WO2021000539A1

WO2021000539A1 - Adrc frequency control-based multi-output minimally invasive surgical system

Info

Publication number: WO2021000539A1
Application number: PCT/CN2019/127107
Authority: WO
Inventors: 刘富春; 马振尉; 李威谕; 戚锦磊; 邓浮池
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: CN110897682A; CN110897682B

Abstract

An ADRC frequency control-based multi-output minimally invasive surgical system, comprising a control system (1) and a minimally invasive knife system (2). The control system (1) comprises an isolation module (12) and a control module (11) connected to each other by means of an optical coupler. The minimally invasive knife system (2) comprises a minimally invasive knife and an ADRC frequency control mechanism (21), the minimally invasive knife being an ultrasonic minimally invasive knife or a radio-frequency minimally invasive knife. The control system (1) further comprises a measurement circuit (119). The measurement circuit (119) comprises a primary side measurement circuit (1191) located within the control module (11) and a secondary side measurement circuit (1192) located within the isolation module (12). Self-health management and isolated communications within a surgical system are implemented by means of internal mechanical configurations, thereby improving the stability of output frequency and operating safety performance of a minimally invasive knife, avoiding an operating accident caused by an external output error during a use process of the minimally invasive knife, and avoiding an output accident caused by non-prompt response of the system after the replacement of the minimally invasive knife.

Description

A multi-output minimally invasive surgery system based on ADRC frequency control

Technical field

The present invention relates to the technical field of medical devices, in particular to a multi-output minimally invasive surgery system based on ADRC frequency control.

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 invention provides a multi-output minimally invasive surgery system based on ADRC active disturbance rejection control technology for minimally invasive surgical tool frequency control, which realizes the convenient connection and replacement of multiple types of tools outside the same host through a one-to-many connection mode; The system is also equipped with self-health management mechanism and isolation control module, combined with ADRC frequency control technology, to achieve high-precision tool frequency control, improve the output stability and real-time monitoring performance of minimally invasive surgical tools.

Summary of the invention

The invention provides a multi-output minimally invasive surgery system based on ADRC active disturbance rejection control technology for frequency control of minimally invasive surgical tools. The same output control host is used to connect various output tools, and the internal self-health of the surgical system is realized through internal mechanism settings. Manage and isolate communication, improve the stability of the output frequency of minimally invasive surgical tools and operational safety performance, avoid operating accidents caused by external output errors during the use of minimally invasive tools, and avoid the system's untimely response after the minimally invasive tool is replaced Output accidents.

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

A multi-output minimally invasive surgery system based on ADRC frequency control, including a control system and a minimally invasive tool system. The control system includes an isolation module and a control module that are connected to each other through an optocoupler. The control module passes through a communication bus and a power cord. Connect human-computer interaction system;

The minimally invasive tool system includes a minimally invasive tool and an ADRC frequency control mechanism, the minimally invasive tool is an ultrasonic minimally invasive tool or a radio frequency minimally invasive tool, and the radio frequency minimally invasive tool is a bipolar output radio frequency minimally invasive tool or a unipolar output Radio frequency minimally invasive tool; the control system and the minimally invasive tool system are connected through the ADRC frequency control mechanism, and the input and output ends of the ADRC frequency control mechanism are respectively isolated from the minimally invasive tool and the Module connection;

The control system and the minimally invasive tool system are also connected to a tool resistance network through a power output line. The control system further includes a measurement circuit, and the measurement circuit includes a primary side measurement circuit and a measurement circuit located in the control module. The secondary side measurement circuit located in the isolation module.

Further, the control module is an electrically non-isolated area, and the control module includes a control module MCU, a control power supply, a power control circuit, a drive circuit, a primary side measurement circuit, and a protection circuit. The control module MCU is respectively connected to the power The input end of the control circuit, the drive circuit, the output end of the primary side measurement circuit and the output end of the protection circuit are connected; the control power supply includes a strong power supply for the power control circuit and a weak power supply for the control module directly ；

The isolation module is an electrical isolation area. The isolation module includes an isolation module MCU, an isolation power supply, a relay, an isolation step-up transformer, a tool output circuit, a secondary side measurement circuit, and an ID read/write circuit. The isolation module MCU and the The secondary side measurement circuit is connected to the ID read-write circuit, and the relay is connected to the output terminal of the isolation step-up transformer, the input terminal of the tool output circuit, and the output terminal of the control module MCU, respectively. The output terminal of the tool output circuit is connected with the input terminal of the secondary side measurement circuit and the ID read-write circuit.

