WO2017047066A1

WO2017047066A1 - Liquid jetting control device, liquid jetting system, and control method

Info

Publication number: WO2017047066A1
Application number: PCT/JP2016/004137
Authority: WO
Inventors: 潤一柄沢
Original assignee: セイコーエプソン株式会社
Priority date: 2015-09-18
Filing date: 2016-09-12
Publication date: 2017-03-23
Also published as: JP2017056113A

Abstract

Through the present invention, the intensity of a pulsed liquid jet can be set as a user intends, and the usability thereof is enhanced. A liquid jetting control device (70-1), wherein an operating unit (71) includes a momentum dial (811) for inputting a momentum indicated value pertaining to momentum of a pulsed liquid jet jetted from a liquid jetting device, and a repetition frequency dial (813) for inputting a repetition frequency indicated value pertaining to a number of jettings of the pulsed liquid jet per unit time. A control unit (75) is provided with a rising waveform setting unit (756) for setting a rising waveform of a drive voltage waveform so that the momentum has the momentum indicated value on the basis of the voltage amplitude of the drive voltage waveform and the repetition frequency indicated value. The repetition frequency dial (813) may also be omitted and the repetition frequency may have a pre-set value.

Description

Liquid ejection control device, liquid ejection system, and control method

The present invention relates to a liquid ejection control device that controls a liquid ejection device that ejects liquid in pulses using a piezoelectric element.

A technique for cutting a workpiece by jetting a liquid in a pulse shape is known. The ejection of the pulsed liquid is a jet of liquid ejected in a pulsating manner from the nozzle, and is appropriately referred to as “pulsed liquid jet” in the present specification.

For example, Patent Document 1 proposes a technique that is used for surgery in the medical field. In this case, the cutting object is a living tissue, and the liquid is a physiological saline.

JP 2005-152127 A

A mechanism using a piezoelectric element is known as one mechanism for generating a pulsed liquid jet. This is a mechanism in which a pulsed drive voltage is applied to the piezoelectric element so that the piezoelectric element generates an instantaneous pressure in the working fluid (liquid) and jets the liquid in pulses. Therefore, when changing the strength of the pulsed liquid jet, the drive voltage applied to the piezoelectric element is controlled. Therefore, the characteristic value of the drive voltage applied to the piezoelectric element, for example, the amplitude of the drive voltage waveform (which is a voltage amplitude and can be said to be the magnitude of the drive voltage) is indicated by an operation unit such as an operation dial or an operation button. Thus, a specification for changing the strength of the pulsed liquid jet can be considered.

However, it has been found that even if the characteristic value of the drive voltage indicated by the operation unit is changed, the cutting mode such as the cutting depth and the cutting volume of the cutting object cannot be changed as the user desires. Although details will be described later, for example, even if the user changes the voltage amplitude to 2 times, 4 times, 1/2, or 1/4, the cutting depth and the cutting volume may not always change accordingly. I understood. When a pulsed liquid jet is used for a surgical operation, an operation according to an operator's operation feeling cannot be obtained, which may be a problem.

On the other hand, if the injection period of the pulsed liquid jet is variable, the cutting depth and cutting volume per unit time can be increased and decreased, and the cutting speed of the cutting object can be adjusted. However, since the shape of the drive voltage waveform changes when the ejection cycle is changed, the strength of the liquid jet for one pulse can be changed. Therefore, even if the cutting depth or volume of the pulse liquid jet for one pulse changes before and after changing the injection cycle, the injection frequency is shortened, in other words, even if the injection frequency is increased, the injection frequency is as intended by the user. In some cases, proportional cutting speed could not be obtained.

The present invention has been devised in view of the above-described problems, and its object is to make it possible to set the strength of a pulsed liquid jet in accordance with the user's intention and to improve usability. Is to propose.

According to a first aspect of the present invention for solving the above problems, a pulsed liquid jet is repeatedly applied from a liquid ejecting apparatus that applies a given drive voltage waveform to a piezoelectric element and ejects the liquid in a pulse shape using the piezoelectric element. A liquid ejection control device for controlling the ejection of the first operation unit for inputting a first instruction value relating to the momentum of the pulsed liquid jet, and a control unit for controlling the drive voltage waveform, And a control unit that changes a waveform shape (hereinafter referred to as “rise waveform shape”) related to the rising of the drive voltage waveform so that the momentum becomes the first instruction value.

Further, as another invention, a control method for controlling repetitive ejection of a pulsed liquid jet from a liquid ejecting apparatus that applies a given drive voltage waveform to a piezoelectric element and ejects liquid in a pulsed manner using the piezoelectric element Input a first instruction value related to the momentum of the pulsed liquid jet, and change a waveform shape related to the rise of the drive voltage waveform so that the momentum becomes the first instruction value; It is good also as comprising the control method containing these.

According to the first aspect of the present invention, when the first instruction value related to the momentum of the pulsed liquid jet is input, the waveform shape related to the rise of the drive voltage waveform is changed so that the momentum becomes the first instruction value. As will be described later, the cutting depth and the cutting volume are highly correlated with the momentum of the pulsed liquid jet. Therefore, by directly instructing the momentum of the pulsed liquid jet, it is possible to realize a cutting depth and a cutting volume corresponding to the user's intention and operational feeling, and to improve usability.

In addition, a second invention further includes a second operation unit for inputting a second instruction value related to the number of injections per unit time of the pulsed liquid jet in the first invention, and the control unit includes: In the liquid ejection control device, the drive voltage waveform is controlled such that the number of ejections per unit time of the pulsed liquid jet is the second instruction value.

According to the second aspect of the invention, it is possible to instruct the number of injections of the pulsed liquid jet per unit time. According to this, for example, it is possible to increase or decrease the number of injections while maintaining the first instruction value. Of course, even if the number of injections is changed, the waveform shape related to the rise of the drive voltage waveform is controlled so that the momentum becomes the first indication value. Therefore, the cutting speed can be adjusted without changing the cutting depth or the cutting volume by the pulse liquid jet for one pulse before and after changing the number of injections, and the usability can be improved.

Further, a third invention further includes a third operation unit for inputting a third instruction value related to a voltage amplitude of the drive voltage waveform in the first or second invention, wherein the control unit includes the control unit In the liquid ejection control device, the voltage amplitude of the drive voltage waveform is controlled based on the third instruction value.

According to the third aspect of the invention, the voltage amplitude of the drive voltage waveform can be indicated.

According to a fourth aspect of the present invention, in any one of the first to third aspects, the control unit further includes a fourth operation unit for inputting a fourth instruction value related to a rise time of the drive voltage waveform. Is a liquid ejection control device that controls the rise time of the drive voltage based on the fourth instruction value.

According to the fourth aspect of the invention, the rise time of the drive voltage waveform can be indicated.

The fifth aspect of the invention is a liquid ejection control apparatus according to any one of the first to fourth aspects, further comprising a display control unit that performs control to display the first instruction value.

According to the fifth aspect of the invention, the first indication value relating to the momentum of the pulsed liquid jet can be displayed. According to this, the momentum of the current pulsed liquid jet instructed by the user can be visually confirmed. Therefore, usability can be further improved.

According to a sixth invention, in any one of the first to fifth inventions, the momentum of the pulsed liquid jet is 2 [nNs (nanonewton seconds)] or more and 2 [mNs (millinewton seconds)] or less, or motion The liquid ejecting control apparatus controls the liquid ejecting apparatus having an energy of 2 [nJ (nanojoule)] or more and 200 [mJ (millijoule)] or less.

According to the sixth aspect of the invention, the momentum of the pulsed liquid jet is 2 [nNs] or more and 2 [mNs] or less, or the kinetic energy is 2 [nJ] or more and 200 [mJ] or less, and the liquid ejecting apparatus is within that range. Can be controlled. Therefore, for example, it is suitable for cutting flexible materials such as living tissue, food, gel materials, resin materials such as rubber and plastic.

Further, a seventh invention is the liquid jet control device according to any one of the first to sixth inventions, wherein the liquid jet control device controls the liquid jet device for cutting a living tissue by the pulse liquid jet.

According to the seventh aspect of the invention, for example, the strength of the pulsed liquid jet suitable for surgical use can be controlled.

The eighth invention is a liquid jet system including the liquid jet control device according to any one of the first to seventh inventions, a liquid jet device, and a liquid feed pump device.

According to the eighth aspect of the invention, it is possible to realize a liquid ejection system that exhibits the effects of the first to seventh aspects of the invention.

The figure which shows the example of whole structure of a liquid injection system. The figure which shows the internal structure of a liquid ejecting apparatus. The figure which shows the drive voltage waveform for 1 period of a piezoelectric element, and the flow velocity waveform of the liquid in a liquid-jet opening part. The figure which shows mass flux, momentum flux, and energy flux. The figure which shows the flow velocity waveform of the main jet used by the simulation about the cutting aspect of a cutting target object. The figure which shows a simulation result (cutting depth). The figure which shows a simulation result (cutting volume). The figure which shows the simulation result of the flow velocity waveform of the main jet at the time of giving the drive voltage waveform from which a rising frequency differs. The figure which shows the simulation result of the flow velocity waveform of the main jet at the time of giving the drive voltage waveform from which voltage amplitude differs. The figure which shows the simulation result of the flow velocity waveform of the main jet at the time of giving the drive voltage waveform from which a repetition frequency differs. The figure which shows the correspondence of the energy in a predetermined repetition frequency, a rising frequency, and a voltage amplitude. The enlarged view of the rising part of a drive voltage waveform. The figure which shows the change of the flow velocity waveform of the main jet with respect to the change of a rising waveform shape. The figure which shows the simulation result of the cutting depth at the time of changing the half value width of a flow velocity waveform, and a cutting volume. The figure which shows the simulation result of momentum and energy at the time of changing the half value width of a flow velocity waveform. FIG. 3 is a diagram illustrating an operation panel of the liquid ejection control apparatus according to the first embodiment. FIG. 3 is a block diagram illustrating a functional configuration example of the liquid ejection control apparatus according to the first embodiment. The figure which shows the data structural example of the momentum conversion table in Example 1. FIG. 3 is a flowchart illustrating a flow of processing performed by a control unit when jetting a pulsed liquid jet in the first embodiment. FIG. 6 is a diagram illustrating an operation panel of a liquid ejection control apparatus in Embodiment 2. FIG. 6 is a block diagram illustrating a functional configuration example of a liquid ejection control apparatus according to a second embodiment. The figure which shows the data structural example of the momentum conversion table in Example 2. FIG. 9 is a flowchart illustrating a flow of processing performed by a control unit when jetting a pulsed liquid jet in the second embodiment. FIG. 10 is a diagram illustrating an operation panel of a liquid ejection control apparatus in Embodiment 3. FIG. 9 is a block diagram illustrating a functional configuration example of a liquid ejection control apparatus according to a third embodiment. The figure which shows the data structural example of the momentum conversion table in Example 3. FIG. 9 is a flowchart illustrating a flow of processing performed by a control unit when jetting a pulsed liquid jet in the third embodiment.

