WO2021000538A1

WO2021000538A1 - Ultrasound/radio frequency minimally invasive surgery system having isolated communications

Info

Publication number: WO2021000538A1
Application number: PCT/CN2019/127091
Authority: WO
Inventors: 马振尉; 刘富春; 邓浮池; 李威谕; 戚锦磊
Original assignee: 广州易和医疗技术开发有限公司
Priority date: 2019-07-01
Filing date: 2019-12-20
Publication date: 2021-01-07
Also published as: CN110916763A

Abstract

An ultrasound/radio frequency minimally invasive surgery system having isolated communications, comprising a control system (6) and a cutter system (5), the control system (6) comprising a control module (62) and an isolated module (61) connected by means of an optocoupler. The control module (62) is an electrically non-isolated region, and the isolated module (61) is an electrically isolated region. The cutter system (5) comprises an minimally invasive cutter having an ID chip, an ID recognition mechanism, and an ADRC frequency controller. The minimally invasive cutter is an ultrasonic cutter or a radio frequency cutter, the radio frequency cutter being a bipolar output radio frequency cutter or a monopolar output radio frequency cutter. Electric current information and energy information from a patient contact region is prevented from directly flowing to a non-isolated electrical region of the external environment, preventing accidentally produced electric current information and other unordered currents from causing ground faults, thus breaking the current grounding loop and ensuring safe and stable operation of the circuit. Meanwhile, by means of controlling the frequency of the cutter in real time, the stability of the minimally invasive surgery system is improved.

Description

Ultrasonic radio frequency minimally invasive surgery system with isolated communication

Technical field

The present invention relates to the technical field of medical equipment, in particular to an ultrasonic radio frequency minimally invasive surgery system with isolated communication.

Background technique

In the field of medical equipment, high-tech applications are intensive, with the characteristics of technical cross-integration applications. As an indispensable tool for surgery, the scalpel plays an extremely important role in the entire operation. Ultrasonic knife system and radio frequency knife system are the two smallest surgical equipment systems in the world. Because of their good medical effects such as less intraoperative bleeding and quick postoperative recovery, they have also received great responses in the medical field.

The ultrasonic knife system includes a host, a handle, an ultrasonic transducer, an ultrasonic energy amplifier, an ultrasonic energy transmission part and a knife. The handle controls the ultrasonic transducer to convert the electrical energy of the host into ultrasonic oscillation. The amplitude of the energy oscillation is amplified by the ultrasonic energy amplifier and the energy is transmitted to the tool through the ultrasonic energy transmission part. The tool vibrates at an amplitude of 55.5KHZ, generating instantaneous low pressure and hollowing effect. Under the action of, the water in the tissue is vaporized, the hydrogen bond of the protein is broken, and the protein is solidified, and the cell ruptures the tissue to open or free and close the small vessels. At the same time, the tool vibration also generates secondary energy to solidify the deep protein to seal the large vessels. In application, the ultrasonic knife passes through the patient's body without current. The tissue is eschar and low in dryness during use. It can achieve precise cutting with minimal thermal damage. The amount of smoke generated during the cutting process is minimal. It has multiple functions such as cutting, freeing and hemostasis. In one, the clinical advantage is obvious.

The radio frequency knife system uses radio frequency waves with a higher operating frequency (1.5MHZ～4.5MHZ) for high frequency stable output. The radio frequency waves are directionally emitted by emitter knives of different shapes. After contacting the body tissue, the tissue itself generates impedance. The water molecules in the target tissue are instantly oscillated and vaporized under the action of radio frequency waves, causing the cells to rupture and evaporate, and realize the functions of cutting, hemostasis, mixed cutting, electrocautery, ablation, and electrocoagulation at a low temperature and constant temperature of 40°C. The transmitting electrode has fast cutting speed, good hemostasis effect, fine incision, small thermal injury wound, no carbonization and no smoke at low temperature, and it is very suitable for the application of minimally invasive surgery.

