume (see also FIG. 10).

  Since the fluid ejection flow rate is calculated in proportion to the product of the excluded volume and the drive frequency of the piezoelectric element 30, when the drive frequency is increased as shown in FIG. 11, the linear gradient is increased in accordance with the increase in the drive frequency. In order to reduce the drive frequency, the slope of the straight line may be reduced according to the decrease in the drive frequency.

  Note that depending on the drive waveform, when the drive frequency is changed, the slew rate of the voltage rise of the drive waveform may also change. Strictly speaking, the fluid ejection flow rate is not proportional to the drive frequency. Therefore, in order to change the slope of the straight line, the data of the straight line slope is stored as a look-up table in the control circuit 151 (see FIG. 3), and can be read from the look-up table when the cutting speed dial 27 is operated. That's fine.

As described above, if the drive frequency of the piezoelectric element 30 is changed, the fluid ejection flow rate also changes, so that the fluid supply flow rate becomes excessive or insufficient. Therefore, the amount of change in the fluid supply flow rate can be changed by changing the slope of the above-mentioned straight line according to the drive frequency of the piezoelectric element 30, and the excess of the fluid supply flow rate can be appropriately compensated for, while The driving frequency, that is, the ablation rate per unit time can be changed. Therefore, the ablation force per pulse and the ablation rate per unit time can be independently adjusted within a wider range than application example 1, and the user can easily set and operate the optimum fluid ejection conditions.
(Embodiment 3)

  Subsequently, a fluid ejection method according to the third embodiment will be described. In the third embodiment, when the drive frequency is changed, the voltage rise time of the drive waveform of the piezoelectric element 30 with respect to the time during which the volume of the pressure chamber 80 is decreased is substantially constant as compared with the first and second embodiments described above. It is characterized by that. The configuration of the fluid ejecting apparatus 1 and the pulsating flow generation unit 20 and the fluid ejecting action are the same as those in the first embodiment, and thus description thereof is omitted.

Here, a case where the repetition frequency is lowered when the basic drive waveform is the same as that in FIG. 4 will be described.
FIG. 12 is a drive waveform diagram schematically showing a drive waveform when the repetition frequency is lowered. In such a case, it is not necessary to change the drive waveform change time of the piezoelectric element 30 with respect to the time during which the volume of the pressure chamber 80 is decreased just by lengthening the pause period, that is, the voltage rise time t1 is not changed. does not change. Therefore, the drive frequency of the piezoelectric element 30 can be changed without changing the excision force per pulse. That is, it is possible to independently adjust the ablation force per pulse and the ablation speed per unit time, and can be adapted to the concept of the first and second embodiments described above.

Next, a case where the repetition frequency is increased will be described.
FIG. 13 is a drive waveform diagram schematically showing the drive waveform when the repetition frequency is increased. In the drive waveform shown in FIG. 13, the pause period is shorter than the basic drive waveform (see FIG. 4), but it exists. Accordingly, it is not necessary to change the voltage rise time t1, and the slew rate does not change. That is, it can be adapted to the concept of the first embodiment and the second embodiment described above.

Next, a case where the repetition frequency is further increased will be described.
FIG. 14 is a drive waveform diagram schematically showing a drive waveform when the repetition frequency is further increased. That is, a case where one cycle of the drive waveform shown in FIG. 14 is shorter than one cycle shown in FIG. In such a drive waveform, there is no pause period, and therefore, simply shortening the interval between the basic waveforms shown in FIG. Therefore, the drive waveform is formed so that the voltage rise time t1 is not changed with respect to the basic voltage rise time by shortening the voltage drop time t2 during which the volume of the pressure chamber 80 is expanded from the basic waveform. Thereby, since the voltage rise time t1 does not change, and the slew rate does not change, the concept of the first and second embodiments can be adapted.

When the gain of the driving voltage of the piezoelectric element 30 is not changed, if the voltage rising time t1 is kept constant, the slew rate of the voltage rising time t1 does not change even if the driving frequency is changed. Hard to change. Therefore, the ablation speed can be changed while maintaining the ablation force per pulse constant rather than simply changing the drive frequency. As described above, t1 may correspond to the time during which the volume of the pressure chamber 80 is reduced regardless of the shape and polarity of the drive waveform of the piezoelectric element 30.
(Embodiment 4)

  Subsequently, a fluid ejection method according to the fourth embodiment will be described. The fourth embodiment is characterized in that the fluid supply flow rate from the pump 10 is made equal to the product of the excluded volume and the driving frequency or larger than the product of the excluded volume and the driving frequency. The configuration of the fluid ejecting apparatus 1 and the pulsating flow generation unit 20 and the fluid ejecting action are the same as those in the first embodiment, and thus description thereof is omitted.