Hereinafter, an embodiment for carrying out the liquid ejection control device, the liquid ejection system, and the control method of the present invention will be described. It should be noted that the present invention is not limited to the embodiments described below, and modes to which the present invention can be applied are not limited to the following embodiments. In the description of the drawings, the same parts are denoted by the same reference numerals.

[overall structure]
FIG. 1 is a diagram illustrating an example of the overall configuration of a liquid ejection system 1 in the present embodiment. This liquid ejecting system 1 is a flexible material, for example, for a surgical operation with a living tissue as a cutting object, for a food processing with a food as a cutting object, for processing a gel material, or for cutting a resin material such as rubber or plastic. The momentum is 2 [nNs (nanonewton seconds)] or more and 2 [mNS (millinewton seconds)] or less, or the kinetic energy is 2 [nJ (nanojoules)] or more and 200 [ mJ (millijoule)] The following pulse liquid jet is ejected to cut the object to be cut. Hereinafter, a case where the liquid ejection system 1 is used for a surgical application and an affected part (living tissue) is incised, excised, or crushed (collectively referred to as “cutting”) will be exemplified. Further, the momentum flux and the momentum in the present embodiment will be described as referring to a scalar amount, that is, a magnitude considering only the jet direction component of the pulse liquid jet.

As shown in FIG. 1, the liquid ejecting system 1 ejects liquid in a pulse shape toward a container 10 that stores the liquid, a liquid feeding pump device 20, and a cutting target (a living tissue in the present embodiment). The liquid ejecting apparatus 30 and the liquid ejecting control apparatus 70 are provided.

In this liquid ejecting system 1, the liquid ejecting control device 70 includes an operation panel 80 that is operated by an operator during surgery. The operation panel 80 is for inputting various operations such as an exercise amount increase / decrease operation. Further, the liquid ejection control device 70 includes an ejection pedal 83 for the operator to step on the foot and switch between ejection start and ejection stop of the pulse liquid jet.

The container 10 contains a liquid such as water, physiological saline, or a chemical solution. The liquid feed pump device 20 always supplies the liquid stored in the container 10 to the pulse flow generation unit 40 of the liquid ejecting device 30 through the

connection tubes

91 and 93 at a predetermined pressure or a predetermined flow rate.

The liquid ejecting apparatus 30 is a part (hand piece) that is operated and held by an operator during surgery, and a pulse flow generating unit that generates a pulse flow by applying pulsation to the liquid supplied from the liquid feeding pump apparatus 20. 40 and a pipe-shaped injection pipe 50. The liquid ejecting apparatus 30 ejects the pulse flow generated by the pulse flow generating unit 40 as a pulsed liquid jet from a liquid ejecting opening 61 (see FIG. 2) finally provided in the nozzle 60 through the ejection tube 50. .

Here, the pulse flow means a pulsating flow of the liquid in which the flow velocity and pressure of the liquid are temporally large and rapidly change. Similarly, jetting liquid in a pulse form means pulsating jet of liquid in which the flow velocity of the liquid passing through the nozzle changes greatly with time. In the present embodiment, a case where a pulsed liquid jet generated by applying periodic pulsation to a steady flow is illustrated, but intermittent and intermittent pulsed liquid jet injection that repeats liquid injection and non-injection. In addition, the present invention can be similarly applied.

FIG. 2 is a diagram showing a cut surface obtained by cutting the liquid ejecting apparatus 30 along the liquid ejecting direction. Note that the vertical and horizontal scales of the members and portions shown in FIG. 2 are different from actual ones for convenience of illustration. As shown in FIG. 2, the pulse flow generator 40 changes the volume of the pressure chamber 44 into a cylindrical internal space formed by the first case 41, the second case 42, and the third case 43. Therefore, a piezoelectric element 45 and a diaphragm 46 are provided. The

cases

41, 42, and 43 are joined and integrated on the surfaces facing each other.

The diaphragm 46 is a disk-shaped thin metal plate, and an outer peripheral portion thereof is sandwiched and fixed between the first case 41 and the second case 42. The piezoelectric element 45 is, for example, a multilayer piezoelectric element, and one end is fixed to the diaphragm 46 between the diaphragm 46 and the third case 43 and the other end is fixed to the third case.

The pressure chamber 44 is a space surrounded by the diaphragm 46 and a recess 411 formed on the surface of the first case 41 facing the diaphragm 46. In the first case 41, an inlet channel 413 and an outlet channel 415 that communicate with the pressure chamber 44 are formed. The inner diameter of the outlet channel 415 is formed larger than the inner diameter of the inlet channel 413. The inlet channel 413 is connected to the connection tube 93 and introduces the liquid supplied from the liquid feed pump device 20 into the pressure chamber 44. One end of the injection pipe 50 is connected to the outlet channel 415, and a liquid flowing in the pressure chamber 44 is introduced into the injection pipe 50. A nozzle 60 having a liquid ejection opening 61 having an inner diameter that is smaller than the inner diameter of the ejection pipe 50 is inserted into the other end (tip) of the ejection pipe 50.

In the liquid ejection system 1 configured as described above, the liquid stored in the container 10 is connected to the connection tube 93 at a predetermined pressure or a predetermined flow rate by the liquid feed pump device 20 under the control of the liquid ejection control device 70. To be supplied to the pulse flow generator 40. On the other hand, when a drive signal is applied to the piezoelectric element 45 under the control of the liquid ejection control device 70, the piezoelectric element 45 expands and contracts (arrow A in FIG. 2). Since the drive signal applied to the piezoelectric element 45 is repeatedly applied at a predetermined repetition frequency (for example, several tens [Hz] to several hundred [Hz]), the expansion and contraction of the piezoelectric element 45 are repeated every period. Become. As a result, a pulsation is imparted to the steady flow liquid flowing in the pressure chamber 44, and the pulsed liquid jet is repeatedly ejected from the liquid ejection opening 61.

FIG. 3A is a diagram showing an example of a drive voltage waveform L11 of a drive signal for one cycle applied to the piezoelectric element 45, and also shows a liquid flow velocity waveform L13 in the liquid ejection opening 61. . FIG. 3B is a diagram in which the main jet 3 which is the highest flow velocity waveform (main peak portion) is extracted from the peaks of the flow velocity waveform L13 shown in FIG.

Tp shown in FIG. 3A is a repetition period (a time corresponding to one period of the drive voltage waveform), and its reciprocal is the repetition frequency. The repetition period Tp is about 1 [ms (milliseconds)] to 100 [ms], and the time required for the drive voltage waveform to rise to the maximum voltage (rise time) Tpr is 10 [μs (microseconds)] to It is about 1000 [μs]. The repetition period Tp is set as a time longer than the rise time Tpr. Further, when the reciprocal of the rise time Tpr is set as the rise frequency, the repetition frequency is set as a frequency lower than the rise frequency. The rise frequency and the rise time are both one of rise time index values related to the rise time of the drive voltage. Hereinafter, the rising frequency will be described as a representative example of the index value related to the rising time.

For example, assuming that the piezoelectric element 45 expands when a positive voltage is applied, the piezoelectric element 45 rapidly expands at the rising time Tpr, and the diaphragm 46 is pushed by the piezoelectric element 45 and bends toward the pressure chamber 44 side. When the diaphragm 46 is bent toward the pressure chamber 44, the volume of the pressure chamber 44 is reduced, and the liquid in the pressure chamber 44 is pushed out from the pressure chamber 44. Here, since the inner diameter of the outlet channel 415 is larger than the inner diameter of the inlet channel 413, the fluid inertance and fluid resistance of the outlet channel 415 are smaller than the fluid resistance of the inlet channel 413. Therefore, most of the liquid pushed out from the pressure chamber 44 due to the rapid expansion of the piezoelectric element 45 is introduced into the ejection pipe 50 through the outlet channel 415 and is pulsed by the liquid ejection opening 61 having a smaller diameter than the inner diameter. Shaped droplets, that is, pulsed liquid jets, which are ejected at high speed.

∙ After rising to the maximum voltage, the drive voltage will drop slowly. At that time, the piezoelectric element 45 contracts over a time longer than the rise time Tpr, and the diaphragm 46 is pulled by the piezoelectric element 45 and bent toward the third case 43 side. When the diaphragm 46 is bent toward the third case 43, the volume of the pressure chamber 44 is increased, and the liquid is introduced into the pressure chamber 44 from the inlet channel 413.

Since the liquid feed pump device 20 supplies the liquid to the pulse flow generation unit 40 at a predetermined pressure or a predetermined flow rate, the liquid flowing in the pressure chamber 44 (steady flow) unless the piezoelectric element 45 performs an expansion / contraction operation. Is introduced into the ejection pipe 50 through the outlet channel 415 and ejected from the liquid ejection opening 61. Since this injection is a constant-speed and low-speed liquid flow, it can be said that it is a steady flow.

With reference to FIG. 3 (B), the characteristic value of the flow velocity waveform of the main jet 3 will be described. First, the duration T of the main jet 3 peaks as the flow velocity waveform L13 increases from the steady flow velocity Ubg. It is the time until the original flow rate Ubg is returned after reaching. The duration T is the sum of the flow velocity rise time Tr required for the flow velocity to reach a peak and the flow velocity fall time Tf required for the flow velocity to return from the peak. The maximum flow velocity Um of the main jet 3 is the sum of the steady flow flow velocity Ubg and the maximum flow velocity amplitude ΔUm.

[Principle 1]
The value that characterizes the pulsed liquid jet is basically the flow velocity waveform L13 at the liquid ejection opening 61 of the jet for one pulse, which is shown together with the drive voltage waveform L11 in FIG. Of particular note is the main jet 3, which is the main peak portion (the jet of the first wave) of the maximum flow velocity that occurs immediately after the rise of the drive voltage shown in FIG. 3B. The other low peak is caused by the jet jetting incidentally as the wave of pressure fluctuation generated in the pressure chamber 44 when the piezoelectric element 45 extends is reflected back and forth in the jet pipe 50. It is the main jet 3 having the largest flow velocity that determines the cutting mode such as the cutting depth and the cutting volume of the object.