With the gradual improvement of the medical level, according to the clinical characteristics of the ultrasonic knife system and the radio frequency knife system, the combined application of the ultrasonic radio frequency knife system in minimally invasive surgery has been realized, forming a dual output or even multi-output ultrasonic radio frequency minimally invasive scalpel system . In the dual-output and multi-output ultrasonic radio frequency minimally invasive scalpel system, it is necessary to accurately control the tool frequency and tool power through an additional mechanism to ensure accurate and timely control of the tool output frequency and power, and improve the control accuracy of minimally invasive surgery.

The multi-output ultrasonic radio frequency minimally invasive surgery system realizes a variety of functional outputs by connecting multiple types of minimally invasive surgical tools. In the actual application process, it is often necessary to replace the connected tools according to the actual use needs, and the working frequency of the tools Changes often occur. Based on the safety requirements of minimally invasive surgery, the minimally invasive surgical supplies in the body should be electrically isolated. Therefore, the present invention proposes a multi-output minimally invasive surgery system that uses electrical isolation communication and has a frequency real-time tracking function.

Summary of the invention

The present invention provides a multi-output minimally invasive surgery system using electrical isolation communication to prevent current information and energy information in the contact area of a patient from directly flowing to the non-isolated electrical area outside, and avoid grounding caused by disordered flow of current information generated unexpectedly. Fault, cut off the current ground loop to ensure safe and stable circuit operation. At the same time, real-time monitoring of tool frequency improves the stability of the minimally invasive surgery system.

In order to solve the above technical problems, the present invention provides the following technical solutions:

An isolated communication ultrasonic radio frequency minimally invasive surgery system, including a control system and a cutter system, the control system including a control module and an isolation module connected to each other through an optical coupler;

The control module is an electrical non-isolated area, which includes a control MCU system, a control power supply module, a working parameter memory, a power control circuit, a frequency driver, a primary side measurement circuit and a protection circuit;

The isolation module is an electrical isolation zone, including an isolation test MCU system, an isolation power supply, an isolation step-up transformer, a relay, a tool output circuit, a secondary side measurement circuit, and an ID read-write circuit,

The tool system includes a minimally invasive tool with an ID chip, an ID recognition mechanism and an ADRC frequency controller;

The minimally invasive tool is an ultrasonic tool or a radio frequency tool, and the radio frequency tool is a bipolar output radio frequency tool or a unipolar output radio frequency tool;

The ID recognition mechanism recognizes the ID chip information carried on the minimally invasive tool and transmits relevant information to the ID read-write circuit.

Further, the ADRC frequency controller includes:

A tracking differentiator, receiving the target phase difference of the tool at the resonance operating point and outputting a tracking signal, the tracking signal being the rate of change of the phase difference and the rate of change of the phase difference;

The expansion state observer receives the actual phase difference of the tool at the resonance operating point and outputs an expansion signal, observes the real-time disturbance of the tool at the resonance operation point and outputs the disturbance compensation, the expansion signal is the change speed of the phase and the phase Rate of change

State error feedback control law, receiving the comparison variable of the tracking signal and the expansion signal and outputting a state signal;

And a direct digital frequency synthesizer, which receives the mixed phase value of the state signal after the disturbance compensation and outputs the digital sine wave amplitude to the connection circuit of the tool interface, and outputs the actual phase difference of the tool at the resonance operating point to The expanded state observer. Compared with the traditional working frequency and frequency tracking method, the PID control algorithm uses the reference power as the input value of the control system, and uses the power calculated by the amplitude of the collected voltage and current as the feedback information, by reducing the feedback information The deviation value from the reference power value of the input system to achieve accurate control of the tool power. The present invention uses the ADRC automatic disturbance rejection control algorithm. The final control quantity includes the feedforward control quantity, the compensation control quantity and the feedback control quantity. It has strong decoupling and internal and external disturbance estimation supplementary capabilities, quick response, small error, high-precision real-time control of frequency, real-time observation of the phase change of the tool at the resonance operating point through the tracking differentiator and expansion state observer, state error feedback control The law combines disturbance compensation to realize real-time working frequency control, real-time response, real-time compensation control, and real-time tracking, ensuring the high-precision operation and reliability of the surgical system.