  FIG. 15 is a graph schematically showing the relationship between the product of the excluded volume, the drive frequency, and the fluid supply flow rate. The fluid ejection flow rate is determined by the product of the excluded volume and the driving frequency. Although the fluid supply flow rate and the fluid ejection flow rate are in a proportional relationship, when the fluid supply flow rate is smaller than the fluid ejection flow rate, the cutting force per pulse is weakened due to insufficient supply. In addition, when the fluid supply flow rate is larger than the fluid ejection flow rate, the supply amount is excessive, and it is predicted that the fluid flows out from the nozzle 95 at the time other than the fluid ejection time and the visibility of the surgical site is deteriorated. Therefore, by making the product of the volume change amount and the frequency equal to the fluid ejection flow rate, it is possible to obtain a desired excision force per pulse and easily realize good visibility.

  In a fluid ejection device having a pulsating flow generator that changes the volume of the pressure chamber and ejects fluid in a pulsed manner by the difference between the combined inertance on the inlet channel side and the combined inertance on the outlet channel side, It is conceivable that the fluid is drawn to the fluid ejection opening 96 side due to the inertance effect and flows out more than the excluded volume. In such a case, since the fluid ejection flow rate is larger than the fluid supply flow rate, the ablation force per pulse may be weak. Therefore, it is necessary to increase the fluid supply flow rate by at least the outflow due to the inertance effect. Therefore, it is desirable to make the fluid supply flow rate larger than the product (fluid ejection amount) of the excluded volume and the drive frequency.

  Here, when the fluid supply flow rate is made larger than the fluid ejection flow rate, it is conceivable that extra fluid flows out of the nozzle 95 except during fluid ejection, and the visibility of the surgical site is deteriorated. Therefore, it is more preferable to set the supply flow rate to be equal to the product of the excluded volume and the driving frequency or not more than twice the product of the excluded volume and the driving frequency.

  This is because the amount of fluid that is pulled to the nozzle 95 side by the inertance effect is smaller than the original excluded volume, and therefore emphasis is placed on securing the excision force per pulse rather than the excess fluid flowing out of the nozzle 95. Because.

  In this way, by making the product of the excluded volume and the drive frequency equal to the fluid supply flow rate, it is possible to obtain a desired ablation force per pulse and to achieve good visibility.

Further, if the fluid supply flow rate is set to be equal to or less than twice the product of the excluded volume and the driving frequency, a desired excision force per pulse can be obtained and the influence on the visibility of the surgical site can be reduced.
(Modification)

  In the above-described embodiment, the pressure chamber volume changing means is configured to generate a pulsating flow by driving the piezoelectric element 30 and displacing the diaphragm 40. However, the piezoelectric element 30 is driven to drive a plunger (piston). It is good also as a structure which generate | occur | produces a pulsating flow by displacing.

  DESCRIPTION OF SYMBOLS 1 ... Fluid injection apparatus, 10 ... Pump as fluid supply means, 20 ... Pulsating flow generation part, 30 ... Piezoelectric element as volume change means, 40 ... Diaphragm, 80 ... Pressure chamber, 96 ... Fluid injection opening part.

Claims (2)

A fluid supply means for supplying a fluid having a predetermined flow rate to the pressure chamber and a piezoelectric element for changing the volume of the pressure chamber, and ejecting a pulsating flow of the fluid by changing the volume of the pressure chamber. A fluid ejection device control device that can be used by connecting to a fluid ejection device comprising:
Input means for inputting a change in the driving voltage of the piezoelectric element;
A piezoelectric element driving circuit for driving the piezoelectric element;
A fluid supply means drive circuit for driving the fluid supply means;
A circuit for determining the flow rate of the fluid supply means and the driving condition of the piezoelectric element based on the input content to the input means;
With
When an input for changing the driving voltage from the first voltage to a second voltage higher than the first voltage is made,
The fluid supply flow rate of the fluid supply means is greater than one times the product of the excluded volume of the fluid discharged from the pressure chamber and proportional to the second voltage, and the driving frequency of the piezoelectric element. A drive command can be output to the fluid supply means drive circuit so as to increase it to 2 times or less;
A control device for a fluid ejecting apparatus. A surgical scalpel device for incising or excising a living tissue, comprising the control device for a fluid ejection device according to claim 1.

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