Incidentally, when it is desired to change the cutting depth or the cutting volume of the object to be cut by changing the strength of the pulse liquid jet, the drive voltage waveform of the piezoelectric element 45 is controlled. The driving voltage waveform can be controlled by an operator instructing the rising frequency of the driving voltage waveform or the amplitude (voltage amplitude) of the driving voltage waveform as the voltage characteristic value. For example, a method in which the surgeon instructs the rising frequency (or the rising time Tpr) with the voltage amplitude fixed, or the voltage amplitude with the rising frequency fixed can be considered. This is because the voltage amplitude and its rising frequency (rise time Tpr) greatly affect the flow velocity waveform of the main jet 3. The drive voltage during the gradual drop after the drive voltage rises to the maximum voltage does not significantly affect the flow velocity waveform of the main jet 3. Therefore, it seems that if the rising frequency is increased or the voltage amplitude is increased, the cutting depth becomes deeper and the cutting volume becomes larger in proportion to it. The voltage amplitude is the maximum value of the drive voltage waveform L11.

However, it has been found that the cutting depth and the cutting volume of the cutting object that are actually achieved may not always change in accordance with the increase or decrease of the voltage characteristic value, and may deteriorate the usability. For example, even if the surgeon doubles the voltage amplitude, the cutting depth and volume will not increase as expected, or even if the voltage amplitude is halved, the cutting depth and volume will not decrease as expected. There was a case where it happened. Therefore, the situation where the cutting depth and the cutting volume which an operator desires cannot be achieved may arise. This is a problem that may lead to prolonged operation time.

Also, there are cases where it is desired to adjust the cutting speed separately from the strength of the pulsed liquid jet. As a specification for that purpose, a method in which the surgeon instructs the repetition frequency of the drive voltage waveform can be considered. For example, increasing the repetition frequency means increasing the number of injections of the pulsed liquid jet per unit time, and the finally achieved cutting depth and cutting volume vary.

However, when the repetition frequency is changed, the driving voltage waveform changes. Therefore, even if the repetition frequency is changed, the cutting depth and the cutting volume per unit time do not change proportionally, and the operator may not be easy to use. Specifically, for example, a method of changing the repetition frequency by simply scaling the entire drive voltage waveform in the time axis direction is conceivable. However, in this method, since the rising frequency that greatly affects the flow velocity waveform of the main jet 3 fluctuates, the strength of the pulsed liquid jet changes as described above. Therefore, the intended cutting speed proportional to the repetition frequency cannot be obtained.

Therefore, paying attention to the flow velocity waveform of the main jet 3, the correlation between the cutting depth and the cutting volume was examined for several parameters determined by the flow velocity waveform of the main jet 3. If a parameter having a high correlation with the cutting depth and the cutting volume is found, the piezoelectric element 45 can be controlled with a driving voltage waveform that is optimal for achieving the cutting depth and the cutting volume according to the operator's sense of operation. It is.

For this purpose, first, based on the flow velocity waveform v [m / s] of the main jet 3 in the liquid jet opening 61, the mass flux [kg / s] of the main jet 3 passing through the liquid jet opening 61, the momentum flow. The bundle [N] and the energy flux [W] were examined. The mass flux is a mass [kg / s] per unit time of the liquid passing through the liquid ejection opening 61. The momentum flux is the momentum [N] per unit time of the liquid passing through the liquid ejection opening 61. The energy flux is energy [W] per unit time of the liquid passing through the liquid ejection opening 61. Energy refers to kinetic energy and is hereinafter abbreviated as “energy”.

Since the liquid is released into the free space at the liquid ejection opening 61, the pressure can be regarded as almost “0”. Also, the velocity in the direction orthogonal to the liquid jetting direction (the radial direction of the liquid jetting opening 61) can be regarded as almost “0”. Assuming that there is no liquid velocity distribution in the radial direction of the liquid ejection opening 61, the mass flux Jm [kg / s], the momentum flux Jp [N], and the energy flux Je passing through the liquid ejection opening 61 are assumed. [W] can be obtained by the following equations (1), (2), and (3). S [m ² ] represents the nozzle cross-sectional area, and ρ [kg / m ³ ] represents the working fluid density.
Jm = S · ρ · v (1)
Jp = S · ρ · v ² (2)
Je = 1/2 · ρ · S · v ³ (3)

FIG. 4 is a diagram showing mass flux Jm (A), momentum flux Jp (B), and energy flux Je (C) obtained from the flow velocity waveform of main jet 3 shown in FIG. 3 (B). . If each of the mass flux Jm, momentum flux Jp, and energy flux Je is integrated within the time (duration) T from the rise to the fall of the flow velocity waveform of the main jet 3, the liquid is ejected as the main jet 3. The mass, momentum, and energy of the liquid ejected from the opening 61 can be obtained.

The values of mass flux Jm, momentum flux Jp, energy flux Je, mass, momentum, and energy calculated in the manner described above can determine the cutting depth and cutting volume by the jet for one pulse. Conceivable. However, both are physical quantities including a steady flow component, and what is important is a value obtained by subtracting the contribution of the steady flow component.

Therefore, regarding the mass flux Jm in FIG. 4A, the maximum mass flux Jm_max [kg / s] obtained by subtracting the steady mass flux Jm_BG [kg / s] from the peak value (maximum value) of the mass flux Jm. And the outflow mass M [kg] indicated by hatching in FIG. 4A in which the steady flow component is removed from the mass of the liquid flowing out from the liquid ejection opening 61 as the main jet 3 is defined. To do. The outflow mass M is expressed by the following formula (4).

With respect to the momentum flux Jp in FIG. 4B, the maximum momentum flux Jp_max [N] obtained by subtracting the steady momentum flux Jp_BG [N] from the peak value (maximum value) of the momentum flux Jp, and the main jet 3, two parameters of momentum P [Ns] indicated by hatching in FIG. 4B in which the steady flow component is removed from the momentum of the liquid flowing out from the liquid ejection opening 61 are defined. The momentum P is expressed by the following equation (5).

Regarding the energy flux Je in FIG. 4C, the maximum energy flux Je_max [W] obtained by subtracting the steady-state energy flux Je_BG [W] from the peak value (maximum value) of the energy flux Je, and the main jet 3, two parameters of energy E [J] shown by hatching in FIG. 4C in which the steady flow component is removed from the energy of the liquid flowing out from the liquid ejection opening 61 are defined. The energy E is expressed by the following formula (6).

However, the integration interval in the above formulas (4), (5), and (6) is the time (duration) T from the rise to the fall of the main jet 3 in each flow velocity waveform.

Then, using numerical simulation, the six parameters of maximum mass flux Jm_max, outflow mass M, maximum momentum flux Jp_max, momentum P, maximum energy flux Je_max, and energy E are respectively determined as cutting depth and cutting volume. And how much it correlates.

Here, the pulse liquid jet is a fluid, and the object to be cut is a flexible elastic body. Therefore, in order to simulate the fracture behavior of an object to be cut by a pulsed liquid jet, an appropriate fracture threshold is set on the flexible elastic body side, and a so-called fluid and structure (here, flexible elastic body) are coupled. Analysis (fluid-structure interaction analysis (FSI)) must be performed. As a simulation calculation method, for example, a method using a finite element method (FEM), a method using a particle method represented by SPH (Smoothed Particle Particle), a finite element method and a particle method The method etc. which combined these are mentioned. Although the method to be applied is not particularly limited and will not be described in detail, an optimal method was selected in consideration of the stability of the analysis result, the calculation time, etc., and the simulation was performed.

In the simulation, fluid density = 1 [g / cm ³ ], diameter of the liquid ejection opening 61 = 0.15 [mm], standoff distance (distance from the liquid ejection opening 61 to the surface of the cutting object) = 0. It was set to 5 [mm]. Further, it is assumed that the object to be cut is a flexible elastic body having a flat surface. As a physical model, density = 1 [g / cm ³ ], about 9 [kPa] in terms of Young's modulus (3 [kPa in terms of shear modulus) A Mooney-Rivlin superelastic body having an elastic modulus of about]. As the fracture threshold, deviation equivalent strain = 0.7 was used.

As for the flow velocity waveform of the main jet 3, assuming various flow velocity waveforms of the main jet 3, the amplitude (maximum value of the flow velocity) is set to 12 [m / s] for three types of waveforms, a sine wave, a triangular wave, and a rectangular wave. A total of 27 types were prepared by changing three types within the range of 76 [m / s] and the duration within the range of 63 [μs] to 200 [μs]. The flow rate of the steady flow is 1 [m / s].

FIG. 5 is a diagram showing a sine wave (A), a rectangular wave (B), and a triangular wave (C) given as flow velocity waveforms of the main jet 3 in the simulation, each having a duration of 63 [μs] indicated by a solid line. And those having a duration of 125 [μs] indicated by a one-dot chain line and those having a duration of 200 [μs] indicated by a two-dot chain line were prepared. Then, a pulsed liquid jet is generated by giving the prepared waveform as the flow velocity waveform of the main jet 3, and the fracture behavior of the flexible elastic body when it is shot into the flexible elastic body is simulated to examine the cutting depth and the cutting volume. went.

In FIG. 6, the vertical axis represents the cutting depth of the object to be cut, and the horizontal axis represents the maximum mass flux Jm_max (A), the outflow mass M (B), the maximum momentum flux Jp_max (C), the momentum P (D), the maximum It is the figure which plotted the result of the simulation made into energy flux Je_max (E) and energy E (F). In FIG. 6, a simulation result when a sine wave having a duration of 63 [μs] is given as a flow velocity waveform of the main jet 3 is plotted with “*”, and a simulation result when a sine wave of 125 [μs] is given. A plot of “♦” and a simulation result when a sine wave of 200 [μs] is given are shown by a plot of “−”. In addition, the simulation result when a triangular wave having a duration of 63 [μs] is given as the flow velocity waveform of the main jet 3 is plotted as “+”, and the simulation result when a triangular wave of 125 [μs] is given as “×”. A plot, the simulation result when a triangular wave of 200 [μs] is given, is indicated by a plot of “■”. Also, the simulation result when the rectangular wave having a duration of 63 [μs] is given as the flow velocity waveform of the main jet 3 is plotted with “●”, and the simulation result when the rectangular wave of 125 [μs] is given is blacked out. A triangular plot of, and a simulation result when a rectangular wave of 200 [μs] is given is shown by a “−” plot.

As shown in FIGS. 6 (A), (C), and (E) in the upper stage, the relationship between the three parameters, the maximum mass flux Jm_max, the maximum momentum flux Jp_max, and the maximum energy flux Je_max, and the cutting depth is It was found that there was a large variation depending on the shape of the waveform given as the flow velocity waveform of the main jet 3, and the correlation between the two was low. In particular, since the mass flux is a value proportional to the flow velocity, it is suggested that the cutting depth is not determined only from the maximum flow velocity of the main jet 3.