Further, between the frequency driver and the isolation step-up transformer, between the control MCU system and the relay, and between the control MCU system and the isolation test MCU system are all connected through the optocoupler . Multi-channel optocouplers connect the non-isolated area and the related device mechanisms in the isolated area to improve the stability of signal transmission and avoid system crashes caused by single signal errors. Isolate the isolation step-up transformer, the relay and the test MCU system through optocoupler transmission to improve the stability of the output signal. Combined with the isolation power supply, the output signal will not be cut off in the case of a short-term fault, and serious use accidents can be avoided .

Further, the control power supply module includes a strong power supply and a weak power supply, the strong power supply is connected to the power control circuit, and the weak power supply is a supplementary power supply for the control module. Set up dual power supplies to support the control module. The strong power supply is used as the power source of the system, and the weak power supply is used as the power source of information transmission. The system operation power is separated from the system information transmission power to achieve low loss and high frequency, while the information transmission speed is fast and secure. High fidelity and strong reliability.

Further, the electrically non-isolated area is also connected to a human-computer interaction module, the human-computer interaction module includes an LCD touch screen and a communication system, the control MCU system is connected to the LCD touch screen through an interface, and the drive chip of the communication system Connect with the control MCU system. The control MCU system directly controls the human-computer interaction module, and combines the communication chip and the LCD touch screen to realize multi-directional human-computer interaction operation of vision, hearing and touch. The control MCU system directly controls data transmission and module operation to ensure data authenticity and reduce data errors rate.

Further, the number of the relays is more than three groups, and the tool output circuit includes an ultrasonic output circuit and a radio frequency output circuit. Multiple groups of relays are used in parallel at the same time to improve the stability of the output signal of the isolation step-up transformer, ensure the stability of the frequency, voltage and current signals output to the tool output circuit, and improve the stability of the minimally invasive tool in the minimally invasive surgery system; The relay, while ensuring the price, increases the minimum output voltage to ensure stable performance of various minimally invasive tools during use, and at the same time increases the supportable system output voltage. The matched output voltage can match the output of multiple frequency powers. The use of knives improves the multidimensional practicability of the surgical system.

Further, the tool output circuit further includes a high-frequency current output circuit and a low-frequency current output circuit. Different types of output circuits are combined with external tools to realize the use of multi-dimensional surgery systems, and improve the practicability of minimally invasive surgery systems.

The method of using the isolated communication ultrasonic radio frequency minimally invasive surgery system includes steps S1 to S11:

S1: The minimally invasive tool is connected to the control board including the control module and the isolation module through the tool interface. The tool is one of an ultrasonic tool, a bipolar output radio frequency tool or a unipolar output radio frequency tool; when a unipolar output radio frequency tool is used , The control main board is connected to an external neutral plate through a connecting line, and the neutral plate is arranged on the surface of the patient and forms a circulating current loop with the unipolar output radio frequency tool.

S2: Turn on the switching power supply to energize the control system, the foot switch controls the input state of the switching power supply, the control module and the isolation module work under the support of the weak power supply and the isolation power supply respectively, and the ID read-write circuit in the isolation module controls the micro Create the tool’s internal ID chip to identify, determine the connected tool type, and transmit the data to the control MCU system through the isolation test MCU system under the action of optocouplers;

The control MCU system outputs the control signal of the tool work through the power control circuit and the frequency driver with the support of the strong power supply. The control signal is transmitted to the isolation step-up transformer of the isolation module under the action of the optocoupler, and the isolation step-up transformer will step-up and transform the voltage The signal is transmitted to the relay, and the relay directly receives the control signal transmitted by the control MCU system through the optocoupler and outputs the ultrasonic signal and the radio frequency signal to the tool output circuit according to the needs of use;

S3: The comparator collects and compares the voltage and current waves when the tool is working and outputs a voltage square wave signal and a current square wave signal. The microcontroller captures the voltage square wave signal and the current square wave signal to calculate and output the voltage square wave signal. The rising edge time t ₁ of the wave signal and the rising edge time t _{2 of} the current square wave signal are calculated by formula (1) and formula (2) to output the target phase value Δt and the actual phase difference y _r when the tool is working. .