By setting up an electrical isolation area inside the control system, the minimally invasive surgery system can realize work communication based on the principle of electrical isolation. Two non-circulating working areas are set up in the minimally invasive surgery system. The isolation module is independently powered by the isolated power supply. The control module The power is provided by the control power supply, no direct current flow path is established between the two working areas, and the circuit between the isolated area and the non-isolated area does not share the grounding, so as to prevent non-circulating current from flowing between the two circuits to achieve electrical safety. Prevent accidental electric shock from entering the user's body, and realize safe communication based on high-precision frequency control;

The electrical isolation area is the area directly in contact with the affected area of the patient's operation. The electrical isolation area isolates the current circuit that directly contacts 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 the connection of tools and tools during operation The working frequency is under control;

The electrical non-isolated area is equipped with a measurement circuit, a protection circuit and a frequency control circuit. Frequency control measurements are performed in the isolation area and the non-isolated 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.

Further, the connection between the input terminal of the isolation step-up transformer and the output terminal of the drive circuit, the input terminal of the relay and the output terminal of the control module MCU, and the connection between the isolation module MCU and the control module MCU The methods are all connected by optocouplers. The internal energy information of the control system of the minimally invasive surgery system is transmitted through the optocoupler to avoid a large amount of flowing current, realize electrical safety, avoid accidental currents entering the electrical area of the patient, that is, the electrical isolation area, and achieve high-precision electrical safety communication.

Further, the power control circuit includes an amplitude control circuit and a frequency control circuit, and the drive circuit is an amplifier drive circuit. At the same time, the output working current and the amplitude and frequency of the working voltage are controlled in parallel, which can realize high-precision control with low error to the greatest extent.

Further, the control module further includes a power half field effect transistor and a BUCK adjustment circuit. The output terminal and the input terminal of the power half field effect transistor are respectively connected to the output terminal of the amplifier driving circuit and the isolation step-up transformer. Input terminal connection;

The input end of the BUCK adjustment circuit is connected to the switching power supply and the output end of the control module MCU, respectively, and the output end of the BUCK adjustment circuit is connected to the power half field effect transistor;

The input terminal and output terminal of the primary side measurement circuit are respectively connected with the output terminal of the power half field effect transistor and the input terminal of the control MCU, and the input terminal and output terminal of the secondary side measurement circuit are respectively connected with the output terminal of the control MCU. The output terminal of the isolation step-up transformer is connected to the input terminal of the control MCU.

The BUCK adjustment circuit is set up on the basis of the control drive circuit of the measurement circuit and the control system. The small ripple approximation principle of the BUCK circuit and the principle of inductance volt-second balance are used to make the working circuit work in a steady state through the low-voltage conversion of the BUCK circuit. The discharge is balanced, the voltage remains unchanged, the transition is smooth, and the external switching power supply is prevented from external fluctuations affecting the work balance of the minimally invasive surgery system; at the same time, the BUCK adjustment circuit combines with the control system MCU to achieve real-time high-precision control of the system's operating voltage deviation .

In addition, on the basis of the BUCK adjustment circuit, a power half-field effect transistor, that is, a power metal oxide half-field effect transistor, is set to realize a channelized working circuit, reduce power consumption under static working conditions, and realize self-working state through a very small amount of current consumption. Save operating costs.

Further, the minimally invasive tool system further includes a transducer, the minimally invasive tool is a minimally invasive tool provided with an ID chip, and the ID read-write circuit and the ID chip are connected in cooperation. The minimally invasive tool system also includes a control button which is arranged on the minimally invasive tool and connected to the working circuit of the minimally invasive tool. The connection of the minimally invasive tool and the control system is combined with ID information exchange to realize safe operation. ID real-time identification avoids operation accidents caused by wrong connection of the tool, and at the same time improves the degree of system visualization. Directly control the working status of the minimally invasive tool through the control button.