Next, looking at the relationship between the three parameters of outflow mass M, momentum P, and energy E shown in FIGS. 6B, 6D, and 6F and the cutting depth, the outflow mass M and The relationship with the cutting depth largely varies depending on the waveform shape given as the flow velocity waveform of the main jet 3, and the correlation is low. On the other hand, in relation to the momentum P and the energy E, the variation due to the shape of the given waveform is small, and the respective plots are distributed almost on the same curve. In the momentum P and the energy E, the momentum P has a smaller variation. Therefore, it can be said that the cutting depth is highly correlated with the momentum P and the energy E, and particularly well correlated with the momentum P.

Here, the simulation is performed for the case where the diameter of the liquid ejection opening is 0.15 [mm] and the standoff distance is 0.5 [mm]. However, other liquid ejection opening diameters and other stands are used. A simulation was performed even at an off-distance, and it was confirmed that the qualitative tendency that the cutting depth was highly correlated with the momentum P and the energy E did not change significantly.

In FIG. 7, the vertical axis represents the cutting volume of the object to be cut, and the horizontal axis represents the maximum mass flux Jm_max (A), the outflow mass M (B), the maximum momentum flux Jp_max (C), the momentum P (D), the maximum It is the figure which plotted the result of the simulation as energy flux Je_max (E) and energy E (F). The relationship between the waveform given as the flow velocity waveform of the main jet 3 and the type of plot is the same as in FIG.

As shown in FIGS. 7 (A), (C), and (E) in the upper stage, the relationship between the three parameters of the maximum mass flux Jm_max, the maximum momentum flux Jp_max, and the maximum energy flux Je_max and the cutting volume is Although not as much as the relationship with the cutting depth, it varies depending on the shape of the waveform given as the flow velocity waveform of the main jet 3, and the correlation between the two is considered to be low.

Next, looking at the relationship between the three parameters of outflow mass M, momentum P, and energy E shown in FIGS. 7B, 7D, and 7F and the cutting volume, the outflow mass M and The relationship with the cutting volume varies greatly depending on the waveform shape given as the flow velocity waveform of the main jet 3 as well as the cutting depth, and the correlation is low. On the other hand, in relation to the momentum P and the energy E, the variation due to the waveform shape given is the same as the cutting depth, and each plot is distributed almost on the same straight line. Further, the energy E has a smaller variation than the momentum P. Therefore, it can be said that the cutting volume has a high correlation with the momentum P and the energy E, and particularly has a good correlation with the energy E.

Here, the simulation is performed for the case where the diameter of the liquid ejection opening is 0.15 [mm] and the standoff distance is 0.5 [mm]. However, other liquid ejection opening diameters and other stands are used. A simulation was also performed at an off-distance, and it was confirmed that the qualitative tendency that the cutting volume was highly correlated with the momentum P and the energy E did not change significantly.

Based on the above examination results, the present embodiment focuses on the momentum P. Then, a simulation is performed in advance on a typical drive voltage waveform actually applied to the piezoelectric element 45, and the correspondence between the momentum P and the control parameter defining the drive voltage waveform is acquired.

Although various control parameters can be considered, as “Principle 1”, here, the control parameters are assumed to be three, that is, the rising frequency, the voltage amplitude, and the repetition frequency. These control parameters were set to be variable, and the flow velocity waveform of the main jet 3 was obtained by simulation. The simulation can be easily performed, for example, using a numerical simulation based on an equivalent circuit method based on a model in which the flow path system of the liquid ejecting apparatus is replaced with fluid (flow path) resistance, fluid inertance, fluid compliance, and the like. . Alternatively, if more accuracy is required, fluid simulation using a finite element method (FEM), a finite volume method (FVM), or the like may be used.

First, the flow velocity waveform of the main jet 3 was obtained by simulation by giving a drive voltage waveform with the voltage amplitude and repetition frequency fixed and the rising frequency changed stepwise. FIG. 8A is a diagram illustrating an example of a given drive voltage waveform. Each drive voltage waveform has a voltage amplitude of V2, a repetition period Tp of T2, and a rising time Tpr that is increased stepwise from T21 to T25 (the rising frequency is decreased stepwise).

FIG. 8B is a diagram showing a simulation result of the flow velocity waveform of the main jet 3 when the drive voltage waveforms having different rising frequencies shown in FIG. 8A are given. As shown in FIG. 8B, when the rising frequency is lowered (longer in terms of the rising time Tpr), the flow velocity waveform of the main jet 3 has a longer duration while rising without changing the start timing of rising, The flow velocity amplitude (maximum value of the flow velocity) is also reduced.

Second, the flow velocity waveform of the main jet 3 was obtained by simulation by fixing the rising frequency and the repetition frequency and giving a driving voltage waveform in which the voltage amplitude was changed stepwise. FIG. 9A is a diagram illustrating an example of a given drive voltage waveform. Each drive voltage waveform has a rise time Tpr of T31, a repetition period Tp of T33, and a voltage amplitude that is gradually reduced from V31 to V35.

FIG. 9B is a diagram showing a simulation result of the flow velocity waveform of the main jet 3 when the drive voltage waveforms having different voltage amplitudes shown in FIG. 9A are given. As shown in FIG. 9B, when the voltage amplitude is reduced, the flow velocity waveform of the main jet 3 maintains the duration during the rise, unlike the case where the rise frequency is lowered, and the flow velocity amplitude (maximum value of the flow velocity). Becomes smaller.

Third, the flow velocity waveform of the main jet 3 was obtained by simulation by giving a driving voltage waveform with the rising frequency and voltage amplitude fixed and the repetition frequency changed stepwise. FIG. 10A is a diagram illustrating an example of a given drive voltage waveform. Each drive voltage waveform has a rise time Tpr of T4, a voltage amplitude of V4, and the falling period after the drive voltage rises to the maximum voltage is widened in the time axis direction so that the repetition period Tp is stepwise from T41 to T45. Longer (repetitive frequency is lowered stepwise).

FIG. 10B is a diagram showing a simulation result of the flow velocity waveform of the main jet 3 when the drive voltage waveforms having different repetition frequencies shown in FIG. 10A are given. As shown in FIG. 10 (B), when the repetition frequency is lowered (in the repetition period Tp, it is longer), the flow velocity waveform of the main jet 3 is smaller than the case where the rising frequency is lowered, but the duration is long. become longer. The flow velocity amplitude (maximum flow velocity) remained maintained.

Subsequently, the momentum P was obtained for each of the obtained flow velocity waveforms of the main jet 3. In detail, while changing the repetition frequency in the manner described with reference to FIG. 10, the simulation in the case where the voltage amplitude is fixed and the rising frequency is changed in the manner described with reference to FIG. 8 for each repetition frequency. And the simulation when the rising frequency was fixed and the voltage amplitude was changed as described with reference to FIG. 9 was performed. And the momentum P of the flow velocity waveform of the main jet 3 obtained by each simulation was calculated | required.

FIG. 11 is a diagram showing a correspondence relationship between the momentum P obtained at a predetermined repetition frequency (for example, expressed as “F51”), the rising frequency, and the voltage amplitude. This FIG. 11 is obtained by drawing a contour line related to the momentum P in a coordinate space having the vertical axis as the rising frequency and the horizontal axis as the voltage amplitude. The momentum P51, P52,... Of each contour line is lower in the lower left of FIG. 11, and increases by a predetermined amount toward the upper right. Although not shown, if momentum P obtained at another repetition frequency is plotted in the same coordinate space and contour lines are drawn, it corresponds to the correspondence between the momentum P at the repetition frequency and the rising frequency and voltage amplitude. A contour map is obtained.

Here, it should be noted that the momentum P does not change linearly with respect to the parameters in each coordinate axis direction. For example, let us consider a case in which the drive voltage waveform of the piezoelectric element 45 is controlled with the voltage amplitude fixed (for example, V5) and the rising frequency variable in the correspondence relationship between the momentum P, the rising frequency, and the voltage amplitude shown in FIG. In order to keep the amount of change of the momentum P constant, a frequency change between the rising frequencies f52 and f53 is required between the momentum P52 and P53, and a frequency change between the rising frequencies f53 and f54 is required between the momentum P53 and P54. Become. However, the frequency interval between the rising frequencies f52 to f53 is different from the frequency interval between the rising frequencies f53 to f54. Therefore, when the operation is performed with the voltage amplitude fixed and the rising frequency being changed by a certain amount, the momentum P does not change as expected, so that the cutting depth and the cutting volume do not change as intended or perceived by the operator. It can be said that such a situation can occur. The same can be said for an operation in which the rising frequency is fixed and the voltage amplitude is changed by a certain amount.

[Principle 2]
Next, in addition to the three control parameters that define the drive voltage waveform described above, additional control parameters are introduced. It is a parameter called a waveform shape related to the rise of the drive voltage waveform (hereinafter referred to as “rise waveform shape”).

First, an enlarged view of the rising portion of the drive voltage waveform is shown in FIG.
Looking at the inflection point R of the waveform curve in the rising portion, the process from the driving voltage “0” to the inflection point R while increasing along the downwardly convex curve, and the inflection point R It can be seen that it is composed of two curve portions, a process of reaching the voltage amplitude Vm along the upwardly convex curve. Since the piezoelectric element 45 extends substantially linearly with respect to the drive voltage V, it can be said that the inflection point R corresponds to a peak in the flow velocity waveform L13 of the main jet 3. Therefore, the waveform shape from the driving voltage “0” to the inflection point R (hereinafter referred to as “first rising waveform shape”) and the waveform shape from the inflection point R to the voltage amplitude Vm (hereinafter “rising second half waveform”). By adjusting the “shape”, the flow velocity waveform of the main jet 3 can be changed without changing the flow velocity peak timing.

Specifically, in order to verify the effect of changing the rising waveform shape, let us consider fixing the three control parameters of voltage amplitude, repetition frequency, and rising frequency. That is, the positions (timing and drive voltage) of “rise start point r0 (drive voltage = 0 point)”, “rise end point r1 (drive voltage = voltage amplitude)”, and inflection point R of the drive voltage waveform. Let us consider changing the rising waveform shape by changing the increasing tendency of voltage, such as whether to start up slowly or suddenly.

It should be noted that “abrupt startup” can mean that the change in the voltage change rate between the start point r0 and the end point r1 is larger than that in the case of “slow startup”. It can also be said that the voltage change rate in the vicinity of the inflection point is larger than in the case of “starting slowly”. It can also be said that the slope of the drive voltage waveform in the vicinity of the inflection point is closer to 90 ° in the case of “starting up suddenly” than in the case of “starting up slowly”.