Δt=t ₁ -t ₂ (1)

Δt=y _r (2)

S4: The tracking differentiator smoothly processes the actual phase difference y _r through the calculation of formula (3), and outputs a tracking signal and a feedforward control quantity r ₃ , the tracking signal includes the change speed of the phase difference r ₁ and the change of the phase difference Rate r ₂ ,

Among them, R is an adjustable parameter, and the value of R indicates the tracking speed of y _r ; the tracking differentiator is a non-linear tracking differentiator, which is not sensitive to the value of R.

S5: The expanded state observer processes the output value b ₀ u and the actual output value y of the control process input value u amplified by b ₀ through the calculation of formula (4), and outputs the expanded signal and the system total equivalent to the input side Perturbation z ₃ , the expansion signal includes a phase change rate z ₁ and a phase change rate z ₂ ,

Among them, in order to simplify the calculation, the expanded state observer used is the linear expanded state observer 3; and z ₁ and z _{2 are} used to obtain the tracking error and its derivative, and z _{3 is} used to directly compensate the disturbance; β ₁ , Β ₂ and β ₃ are adjustable parameters.

S6: The state error feedback control law outputs the state signal u ₀ after the calculation of formula (5),

u ₀ = k ₁ (r ₁ -z ₁ )+k ₂ (r ₂ -z ₂ ) (5)

Among them, k ₁ and k ₂ are adjustable parameters.

S7: The state signal is input to the direct digital frequency synthesizer after disturbance compensation by the expanded state observer, and the final control input process of the system is formula (6).

S8: The direct digital frequency synthesizer is connected with the tool interface circuit, and the actual output value y of the tool is directly input to the expanded state observer, and real-time feedback loop control is performed on the working frequency of the tool.

S9: Switch the output power of the tool by using different control buttons to control the resistance value output to the tool, thereby realizing the multi-function use of the tool; when using a unipolar output RF tool, switch the control button to change the output RF waveform, In this way, the electrocutting or electrocoagulation function is changed; when the bipolar output radio frequency tool is used, the control button is switched to change the output radio frequency waveform, thereby realizing the enhancement or weakening of the coagulation function.

S10: When a tool of a new specification needs to be replaced with a change in demand, the connection relationship between the tool used before the change in demand and the tool interface is released, steps S1 to S9 are repeated, and the working frequency of the tool is re-executed in real-time feedback loop control. The tools can be directly connected, loaded, unloaded and replaced through the tool interface. The detachable and easy-to-replace tool is convenient to replace the used tools according to different usage requirements during use. At the same time, it can also quickly realize the real-time feedback control of the working frequency of the used tools. ; The operation accuracy and stability of the operation system can be reliably improved while the operation accuracy and operation stability of the operation system are easily and quickly realized by changing the type of knives.

S11: The primary side measurement circuit and protection circuit perform data measurement and operation protection on the internal circuits of the surgical system control system. The working data of the tool system is sequentially transmitted to the working parameter memory through the secondary side measurement circuit, the isolation test MCU system and the control MCU system. The user can view through the LCD touch screen; the user can also perform voice, tactile and visual operation control through the human-computer interaction module.