Further, the tool output circuit includes an ultrasonic knife output circuit and a radio frequency knife output circuit. Set the ultrasonic knife output circuit and radio frequency knife output circuit according to the connected tool type. The radio frequency knife output circuit can include 1.8M radio frequency tool circuit 1262 and 4M radio frequency tool circuit 1263 according to the difference of the radio frequency knife model, which is highly compatible with multiple types of external connections. Category cutters, so as to achieve one-to-many ultrasound radio frequency multi-output minimally invasive surgery system based on high precision.

Further, the human-computer interaction system includes an interactive module power supply, an interactive module MCU, a communication drive chip, a voice subsystem, a memory, and a human-computer interaction mechanism. The human-computer interaction mechanism includes an LCD mechanism and a touch screen mechanism. The system connects the voice memory and data update interface;

The interaction module MCU is respectively connected to the memory, the communication drive chip, the voice subsystem and the human-computer interaction mechanism, and the LCD mechanism and the touch screen mechanism are connected to the interaction module MCU through LCD Interface and touch screen interface connection;

The LCD mechanism includes an LCD interface driver chip and an LCD device, and the touch screen mechanism includes a touch screen dedicated chip and a touch screen.

The human-computer interaction system is independently powered by the interactive module power supply. The interactive module MCU realizes the independent control of the human-computer interaction module. The LCD, touch screen and voice system are set up inside to realize the human-computer interaction experience of touch, hearing and vision; Chinese character library is stored through memory , Voice library and working parameters of the system work data, to avoid data loss, improve the safety of the system; the voice subsystem external data update USB interface, can be updated according to the needs of use;

Both LCD and touch screen use independent chips for dedicated control, avoiding interface errors of the whole machine caused by program errors, extending the service life and reducing the cost of one-time use.

Further, the ADRC frequency control mechanism 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.

Provides a multi-output minimally invasive surgical instrument with an ADRC active disturbance rejection frequency controller. The phase change of the tool at the resonance operating point is observed in real time through the tracking differentiator and the expansion state observer. The state error feedback control law is combined with disturbance compensation. The real-time working frequency control, real-time response, real-time compensation control, and real-time tracking ensure the high-precision operation and reliability of the surgical system.

Further, the control system is externally connected with a foot switch. The foot switch controls the external switching power supply of the control system, and updates and controls the working status of the entire system through the status of the foot switch.

The use method/working principle of the multi-output minimally invasive surgery system based on ADRC frequency control of the present invention:

S1: Connect the switching power supply, the minimally invasive tool is connected to the host with a control system through the tool interface, the minimally invasive tool is one of ultrasonic minimally invasive tool, bipolar output radio frequency tool or unipolar output radio frequency tool; When using a unipolar output radio frequency tool, the control main board is connected to a 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: The ID read-write circuit of the isolation module of the control system recognizes the ID chip on the minimally invasive tool, and transmits the ID information to the control module MCU through the isolation module MCU, and the control module MCU transmits relevant information to the man-machine through the communication bus The human-computer interaction mechanism of the interactive system. When the user compares the ID information displayed on the LCD mechanism of the human-computer interaction mechanism with the preset value, the control system is powered on and started to work through the foot switch; the relevant work information can be voiced The system plays.

S3: According to the ID information identified in S2, the control module MCU outputs the relevant tool power and waveform output signals to the relay of the isolation module and the isolation step-up transformer through the power control circuit and the drive circuit. The three sets of relays combine to output the relevant tool power And the waveform output signal is sent to the tool output circuit, the tool output circuit outputs the tool work information to the minimally invasive tool, and the ADRC frequency control mechanism in the minimally invasive tool system performs real-time frequency control.

S4: 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 for calculation and outputs 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)

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 , and the tracking signal includes the change rate of the phase difference r ₁ and the change rate of the phase difference 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.

The expanded state observer processes the output value b ₀ u and the actual output value y after the control process input value u is amplified by b ₀ 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 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.

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.

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

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.

S5: The primary side measurement circuit and the secondary side measurement circuit cooperate with the control module MCU, power control circuit, amplifying drive circuit, power half field effect transistor and isolation step-up transformer for real-time monitoring of tool work information, and the primary side measurement circuit controls the system Perform local data inner loop measurement. The secondary side measurement circuit measures the control system outer loop communication data and isolated output voltage, isolated output current, and isolated output phase data values. The measured value is compared with the set value through the control module MCU. , The output voltage deviation is controlled and adjusted by the BUCK adjustment circuit. The amplitude and frequency of the working current and voltage are adjusted by the amplitude control circuit and the frequency control circuit combined with the amplifier drive circuit and the power half field effect transistor. The adjustment value is adjusted by the isolation boost The transformer is output to the relay and finally output to the working circuit of the minimally invasive tool through the tool output circuit.