For example, consider a case where the inflection point R is located at the intersection of a drive voltage waveform and a line segment connecting the rise start point r0 and the rise end point r1 of the drive voltage waveform. FIG. 12 shows, as an example, the correspondence between the value of N and the rising waveform shape of the reference waveform V (t) with N as a variable. Note that the waveform shape conforms to Equation (7) described later. When the rising waveform shape is made asymptotic to a linear shape so as to approach the waveform of N = 0.3 from the waveform of N = 3.0 in FIG. 12, the flow velocity waveform of the main jet 3 increases more gradually. It becomes a waveform. On the other hand, a waveform (for example, a staircase shape) in which the drive voltage is suddenly increased at the inflection point R so as to approach the waveform of N = 3.0 from the waveform of N = 0.3 in FIG. Asymptotically, the flow velocity waveform of the main jet 3 becomes a flow velocity waveform in which the flow velocity increases more rapidly at the timing corresponding to the inflection point R.

FIG. 13 shows an overview of changes in the flow velocity waveform of the main jet 3 with respect to changes in the rising waveform shape. In FIG. 13, two flow velocity waveforms are shown, where the solid flow velocity waveform is a case where the rising trend of the rising waveform shape is slow, and the broken flow velocity waveform is a case where the rising trend of the rising waveform shape is abrupt. It is. In any case, the outflow mass M (see FIG. 4A) is the same, and the peak timing of the flow velocity is also the same. However, the maximum flow velocity Um is different, and the overall shape of the flow velocity waveform is also different. Therefore, the half width is adopted as a value indicating the characteristics of the flow velocity waveform. In FIG. 13, each variable of the calculation process of the half value width FWHM with respect to the flow velocity waveform of a broken line is shown. The half-value width FWHM of the flow velocity waveform reaches a value (hereinafter referred to as “half-value”) obtained by adding half the value of the maximum velocity amplitude ΔUm (ΔUm / 2) to the steady flow velocity Ubg during the increase of the flow velocity. The time from when the flow velocity is lowered to halfway to the halfway point.

A small half-value width FWHM indicates that the flow velocity waveform has a steep shape as a whole. Conversely, a large half-value width FWHM indicates that the flow velocity waveform has a gentle shape as a whole. .

Next, the simulation of the cutting depth and the cutting volume when the half-width FWHM of the flow velocity waveform was changed was performed, and the result will be described.

The simulation was performed by the same calculation method as the simulation of the flow velocity waveform described above. That is, the pulse liquid jet is a fluid, and the object to be cut is a flexible elastic body. Therefore, simulation was performed as the fracture behavior of an object to be cut by a pulsed liquid jet. In this embodiment, the simulation calculation method sets an appropriate fracture threshold value on the flexible elastic body side, and then couples the fluid and the structure (here, the flexible elastic body) (fluid / structure training analysis (FSI)). Adopted Fluid Structure Interaction (FEM), for example, a method using Finite Element Method (FEM), a method using particle method represented by SPH method (Smoothed Particle Particle Hydrodynamic), Finite Element Method and Particle A method combined with a method may be used.

In the simulation, the diameter of the liquid ejection opening 61 was set to 0.15 [mm], and the standoff distance (distance from the liquid ejection opening 61 to the surface of the cutting object) was set to 1.0 [mm]. Further, the cutting object is assumed to be a flexible elastic body having a flat surface, and Mooney-Rivlin having an elastic modulus of about 9 [kPa] in terms of Young's modulus (about 3 [kPa] in terms of shear modulus) as a physical model thereof. A superelastic body was obtained. The destruction threshold was set to deviation equivalent strain = 0.7. Both the density of the liquid and the density of the flexible elastic body were 1 [g / cm ³ ].

The flow velocity waveform L13 of the main jet 3 that strikes the cutting target material forcedly applied to the nozzle hole outlet has a maximum flow velocity Um of 50 [m / s], a duration T of 125 [μs], and a half-value width FWHM of 61 [μs]. The flow velocity waveform L13 is assumed to be a “reference flow velocity waveform”, the duration T and the outflow mass M being constant, and various FWHMs FWHM. Specifically, the half-value width FWHM of the flow velocity waveform was assumed to be six levels of 39 [μs], 48 [μs], 61 [μs], 74 [μs], 85 [μs], and 124 [μs]. The steady flow velocity Ubg was 1 [m / s].

FIGS. 14A to 14C show simulation results. 14A to 14C, only the horizontal axis is changed, and the vertical axis is the same. The horizontal axis will be described. FIG. 14A shows a ratio RFWHM (= FWHM / FWHMref) of the half width FWHM of each flow velocity waveform to the half width FWHMref of the reference flow velocity waveform, and FIG. 14B shows the reference flow velocity waveform. 14 is a ratio REf (= 1 / RFWHM) of the reciprocal of the half-value width (1 / FWHM) of each flow velocity waveform to the reciprocal of the half-value width (1 / FWHMref), and FIG. The ratio RAR (= (ΔUm / FWHM) / (ΔUmref / FWHMref)) of the ratio of the flow velocity maximum amplitude ΔUm and the half-value width FWHM of each flow velocity waveform to the ratio of ΔUmref and the half-value width FWHMref.
In the vertical axes of FIGS. 14A to 14C, the left axis is the cutting depth and the right axis is the cutting volume.
In FIGS. 14A to 14C, white plot points indicate the case of the reference flow velocity waveform.

According to FIG. 14 (A), the cutting depth and the cutting volume both decrease with the increase of the specific RFWHM. Further, it can be seen that the cutting volume is more greatly reduced than the cutting depth, and the change width is large. According to FIGS. 14B and 14C, the cutting depth and the cutting volume both increase as the ratio REf and the ratio RAR increase. Moreover, it turns out that the cutting volume increases more greatly than the cutting depth, and the change width is large.

That is, if the maximum flow velocity Um of the main jet 3 is increased and the entire flow velocity waveform has a steep shape while keeping the duration T and the outflow mass M constant, the cutting depth and the cutting volume increase, and the maximum flow velocity Um decreases. When the entire flow velocity waveform is gently shaped, it can be seen that the cutting depth and the cutting volume can be reduced. This means that the cutting depth and the cutting volume can be changed by changing the rising waveform shape of the drive voltage waveform so as to change the rate of increase and decrease.

Next, the results of calculating the momentum P and the energy E for the six levels of the flow velocity waveform are shown in FIGS. 15 (A) to (C). The horizontal axes of FIGS. 15A to 15C correspond to FIGS. 14A to 14C, respectively. FIG. 15A is the ratio RFWHM, FIG. 15B is the ratio REf, and FIG. (C) is the ratio RAR. In the vertical axis, the left axis is the momentum P and the right axis is the energy E. In FIGS. 15A to 15C, the white plot points indicate the case of the reference flow velocity waveform.

According to FIG. 15 (A), both the momentum P and the energy E decrease as the specific RFWHM increases. It can also be seen that the energy E decreases more than the momentum P, and the change width is large. According to FIGS. 15B and 15C, the momentum P and the energy E both increase as the ratio REf and the ratio RAR increase. Further, it can be seen that the energy E increases more than the momentum P, and the change width is large.

Changes in the momentum P and the energy E with respect to the ratio RFWHM, the ratio REf, and the ratio RAR in FIGS. 15A to 15C are shown in the ratio RFWHM, the ratio REf, and the ratio RAR shown in FIGS. It corresponds very well to the change of the cutting depth and the cutting volume with respect to. As described above, the cutting depth and the cutting volume correlate well with the momentum P and the energy E.

As described above, as the control parameter that defines the drive voltage waveform, the rising waveform shape of the drive voltage waveform, more specifically, the change in the increasing tendency of the drive voltage such as whether it rises slowly or suddenly (sudden) It was found that the cutting depth and the cutting volume can be effectively controlled by using.

The rising waveform shape of the drive voltage waveform L11 can be specified by, for example, the following equation (7), where time t is a variable and a reference waveform is V (t).

Here, Vp is the drive voltage, Vm is the voltage amplitude, Tpr is the rise time, Vc is the drive voltage at the inflection point, and Tpr is the time at the inflection point R (see FIG. 12). N is a positive number larger than “0 (zero)”.

N in FIG. 12 is N in Expression (7). By setting N = 1, the rising waveform shape of the drive voltage waveform L11 can be used as the reference waveform. The drive voltage waveform rises sharply as the N is larger than 1 compared to the reference waveform. Conversely, as N is made smaller than 1 and closer to 0 (zero), the driving voltage waveform rises more slowly than the reference waveform, and gradually approaches a straight line connecting the rising start point r0 and the rising end point r1. .

According to Expression (7), it can be seen that the rising waveform shape of the drive voltage waveform L11 can be controlled by changing the variable N. However, this is an example, and another function may be used.

Further, as a method of changing the variable N, the variable N itself may not be used as the control target value, but another value correlated with the variable N may be determined, and this other value may be used as the control target value. For example, a method is conceivable in which the variable N is changed based on the above-described ratio RFWHM, ratio REf, and ratio RAR. Further, in the rising waveform of the drive voltage waveform L11, an effective rising time Tpr10_90 is determined as a time required to reach 10% to 90% of the voltage amplitude Vm. 1) Desired with respect to the effective rising time Tpr10_90ref of the reference driving voltage waveform The ratio RTpr10_90 of the effective rise time Tpr10_90 of the drive voltage waveform of 2) and the effective rise frequency ratio REf10_90 that is the reciprocal of the ratio RTpr10_90 of 2) 1) with respect to the effective slew rate of the reference drive voltage waveform (= Vm10_90 / Tpr10_90ref) An effective slew rate ratio RSR10_90 that is a ratio of an effective slew rate (= Vm10_90 / Tpr10_90) of a desired drive voltage waveform may be used. Vm10_90 is a voltage from 10% to 90% of the voltage amplitude Vm.

Although the principle has been described, in this embodiment, at least an increase / decrease operation of the momentum P and an increase / decrease operation of the repetition frequency are accepted as operations performed by the operator during the operation, and the operation is performed at the specified repetition frequency. It is assumed that the rising waveform shape so as to achieve the momentum P is determined and the driving of the piezoelectric element 45 is controlled. Therefore, the correspondence relationship between the momentum P, the repetition frequency, and the rising waveform shape is preliminarily created as a data table. The rising waveform shape stored in the data table may be data of the shape itself, and for example, the value of N in Expression (7) can be used as the index value of the rising waveform shape. If the repetition frequency may be constant, the rising waveform shape may be determined by accepting only the increase / decrease operation of the momentum P without using the increase / decrease operation of the repetition frequency.