Compared with the prior art, the beneficial effects of the present invention are as follows:

1. Compared with the traditional working frequency and frequency tracking method, that is, the PID control algorithm uses the reference power as the input value of the control system, and uses the power calculated from the amplitude of the collected voltage and current as the feedback information, by reducing the The deviation value between the feedback information and the reference power value of the input system to achieve accurate control of the tool power. The present invention uses the ADRC automatic disturbance rejection control algorithm. The final control quantity includes the feedforward control quantity, the compensation control quantity and the feedback control It has strong decoupling and internal and external disturbance estimation supplementary capabilities, quick response, small error, and high-precision real-time control of frequency;

2. Provide a minimally invasive surgery system with ADRC active interference rejection frequency control technology and work communication based on the principle of electrical isolation. Two non-circulating working areas are set up in the minimally invasive surgery system, between the two working areas No direct current flow path is established, and the energy information is transmitted through the optocoupler. The circuit between the isolated area and the non-isolated area does not share the ground to prevent non-circulating current from flowing between the two circuits to achieve electrical safety and avoid accidents. The electric shock accident enters the user's body, and secure communication is realized on the basis of high-precision frequency control;

3. Set the patient electrical isolation area to isolate the current circuits that directly contact the patient's human body to avoid medical crises; the patient electrical isolation area is equipped with measurement circuits and ID read-write circuits to ensure that the tool connection and tool working frequency are in a controlled state during the operation;

4. The electrical non-isolated area is equipped with a measurement circuit, a protection circuit and a frequency control circuit. Frequency control and measurement are performed in the isolation area and the non-isolation area at the same time to avoid program errors; the protection circuit ensures the safe operation of the operator at the operating end and improves the safety of the surgical system .

Description of the drawings

In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only It is an embodiment of the present invention. For those of ordinary skill in the art, other drawings can be obtained according to the drawings without creative work. The shape of each part or structure in the drawings does not represent the real situation under real working conditions, and is only a schematic diagram for explaining the present invention.

Figure 1 is a diagram of the working principle of the present invention;

Figure 2 is a working principle diagram of the control system in the present invention;

Figure 3 is a schematic diagram of the working principle of the ADRC frequency controller of the present invention.

In the figure: 1-tracking differentiator; 2-state error feedback control law; 3-expanded state observer; 4-direct digital frequency synthesizer; 5-tool system; 6-control system; 61-isolation module; 611- Isolated power supply; 612-Isolation test MCU system; 613-Relay; 614-Isolation step-up transformer; 615-Secondary side measurement circuit and ID reading and writing circuit; 616-Ultrasonic output circuit; 617-1.8M RF output circuit; 618- 4M RF output circuit; 62-control module; 621-weak power supply; 622-control MCU system; 623-primary measurement circuit and protection circuit; 624-frequency driver; 625-power control circuit; 626-strong power supply; 627-work Parameter memory; 628-communication system; 7-foot switch; 8-human-computer interaction module; 9-switching power supply.

Detailed ways

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

The embodiment of the present invention:

As shown in Figures 1 to 3, an ultrasonic radio frequency minimally invasive surgery system with isolated communication includes a control system 6 and a cutter system 5. The control system 6 includes a control module 62 and an isolation module 61 that are connected to each other through optocouplers;

The control module 62 is an electrical non-isolated area, including a control MCU system 622, a control power supply module, a working parameter memory 627, a power control circuit 625, a frequency driver 624, a primary measurement circuit and a protection circuit 623;

The isolation module 61 is an electrical isolation area, which includes an isolation test MCU system 612, an isolation power supply 611, an isolation step-up transformer 614, a relay 613, a tool output circuit, a secondary side measurement circuit, and an ID read/write circuit 615,

The tool system 5 includes a minimally invasive tool with an ID chip, an ID recognition mechanism and an ADRC frequency controller;

The minimally invasive tool is an ultrasonic tool or a radio frequency tool, the radio frequency tool is a bipolar output radio frequency tool or a unipolar output radio frequency tool; two control buttons are provided on the minimally invasive tool, and the control button is electrically connected to the control system,

The ADRC frequency controller includes:

Tracking differentiator 1, receiving the target phase difference of the tool at the resonance operating point and outputting a tracking signal, the tracking signal being the rate of change of the phase difference and the rate of change of the phase difference;

The expansion state observer 3 receives the actual phase difference of the tool at the resonance operating point and outputs an expansion signal, observes the real-time disturbance of the tool at the resonance operation point and outputs the disturbance compensation, the expansion signal is the change speed of the phase and the phase The rate of change;

State error feedback control law 2, receiving the comparison variable of the tracking signal and the expansion signal and outputting a state signal;

And a direct digital frequency synthesizer 4, which receives the mixed phase value of the state signal after the disturbance compensation and outputs the digitized sine wave amplitude to the connection circuit of the tool interface, and outputs the actual phase difference of the tool at the resonance operating point To the expanded state observer 3.

Compared with the traditional working frequency and frequency tracking method, the PID control algorithm uses the reference power as the input value of the control system, and uses the power calculated by the amplitude of the collected voltage and current as the feedback information, by reducing the feedback information The deviation value from the reference power value of the input system to achieve accurate control of the tool power. The present invention uses the ADRC automatic disturbance rejection control algorithm. The final control quantity includes the feedforward control quantity, the compensation control quantity and the feedback control quantity. It has strong decoupling and internal and external disturbance estimation supplementary capabilities, quick response, small error, high-precision real-time control of frequency, real-time observation of the phase change of the tool system 5 at the resonance operating point through the tracking differentiator 4 and the expanded state observer 3, The state error feedback control law combined with disturbance compensation realizes real-time operating frequency control, real-time response, real-time compensation control, and real-time tracking, ensuring the high-precision operation and reliability of the surgical system.

The frequency driver 624 and the isolation step-up transformer 614, the control MCU system 622 and the relay 613, and the control MCU system 622 and the isolation test MCU system 612 all pass the Optocoupler connection. Multi-channel optocouplers connect the non-isolated area and the related device mechanisms in the isolated area to improve the stability of signal transmission and avoid system crashes caused by single signal errors. The isolation step-up transformer 614, the relay 613, and the test MCU system are isolated through optocoupler transmission to improve the stability of the output signal. Combined with the isolated power supply 611, the output signal will not be cut off in the case of a short-term fault, so as to avoid serious Accidents.

The control power source module includes a strong power source 626 and a weak power source 621, the strong power source 626 is connected to the power control circuit 625, and the weak power source 621 is a supplementary power source for the control module 62. Dual power supplies are set up to support the control module 62, the strong power source 626 is used as the system power source, and the weak power source 621 is used as the power source for information transmission, which separates the system operation power from the system information transmission power, achieving low loss and high frequency at the same time information transmission speed Fast, high fidelity, strong reliability.

The electrical non-isolated area is also connected to a human-computer interaction module 8. The human-computer interaction module 8 includes an LCD touch screen and a communication system 628. The control MCU system 622 is connected to the LCD touch screen through an interface. The communication system 628 The driving chip is connected to the control MCU system 622. The control MCU system 622 directly controls the human-computer interaction module 8, combining the communication chip and the LCD touch screen to achieve visual, auditory and tactile multi-directional human-computer interaction operations, and the control MCU system 622 directly controls data transmission and module operations to ensure data authenticity. Reduce data error rate.

The number of relays 613 is more than three groups, and the tool output circuit includes an ultrasonic output circuit 616, a 1.8M radio frequency output circuit 617, and a 4M radio frequency output circuit 618. Multiple sets of relays 613 are used in parallel at the same time to improve the working stability of the output signal of the isolation step-up transformer 614, ensure the stability of the frequency, voltage and current signals output to the tool output circuit, and improve the stability of the minimally invasive tool in the minimally invasive surgery system; Multiple sets of relays 613, while ensuring the price, increase the minimum output voltage to ensure stable performance of various minimally invasive tools during use. At the same time, the supportable system output voltage is increased, and the matched output voltage can be matched with multiple frequencies The use of high-power output knives improves the multi-dimensional practicability of the surgical system.