The index value of the rising waveform shape stored in the data table may be, for example, any one of the ratio RFWHM, the ratio REf, the ratio RAR, the ratio RTpr10_90, the effective rising frequency ratio REf10_90, and the effective slew rate ratio RSR10_90. .

Example 1
First, Example 1 will be described. FIG. 16 is a diagram illustrating an operation panel 80-1 provided in the liquid ejection control apparatus 70-1 according to the first embodiment. As shown in FIG. 16, the operation panel 80-1 includes a momentum dial 811 as a first operation unit, a repetition frequency dial 813 as a second operation unit, a power button 82, an injection button 84, A pump drive button 85 and a liquid crystal monitor 87 are provided.

The exercise amount dial 811 is used to input an instruction value (exercise amount instruction value) of the exercise amount P as the first instruction value. For example, the dial number of 5 steps with scales “1” to “5” is provided. It is configured to be selectable. The operator increases or decreases the amount of exercise P in five stages by switching the dial position of the amount of exercise dial 811. For each dial position, for example, a momentum instruction value is assigned in advance so as to increase by a certain amount in proportion to the value of the corresponding scale. The number of steps of the dial position is not limited to five, and may be set as appropriate, such as three steps of “large”, “medium”, and “small”, or enabling stepless adjustment.

The repetition frequency dial 813 is used to input a repetition frequency instruction value (repetition frequency instruction value) as a second instruction value. For example, the repetition frequency dial 813 has five steps of “1” to “5” as in the exercise amount dial 811. The dial position can be selected. Note that the repetition frequency dial 813 may be configured to include an activate switch for switching the validity / invalidity of the operation on the repetition frequency dial 813 on the assumption that the operator mainly performs an increase / decrease operation of the amount of exercise P. The operator switches the dial position of the repetition frequency dial 813 to increase or decrease the repetition frequency (for example, several tens [Hz] to several hundred [Hz]) of the drive voltage waveform repeatedly applied to the piezoelectric element 45 in five steps. To do. For example, a frequency instruction value is repeatedly assigned to each dial position in advance so as to increase by a certain amount in proportion to the value of the corresponding scale. Note that the number of steps of the dial position is not limited to five, and the number of steps may be set as appropriate. Further, the number of steps may be different from that of the momentum dial 811. If the repetition frequency is set to a predetermined value and the increase / decrease operation of the repetition frequency is not required, the repetition frequency dial 813 need not be provided.

As described above, in the first embodiment, the operation performed by the surgeon during the operation is assumed to be two operations: an increase / decrease operation of the momentum P using the exercise amount dial 811 and an increase / decrease operation of the repetition frequency using the repetition frequency dial 813. Then, the voltage amplitude and the rising frequency are fixed, and the rising waveform shape of the driving voltage that gives the momentum P designated by the designated repetition frequency is made into a data table in advance. The rising waveform shape to be converted into a data table may be data of the waveform shape itself, or may be an index value indicating the rising waveform shape (for example, the value of N in Expression (7)).

The power button 82 is for switching the power ON / OFF. The injection button 84 is for switching the injection start and the injection stop of the pulsed liquid jet, and provides the same function as the injection pedal 83 shown in FIG. The pump drive button 85 is for switching the start and stop of the supply of liquid from the liquid feed pump device 20 to the liquid ejecting device 30.

Further, on the operation panel 80-1, the liquid crystal monitor 87 displays the momentum P, that is, the momentum [μNs] 851 of the main jet 3 corresponding to one pulse, the repetition frequency [Hz] 853, and the unit frequency multiplied by these. A display screen displaying the amount of exercise, that is, force [mN] 855 is displayed, and the current value of each value (hereinafter collectively referred to as “exercise amount information”) is updated and displayed. Here, what is displayed in the main jet momentum 851 is the current value of the momentum instruction value, and what is displayed in the repetition frequency 853 is the repetition frequency instruction value. When the repetition frequency is set to a predetermined value without providing the repetition frequency dial 813, the predetermined value is displayed as the repetition frequency 853. Through this display screen, during the operation, the surgeon works while grasping the current values such as the momentum P related to the pulsed liquid jet ejected from the liquid ejection opening 61, the repetition frequency, and the momentum (force) per unit time. be able to.

Note that it is not necessary to display all three of the momentum P, the repetition frequency, and the momentum per unit time as shown in FIG. 16 on the display screen during the operation, and only the momentum P may be displayed. In addition to the momentum P and the repetition frequency, at least one of the current rising frequency (or rising time Tpr) and voltage amplitude, or both may be displayed together. The display of each value is not limited to the display of the numerical values shown in FIG. 16, but may be performed by a meter display, or the momentum P and the repetition frequency associated with the increase / decrease operation from the start of injection of the pulsed liquid jet. Such a change may be displayed in a graph. The rising waveform shape determined by the dial position of the momentum dial 811 and the dial position of the repetition frequency dial 813 may be displayed in a graph, or an index value indicating the rising waveform shape may be displayed.

FIG. 17 is a block diagram illustrating a functional configuration example of the liquid ejection control apparatus according to the first embodiment. As shown in FIG. 17, the liquid ejection control apparatus 70-1 includes an operation unit 71, a display unit 73, a control unit 75, and a storage unit 77.

The operation unit 71 is realized by various switches such as a button switch, a lever switch, a dial switch, and a pedal switch, a touch panel, a track pad, a mouse, and other input devices, and sends an operation signal corresponding to the operation input to the control unit 75. Output to. The operation unit 71 includes a momentum dial 811 and a repetition frequency dial 813. Although not shown, the operation unit 71 includes an injection pedal 83 in FIG. 1, a power button 82, an injection button 84, and a pump drive button 85 on the operation panel 80-1 shown in FIG.

The display unit 73 is realized by a display device such as an LCD (Liquid Crystal Display) or an EL display (Electroluminescence display), and the display screen shown in FIG. 16 based on a display signal input from the control unit 75. Various screens such as are displayed. For example, the liquid crystal monitor 87 shown in FIG.

The control unit 75 is realized by a control device such as a CPU (Central Processing Unit) or a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or an arithmetic device. And comprehensively controls each part of the liquid ejecting system 1. The control unit 75 includes a piezoelectric element control unit 751, a pump control unit 761, and a momentum display control unit 763 as a display control unit. In addition, each part which comprises the control part 75 is good also as comprising with hardware, such as a dedicated module circuit.

The piezoelectric element control unit 751 includes a momentum setting unit 752, a repetition frequency setting unit 753, a voltage amplitude setting unit 754, a rising frequency setting unit 755, and a rising waveform shape setting unit 756. Among these, the voltage amplitude setting unit 754 is a functional unit that sets the voltage amplitude of the drive voltage waveform to a predetermined fixed value. The rising frequency setting unit 755 is a functional unit that sets the rising frequency as a value related to the rising time Tpr of the drive voltage waveform, and sets the rising frequency to a predetermined fixed value.
The momentum setting unit 752 sets a momentum according to the dial position of the momentum dial 811, and this becomes a target value for the momentum of the main jet 3 to be injected. The repetition frequency setting unit 753 sets a repetition frequency according to the dial position of the repetition frequency dial 813. The repetition period Tp is determined according to the repetition frequency.

The rising waveform shape setting unit 756 is a functional unit that sets the rising waveform shape so that the momentum of the pulse liquid jet becomes the momentum set by the momentum setting unit 752. More specifically, the voltage amplitude set by the voltage amplitude setting unit 754 is set as the maximum drive voltage, the rising time Tpr is set to a value corresponding to the rising frequency set by the rising frequency setting unit 755, and the rising time Tpr is repeatedly set as the frequency. Drive voltage waveform having a value corresponding to the repetition frequency set by the unit 753, and setting the rising waveform shape of the drive voltage waveform so that the momentum of the main jet 3 becomes the momentum set by the momentum setting unit 752 To do.

The piezoelectric element control unit 751 sets a driving voltage waveform according to the repetition frequency, voltage amplitude, rising frequency, and rising waveform shape set by the

respective units

753, 754, 755, and 756, and the driving signal having the set waveform is set to the piezoelectric element 45. The control to be applied to is performed. At that time, the piezoelectric element control unit 751 causes the waveform shape (rising edge) of the driving voltage waveform to fall as shown in FIG. 10A so that the repetition frequency becomes the frequency set by the repetition frequency setting unit 753. Set the falling waveform to be variable.

The pump control unit 761 outputs a drive signal to the liquid feed pump device 20 to drive the liquid feed pump device 20. The momentum display control unit 763 displays the momentum indication value assigned to the dial position of the selected momentum dial 811 (that is, the current value of the momentum P) and the repetition frequency assigned to the dial position of the selected repetition frequency dial 813. Control is performed to display the instruction value (that is, the current value of the repetition frequency) and the amount of exercise per unit time obtained by multiplying them on the display unit 73.

The storage unit 77 is realized by various IC (Integrated Circuit) memory such as ROM (Read Only Memory), flash ROM, RAM (Random Access Memory), or a storage medium such as a hard disk. In the storage unit 77, a program for operating the liquid ejecting system 1 and realizing various functions of the liquid ejecting system 1, data used during the execution of the program, and the like are stored in advance or processed. Is temporarily stored each time.

In addition, the momentum conversion table 771 is stored in the storage unit 77. This momentum conversion table 771 is a data table that defines the rising waveform shape for each repetition frequency that gives a given momentum.

FIG. 18 is a diagram showing a data configuration example of the momentum conversion table 771. As shown in FIG. 18, the momentum conversion table 771 includes a dial position (scale) of the momentum dial 811, an exercise amount instruction value assigned to the dial position, a dial position (scale) of the repetition frequency dial 813, and the dial. It is a data table in which a repetition frequency instruction value assigned to a position and a rising waveform shape are associated with each other, and a rising edge for each repetition frequency that becomes an instructed momentum P with a voltage amplitude and a rising frequency as predetermined values. The waveform shape is set. The data of the rising waveform shape stored in the momentum conversion table 771 may be data of the shape itself, or may be an index value indicating the shape (for example, a value of N in Expression (7)).

With reference to the momentum conversion table 771, the rising waveform shape setting unit 756 reads out and sets the rising waveform shape corresponding to the combination of the dial positions of the currently selected momentum dial 811 and the repetition frequency dial 813 from the momentum conversion table 771. In addition, when any one of the momentum dial 811 and the repetition frequency dial 813 is operated, the rising waveform shape corresponding to the combination of the dial positions of the

dials

811 and 813 is read from the momentum conversion table 771 and set. Update.

[Process flow]
FIG. 19 is a flowchart showing the flow of processing performed by the control unit 75 when jetting a pulsed liquid jet. First, the pump control unit 761 drives the liquid feed pump device 20, and the piezoelectric element control unit 751 drives the piezoelectric element 45 to start jetting a pulsed liquid jet (step S111). At this time, the rising waveform shape setting unit 756 acquires the dial positions of the currently selected momentum dial 811 and the repetition frequency dial 813, and reads and sets the rising waveform shape corresponding to the combination from the momentum conversion table 771. The voltage amplitude setting unit 754 sets a predetermined value as the voltage amplitude, and the rising frequency setting unit 755 sets a predetermined value as the rising frequency. Further, the momentum setting unit 752 reads the momentum instruction value assigned to the dial position of the currently selected momentum dial 811 from the momentum conversion table 771, and sets the momentum. In addition, the repetition frequency setting unit 753 reads the repetition frequency instruction value assigned to the dial position of the repetition frequency dial 813 being selected from the momentum conversion table 771 and sets the repetition frequency. The piezoelectric element control unit 751 sets a driving voltage waveform according to the set repetition frequency, voltage amplitude, rising frequency, and rising waveform shape, and applies a driving signal having the set driving voltage waveform to the piezoelectric element 45.

Also, the exercise amount display control unit 763 performs control to display the exercise amount information on the display unit 73 (step S113). For example, the momentum display control unit 763 reads the momentum instruction value assigned to the dial position of the momentum dial 811 from the momentum conversion table 771, and calculates the momentum per unit time that is the product of the repetition frequency instruction value read in step S111. calculate. Then, the exercise amount display control unit 763 displays on the display unit 73 a display screen that displays the exercise amount instruction value, the repetition frequency instruction value, and the exercise amount per unit time as exercise amount information. Note that the amount of exercise per unit time is not limited to the configuration calculated in the exercise amount information display control, but may be configured to be read out by setting it in the exercise amount conversion table 771.

Thereafter, the control unit 75 monitors the operation of the momentum dial 811 in step S115 until it is determined that the injection of the pulsed liquid jet is terminated by the operation of the injection pedal 83 or the injection button 84 (step S301: NO). In step S123, the operation of the frequency dial 813 is monitored repeatedly.

When the momentum dial 811 is operated (step S115: YES), the rising waveform shape setting unit 756 causes the rising corresponding to the combination of the selected dial position and the dial position of the selected repetition frequency dial 813. The waveform shape is read from the momentum conversion table 771, and the setting of the rising waveform shape is updated (step S117). Thereafter, the piezoelectric element control unit 751 resets the driving voltage waveform according to the set repetition frequency, voltage amplitude, rising frequency, and rising waveform shape, and applies the driving signal having the reset driving voltage waveform to the piezoelectric element 45. (Step S119).

Further, the exercise amount display control unit 763 reads out the exercise amount instruction value assigned to the selected dial position from the exercise amount conversion table 771, and performs control to update the display of the display unit 73 (step S121).

On the other hand, when the repetition frequency dial 813 is operated (step S123: YES), the repetition frequency setting unit 753 reads the repetition frequency instruction value assigned to the selected dial position from the momentum conversion table 771, and repeats the repetition frequency. The setting is updated (step S125). Subsequently, the rising waveform shape setting unit 756 reads the rising waveform shape corresponding to the combination of the selected dial position and the dial position of the selected momentum dial 811 from the momentum conversion table 771, and updates the setting of the rising waveform shape. (Step S127). Thereafter, the piezoelectric element control unit 751 resets the driving voltage waveform according to the set repetition frequency, voltage amplitude, rising frequency, and rising waveform shape, and applies the driving signal having the reset driving voltage waveform to the piezoelectric element 45. (Step S129).

Also, the momentum display control unit 763 reads the repetition frequency assigned to the selected dial position from the momentum conversion table 771, and performs control to update the display on the display unit 73 (step S131).

According to the first embodiment, a rising waveform shape corresponding to each momentum is set in advance, and an optimal rising waveform shape is achieved to achieve the cutting depth and the cutting volume according to the operational sense based on this correspondence. To control the drive voltage waveform of the piezoelectric element 45. For example, if the momentum dial 811 is moved by one scale, the momentum P changes by an amount corresponding to the scale interval, so that it is possible to realize a cutting depth and a cutting volume that match the user's intention and operational feeling, and improve usability. be able to.

Further, the frequency can be repeatedly increased or decreased so that the momentum P becomes the momentum instruction value. Therefore, for example, if only the scale of the frequency dial 813 is moved without moving the scale of the momentum dial 811, the cutting depth and the cutting volume by one pulse of the pulse liquid jet are kept constant and proportional to the repetition frequency. It is possible to adjust the cutting speed as intended and improve usability.

(Example 2)
Next, Example 2 will be described. The same parts as those in the first embodiment are denoted by the same reference numerals, and different points from the first embodiment will be mainly described. FIG. 20 is a diagram illustrating an operation panel 80-2 included in the liquid ejection control apparatus 70-2 according to the second embodiment. As shown in FIG. 20, the operation panel 80-2 includes a momentum dial 811, a repetition frequency dial 813, a voltage amplitude dial 815a as a third operation unit, a power button 82, an injection button 84, a pump A drive button 85 and a liquid crystal monitor 87 are provided.

The voltage amplitude dial 815a is used to input a voltage amplitude instruction value (voltage amplitude instruction value) as a third instruction value. For example, the dial is a five-stage dial with scales “1” to “5”. The position is configured to be selectable. The voltage amplitude dial 815a may also be configured to include an activate switch, similar to the repetition frequency dial 813. The operator increases or decreases the voltage amplitude in five steps by switching the dial position of the voltage amplitude dial 815a. A voltage amplitude instruction value is assigned in advance to each dial position so as to increase by a certain amount in proportion to the value of the corresponding scale. Note that the number of steps of the dial position is not limited to five, and the number of steps may be set as appropriate. Further, the number of steps may be different from that of the momentum dial 811 and the repetition frequency dial 813.

As described above, in the second embodiment, the operations performed by the surgeon during the operation are the operation amount increase / decrease operation using the exercise amount dial 811, the repetition frequency increase / decrease operation using the repetition frequency dial 813, and the voltage amplitude dial 815a. The voltage amplitude increase / decrease operation using the three is used, and the correspondence between the momentum P, the repetition frequency, the voltage amplitude, and the rising waveform shape is made into a data table in advance.

FIG. 21 is a block diagram illustrating a functional configuration example of the liquid ejection control apparatus according to the second embodiment. As shown in FIG. 21, the liquid ejection control device 70-2 is different from the liquid ejection control device 70 of the first embodiment in that the operation unit 71 has a voltage amplitude dial 815a and the piezoelectric element control unit 751a. The voltage amplitude setting unit 754a and the rising waveform shape setting unit 756a included in the storage unit 77 are different from the momentum conversion table 771a included in the storage unit 77.

The voltage amplitude setting unit 754a reads and sets the voltage amplitude corresponding to the dial position of the voltage amplitude dial 815a from the momentum conversion table 771a.
The rising waveform shape setting unit 756a is similar to the first embodiment in that the rising waveform shape is set so that the momentum of the pulse liquid jet becomes the momentum set by the momentum setting unit 752, but the momentum conversion table 771a is set. It differs in that it is set with reference.

FIG. 22 is a diagram illustrating a data configuration example of the momentum conversion table 771a according to the second embodiment. As shown in FIG. 22, the momentum conversion table 771a includes the dial position (scale) of the momentum dial 811, the momentum indication value assigned to the dial position, the dial position (scale) of the repetition frequency dial 813, and the dial. It is a data table in which the repetition frequency instruction value assigned to the position, the dial position (scale) of the voltage amplitude dial 815a, the voltage amplitude instruction value assigned to the dial position, and the rising waveform shape are associated with each other. The rising waveform is a data table in which a rising waveform shape having an instructed momentum P is set in association with a combination of a repetition frequency and a voltage amplitude, with the rising frequency as a predetermined value.

With reference to this momentum conversion table 771a, the rising waveform shape setting unit 756a determines the rising waveform shape corresponding to each dial position combination of the currently selected momentum dial 811, the repetition frequency dial 813, and the voltage amplitude dial 815a as the momentum conversion table. 771a is read and set, and when any one of the momentum dial 811, the repetition frequency dial 813, and the voltage amplitude dial 815a is operated, it corresponds to a combination of dial positions of the

dials

811, 813, and 815a. The rising waveform shape is read from the momentum conversion table 771a and the setting is updated.

[Process flow]
FIG. 23 is a flowchart illustrating a flow of processing performed by the control unit 75a when jetting a pulsed liquid jet in the second embodiment. In addition, the same code | symbol is attached | subjected to the processing process similar to FIG.

In Example 2, in step S111, the voltage amplitude setting unit 754a reads the voltage amplitude instruction value assigned to the dial position of the selected voltage amplitude dial 815a from the momentum conversion table 771a, and sets the voltage amplitude.

In step S233, the operation of the voltage amplitude dial 815a is monitored. When the voltage amplitude dial 815a is operated (step S233: YES), the voltage amplitude setting unit 754a reads the voltage amplitude instruction value assigned to the selected dial position from the momentum conversion table 771a, and the voltage amplitude Is updated (step S235). Subsequently, the rising waveform shape setting unit 756a reads the rising waveform shape corresponding to the selected combination of dial positions from the momentum conversion table 771a, and updates the setting of the rising waveform shape (step S237). Thereafter, the piezoelectric element control unit 751a resets the drive voltage waveform according to the set repetition frequency, voltage amplitude, and rising waveform shape, and applies the drive signal having the set drive voltage waveform to the piezoelectric element 45 (step S239).

According to the second embodiment, even if the correspondence between the momentum P, the repetition frequency, the voltage amplitude, and the rising waveform shape is set in advance and the voltage amplitude is increased or decreased, the momentum P becomes the momentum instruction value. Thus, the drive voltage waveform of the piezoelectric element 45 can be controlled.

(Example 3)
Next, Example 3 will be described. The same parts as those in the second embodiment are denoted by the same reference numerals, and different points from the second embodiment will be mainly described. FIG. 24 is a diagram illustrating an operation panel 80-3 included in the liquid ejection control apparatus 70-3 according to the second embodiment. As shown in FIG. 24, the operation panel 80-3 includes a momentum dial 811, a repetition frequency dial 813, a voltage amplitude dial 815a, a rising frequency dial 816b as a fourth operation unit, a power button 82, An injection button 84, a pump drive button 85, and a liquid crystal monitor 87 are provided.