The tool output circuit also includes a high frequency current output circuit and a low frequency current output circuit. Different types of output circuits are combined with external tools to realize the use of multi-dimensional surgery systems, and improve the practicability of minimally invasive surgery systems.

S1: The minimally invasive tool is connected to the control board including the control module 62 and the isolation module 61 through the tool interface. The tool is one of an ultrasonic tool, a bipolar output radio frequency tool or a unipolar output radio frequency tool; the unipolar output radio frequency is used When cutting tools, the control main board is connected to an external neutral plate through a connecting line, and the neutral plate is arranged on the patient's body surface to form a circulating current loop with the unipolar output radio frequency tool.

S2: Turn on the switching power supply 9 to energize the control system 6. The foot switch 7 controls the input state of the switching power supply 9. The control module 62 and the isolation module 61 work with the support of the weak power supply 621 and the isolation power supply 611 respectively, and the isolation module 61 The ID read-write circuit of the ID read-write circuit recognizes the internal ID chip of the minimally invasive tool, determines the type of the connected tool, and transmits the data to the control MCU system 622 through the isolation test MCU system 612 under the action of the optocoupler;

The control MCU system 622 outputs the control signal of the tool work through the power control circuit 625 and the frequency driver 624 with the support of the strong power supply 626. The control signal is transmitted to the isolation step-up transformer 614 of the isolation module 61 under the action of the optocoupler to isolate the step-up The transformer 614 transmits the boosting and transforming signal to the relay 613, and the relay 613 directly receives the control signal transmitted by the control MCU system 622 through the optocoupler function and outputs the ultrasonic signal and the radio frequency signal to the tool output circuit according to the needs of use;

Δt=t ₁ -t ₂ (1)

Δt=y _r (2)

S4: The tracking differentiator 1 smoothly processes the actual phase difference y _r through the calculation of formula (3), and outputs a tracking signal and a feedforward control variable r ₃ , the tracking signal includes the change speed r _{1 of the} phase difference and the phase difference Rate of change r ₂ ,

Among them, R is an adjustable parameter, and the value of R indicates the tracking speed of y _r ; the tracking differentiator 1 is a nonlinear tracking differentiator 1, which is not sensitive to the value of R.

S5: The expanded state observer 3 processes the output value b0u and the actual output value y of the control process input value u amplified by b0 through the calculation of formula (4), and outputs the expanded signal and the total system disturbance z equivalent to the input side _{3. The} expansion signal includes the phase change rate z ₁ and the phase change rate z ₂ ,

Among them, in order to simplify the calculation, the expanded state observer 3 used is a linear expanded state observer 33; and z ₁ and z _{2 are} used to obtain tracking errors and their derivatives, and z _{3 is} used to directly compensate for disturbances; β ₁ , β ₂ and β ₃ are adjustable parameters.

S6: State error feedback control law 2 outputs the state signal u ₀ after the calculation of formula (5),

u ₀ = k ₁ (r ₁ -z ₁ )+k ₂ (r ₂ -z ₂ ) (5)

Among them, k ₁ and k ₂ are adjustable parameters.

S7: The state signal is input to the direct digital frequency synthesizer 4 after disturbance compensation by the expanded state observer 3, and the control input process of the final system is formula (6).

S8: The direct digital frequency synthesizer 4 is connected to the tool interface circuit, and the actual output value y of the tool is directly input to the expanded state observer 3, and real-time feedback loop control is performed on the working frequency of the tool.

S11: The primary measurement circuit and the protection circuit 623 perform data measurement and operation protection on the internal circuits of the surgical system control system 6, and the working data of the tool system 5 is transmitted through the secondary measurement circuit, the isolation test MCU system 612 and the control MCU system 622 in turn To the working parameter memory 627, the user can view it through the LCD touch screen; the user can also perform voice, tactile and visual operation control through the human-computer interaction module 8.