The rising frequency dial 816b is used to input a rising frequency instruction value (rising frequency instruction value) as a fourth instruction value. For example, the dial is a five-stage dial with scales “1” to “5”. The position is configured to be selectable. The rising frequency dial 816b may also be configured to include an activate switch in the same manner as the repeated frequency dial 813. The operator increases or decreases the voltage amplitude in five stages by switching the dial position of the rising frequency dial 816b. Each dial position is assigned a rising frequency instruction value in advance so as to increase by a certain amount in proportion to the value of the corresponding scale. Note that the number of steps of the dial position is not limited to five, and the number of steps may be set as appropriate. Further, the number of steps may be different from that of the momentum dial 811, the repetition frequency dial 813, and the voltage amplitude dial 815a.

As described above, in the third embodiment, operations performed by the surgeon during the operation include the operation amount P increase / decrease operation using the exercise amount dial 811, the repetition frequency increase / decrease operation using the repetition frequency dial 813, and the voltage amplitude dial 815 a. 4 is a voltage amplitude increase / decrease operation using the rising frequency dial 816b and a voltage amplitude increase / decrease operation using the rising frequency dial 816b, and the correspondence between the momentum P, the repetition frequency, the voltage amplitude, the rising frequency, and the rising waveform shape. The relationship is made into a data table in advance.

FIG. 25 is a block diagram illustrating a functional configuration example of the liquid ejection control apparatus according to the third embodiment. As shown in FIG. 25, the liquid ejection control device 70-3 is different from the liquid ejection control device 70-2 in the second embodiment in that the operation unit 71 has a rising frequency dial 816b and the piezoelectric element control. The rising frequency setting unit 755b and the rising waveform shape setting unit 756b included in the unit 751b are different from the momentum conversion table 771b included in the storage unit 77.

The rising frequency setting unit 755b reads out and sets the rising frequency corresponding to the dial position of the rising frequency dial 816b from the momentum conversion table 771b.
The rising waveform shape setting unit 756b is the same as the first and second embodiments in that the rising waveform shape is set so that the momentum of the pulse liquid jet becomes the momentum set by the momentum setting unit 752, but the momentum conversion table. 771b is different in setting.

FIG. 26 is a diagram illustrating a data configuration example of the momentum conversion table 771b according to the third embodiment. As shown in FIG. 26, the momentum conversion table 771b includes a dial position (scale) of the momentum dial 811, a momentum indication value assigned to the dial position, a dial position (scale) of the repetition frequency dial 813, and the dial. The repetition frequency indication value assigned to the position, the dial position (scale) of the voltage amplitude dial 815a, the voltage amplitude indication value assigned to the dial position, the dial position (scale) of the rising frequency dial 816b, and the dial It is a data table in which a rising frequency instruction value assigned to a position is associated with a rising waveform shape. It is a data table in which a rising waveform shape that is an instructed amount of exercise P is set in association with a combination of a repetition frequency, a voltage amplitude, and a rising frequency.

With reference to this momentum conversion table 771b, the rising waveform shape setting unit 756b has a rising waveform corresponding to a combination of dial positions of the selected momentum dial 811, repetitive frequency dial 813, voltage amplitude dial 815a, and rising frequency dial 816b. The shape is read from the momentum conversion table 771a and set. Also, when any one of the momentum dial 811, the repetition frequency dial 813, the voltage amplitude dial 815a, and the rising frequency dial 816b is operated, it corresponds to the combination of dial positions of the

dials

811, 813, 815a, and 816b. The rising waveform shape to be read is read from the momentum conversion table 771b and the setting is updated.

[Process flow]
FIG. 27 is a flowchart illustrating a flow of processing performed by the control unit 75b when jetting a pulsed liquid jet in the third embodiment. In addition, the same code | symbol is attached | subjected to the processing process similar to FIG.

In Example 3, in step S111, the rising frequency setting unit 755b reads the rising frequency instruction value assigned to the dial position of the selected rising frequency dial 816b from the momentum conversion table 771b, and sets the rising frequency.

In step S243, the operation of the rising frequency dial 816b is monitored. When the rising frequency dial 816b is operated (step S243: YES), the rising frequency setting unit 755b reads the rising frequency instruction value assigned to the selected dial position from the momentum conversion table 771b, and the rising frequency. Is updated (step S245). Subsequently, the rising waveform shape setting unit 756b reads the rising waveform shape corresponding to the selected combination of dial positions from the momentum conversion table 771b, and updates the setting of the rising waveform shape (step S247). Thereafter, the piezoelectric element control unit 751b resets the drive voltage waveform according to the set repetition frequency, voltage amplitude, and rising waveform shape, and applies the drive signal of the set drive voltage waveform to the piezoelectric element 45 (step S249).

According to the third embodiment, the correspondence between the momentum P, the repetition frequency, the voltage amplitude, the rising frequency, and the rising waveform shape is set in advance, and even if the rising frequency is increased or decreased, the momentum P is the momentum. The drive voltage waveform of the piezoelectric element 45 can be controlled so as to be the indicated value.

(Modification)
In the above embodiment, when the momentum P is increased / decreased stepwise by the momentum dial 811 or when the repetition frequency is increased / decreased stepwise by the repetition frequency dial 813, the voltage amplitude is stepped by the voltage amplitude dial 815 a. In the case of performing the increase / decrease operation, the case where the rise frequency is increased / decreased stepwise by the rise frequency dial 816b has been described. On the other hand, the

dials

811, 813, 815a, and 816b have no momentum instruction value, repeated frequency instruction value, voltage amplitude instruction value, and rising frequency instruction value even between dial positions with a scale (intermediate position). You may comprise by what can be adjusted to a step.

In the above-described embodiment, as described with reference to FIG. 10A, the falling shape is variably set in order to increase or decrease the repetition frequency. On the other hand, the repetition frequency may be increased or decreased by simply closing or separating the entire drive voltage waveform in the time axis direction.

In the above embodiment, the rising frequency is exemplified as the rising time index value. On the other hand, instead of the rising frequency, the rising time Tpr may be used.

Further, the momentum dial 811, the repetition frequency dial 813, the voltage amplitude dial 815 a, and the rising frequency dial 816 b are not limited to being realized by a dial switch, and may be realized by, for example, a lever switch or a button switch. Further, the display unit 73 may be realized as a touch panel by a software key switch or the like. In this case, the user touches the touch panel which is the display unit 73 and inputs an exercise amount instruction value, a repetition frequency instruction value, and a voltage amplitude instruction value.

In the second embodiment, the example in which the voltage amplitude can be variably set by dial operation in addition to the momentum and the repetition frequency has been described. However, the repetition frequency is not variably set as a predetermined value. It is good to do.

Similarly, in the third embodiment, the example in which the rising frequency can be variably set by dial operation in addition to the momentum, the repetition frequency, and the voltage amplitude has been described. However, one or both of the repetition frequency and the voltage amplitude are predetermined values. As a configuration, variable setting is not performed.

In the above embodiment, a configuration has been disclosed in which a pulse liquid jet having a momentum of 2 [nNs] to 2 [mNs] or less or a kinetic energy of 2 [nJ] to 200 [mJ] is ejected. Preferably, a configuration in which a pulse liquid jet having a momentum of 20 [nNs] to 200 [μNs] or a kinetic energy of 40 [nJ] to 10 [mJ] is ejected. By carrying out like this, a biological tissue and gel material can be cut suitably.

In the above embodiment, the driving voltage at the start point r0 is described as 0 (zero), but it may not be 0 (zero). For example, if the drive voltage waveform is generated and applied under a constant voltage bias, the bias voltage can be used as the voltage at the start point r0.

DESCRIPTION OF SYMBOLS 1 ... Liquid ejecting system, 30 ... Liquid ejecting apparatus, 70, 70-1, 70-2 ... Liquid ejecting control apparatus, 811 ... Momentum dial, 813 ... Repeat frequency dial, 815a ... Voltage amplitude dial, 816b ... Rising frequency dial, 73: Display unit, 75, 75a, 75b ... Control unit, 751, 751a, 751b ... Piezoelectric element control unit, 752 ... Momentum setting unit, 753 ... Repeat frequency setting unit, 754, 754a ... Voltage amplitude setting unit, 755, 755b ... rise frequency setting unit, 756, 756a, 756b ... rise waveform shape setting unit, 771, 771a, 771b ... momentum conversion table

Claims

A liquid ejection control device that applies a given drive voltage waveform to a piezoelectric element and controls repeated ejection of a pulsed liquid jet from a liquid ejection device that ejects liquid in a pulsed manner using the piezoelectric element,
A first operation unit for inputting a first instruction value relating to the momentum of the pulsed liquid jet;
A control unit for controlling the drive voltage waveform, wherein the control unit changes a waveform shape (hereinafter referred to as a “rise waveform shape”) related to a rise of the drive voltage waveform so that the momentum becomes the first instruction value; ,
A liquid ejection control apparatus comprising:
In claim 1,
A second operation unit for inputting a second instruction value relating to the number of times of ejection of the pulsed liquid jet per unit time;
The control unit controls the drive voltage waveform so that the number of ejections per unit time of the pulsed liquid jet is the second instruction value.
Liquid ejection control device.
In claim 1 or 2,
A third operation unit for inputting a third indication value relating to the voltage amplitude of the drive voltage waveform;
The controller controls the voltage amplitude of the drive voltage waveform based on the third instruction value;
Liquid ejection control device.
In any one of claims 1 to 3,
A fourth operation unit for inputting a fourth instruction value related to a rise time of the drive voltage waveform;
The control unit controls a rise time of the drive voltage based on the fourth instruction value;
Liquid ejection control device.
In any one of claims 1 to 4,
A display control unit for performing control to display the first instruction value;
A liquid ejection control apparatus further comprising:
In any one of claims 1 to 5,
The momentum of the pulsed liquid jet is 2 [nNs (nanonewton seconds)] to 2 [mNs (millinewton seconds)] or less, or the kinetic energy is 2 [nJ (nanojoules)] to 200 [mJ (millijoules)]. Controlling the following liquid ejecting apparatus,
Liquid ejection control device.
In any one of claims 1 to 6,
Controlling the liquid ejection device for cutting biological tissue by the pulsed liquid jet;
Liquid ejection control device.
A liquid ejection system comprising the liquid ejection control device according to any one of claims 1 to 7, a liquid ejection device, and a liquid feed pump device.
A control method for controlling repetitive ejection of a pulsed liquid jet from a liquid ejecting apparatus that applies a given driving voltage waveform to a piezoelectric element and ejects liquid in pulses using the piezoelectric element,
Inputting a first indication value relating to the momentum of the pulsed liquid jet;
Changing the waveform shape related to the rise of the drive voltage waveform so that the momentum becomes the first indication value;
Control method.