1. Compared with the traditional working frequency and frequency tracking method, that is, the PID control algorithm uses the reference power as the input value of the control system 6, and uses the power calculated by the amplitude of the collected voltage and current as the feedback information. The deviation value between the feedback information and the reference power value of the input system in order to achieve accurate control of the tool power. The present invention uses the ADRC automatic disturbance rejection control algorithm. The final control quantity includes the feedforward control quantity, the compensation control quantity and the feedback Control quantity, with strong decoupling and internal and external disturbance estimation supplementary capabilities, quick response, small error, and high-precision real-time control of frequency;

It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or a central element may also exist. When an element is considered to be "connected" to another element, it can be directly connected to the other element or an intermediate element may be present at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

The above are only the embodiments of the present invention and do not limit the scope of the present invention. Any equivalent structure or equivalent process transformation made by using the content of the present invention description, or directly or indirectly applied to other related technical fields, are all The same reason is included in the scope of patent protection of the present invention.

Claims

An isolated communication ultrasonic radio frequency minimally invasive surgery system, comprising a control system and a cutter system, characterized in that the control system includes a control module and an isolation module connected to each other through an optical coupler;

The control module is an electrical non-isolated area, which includes a control MCU system, a control power supply module, a working parameter memory, a power control circuit, a frequency driver, a primary side measurement circuit and a protection circuit;

The isolation module is an electrical isolation zone, including an isolation test MCU system, an isolation power supply, an isolation step-up transformer, a relay, a tool output circuit, a secondary side measurement circuit, and an ID read-write circuit,

The tool system includes a minimally invasive tool with an ID chip, an ID recognition mechanism and an ADRC frequency controller;

The minimally invasive tool is an ultrasonic tool or a radio frequency tool, and the radio frequency tool is a bipolar output radio frequency tool or a unipolar output radio frequency tool;

The ID recognition mechanism recognizes the ID chip information carried on the minimally invasive tool and transmits relevant information to the ID read-write circuit.
The ultrasonic radio frequency minimally invasive surgery system with isolated communication according to claim 1, wherein the ADRC frequency controller comprises:

A tracking differentiator, receiving the target phase difference of the tool at the resonance operating point and outputting a tracking signal, the tracking signal being the rate of change of the phase difference and the rate of change of the phase difference;

The expansion state observer receives the actual phase difference of the tool at the resonance operating point and outputs an expansion signal, observes the real-time disturbance of the tool at the resonance operation point and outputs the disturbance compensation, the expansion signal is the change speed of the phase and the phase Rate of change

State error feedback control law, receiving the comparison variable of the tracking signal and the expansion signal and outputting a state signal;

And a direct digital frequency synthesizer, which receives the mixed phase value of the state signal after the disturbance compensation and outputs the digital sine wave amplitude to the connection circuit of the tool interface, and outputs the actual phase difference of the tool at the resonance operating point to The expanded state observer.
The ultrasonic radio frequency minimally invasive surgery system with isolated communication according to claim 1, wherein, between the frequency driver and the isolated step-up transformer, between the control MCU system and the relay, and Both the control MCU system and the isolation test MCU system are connected through the optocoupler.
The ultrasonic radio frequency minimally invasive surgery system with isolated communication according to claim 1, wherein the control power supply module includes a strong power supply and a weak power supply, the strong power supply is connected to the power control circuit, and the The weak power supply is the supplementary power supply of the control module.
The ultrasonic radio frequency minimally invasive surgery system with isolated communication according to claim 1, wherein the electrical non-isolated area is also connected to a human-computer interaction module, and the human-computer interaction module includes an LCD touch screen and a communication system, The control MCU system is connected with the LCD touch screen through an interface, and the drive chip of the communication system is connected with the control MCU system.
The ultrasonic radio frequency minimally invasive surgery system with isolated communication according to claim 1, wherein the number of the relays is more than three groups, and the tool output circuit includes an ultrasonic output circuit and a radio frequency output circuit.
The ultrasonic radio frequency minimally invasive surgery system with isolated communication according to claim 6, wherein the tool output circuit further comprises a high frequency current output circuit and a low frequency current output circuit.