S6: 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.

S7: 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 S6 are repeated, and real-time feedback loop control is performed on the working frequency of the tool again. 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.

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 consultation is transferred through the optocoupler. The circuit between the isolated area and the non-isolated area does not share the ground to avoid non-circulating current 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. Through the resistance network and the connection relationship of the minimally invasive tool, visualize the real-time control of the use process of the minimally invasive tool, and monitor the type of minimally invasive tool connected to the control board in real time, the connection process and the output signal size, and increase the minimally invasive surgery The degree of process control, fine operation and timely operability of the system;

4. The human-computer interaction system combines the self-health management measurement circuit to provide multi-dimensional user experience such as vision, touch, and hearing. It improves the diversity of operations while monitoring the working frequency and power of the tool in real time, and double-loop sampling of the working data of the minimally invasive tool. The set local data and working parameter values compare and monitor the local working data and output communication data of the surgical system, realize multi-level, complete and timely self-health management, and improve the high-precision, low-error performance and operational safety of the surgical system ；

5. The control module is connected to the protection circuit to improve the stability and safety of the 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 working principle diagram of the ADRC frequency control module in the present invention;

Figure 4 is a working principle diagram of the human-computer interaction system in the present invention;

Figure 5 is a working principle diagram of the self-health monitoring module in the present invention;

Figure 6 is a data flow chart of the self-health monitoring module in the present invention;

Figure 7 is a diagram of the resistance network of the minimally invasive tool system in the present invention,

In the figure: 1-control system; 11-control module; 111-control module MCU; 112-weak power supply; 113-strong power supply; 114-power control circuit; 1141-amplitude control circuit; 1142-frequency control circuit; 115- Drive circuit; 116-Primary side measurement circuit and protection circuit; 117-BUCK adjustment circuit; 118-Power half field effect transistor; 119-Measurement circuit; 1191-Primary side measurement circuit; 1192-Secondary side measurement circuit; 12-Isolation Module; 121-Isolation module MCU; 122-Isolated power supply; 123-Secondary side measurement circuit and ID read-write circuit; 124-Relay; 125-Isolation step-up transformer; 126-Tool output circuit; 1261-Ultrasonic knife output circuit; 1262-1.8M radio frequency tool circuit; 1263-4M radio frequency tool circuit; 2- minimally invasive tool system; 21-ADRC frequency control mechanism; 3- switching power supply; 4- foot switch; 5- human-computer interaction system; 51-interaction Module power supply; 52-interaction module MCU; 53-communication driver chip; 54-voice subsystem; 55-voice memory; 56-data update interface; 57-memory; 58-human-computer interaction mechanism; 581-LCD mechanism; 582- Touch screen mechanism.

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 1-7, a multi-output minimally invasive surgery system based on ADRC frequency control includes a control system 1 and a minimally invasive tool system 2. The control system 1 includes an isolation module 12 and a control system connected to each other through optocouplers. Module 11, the control module 11 is connected to the human-computer interaction system 5 through a communication bus and a power cord;

The minimally invasive tool system 2 includes a minimally invasive tool and an ADRC frequency control mechanism 21, the minimally invasive tool is an ultrasonic minimally invasive tool or a radio frequency minimally invasive tool, and the radio frequency minimally invasive tool is a bipolar output radio frequency minimally invasive tool or a single Polar output radio frequency minimally invasive tool; the control system 1 and the minimally invasive tool system 2 are connected through the ADRC frequency control mechanism 21, and the input and output ends of the ADRC frequency control mechanism 21 are respectively connected to the micro The creation tool is connected to the isolation module 12;

The control system 1 and the minimally invasive tool system 2 are also connected to a tool resistance network through a power output line. The control system 1 further includes a measurement circuit 119 that is located in the control module 11 The primary side measurement circuit 1191 and the secondary side measurement circuit 1192 located in the isolation module 12.

The control module 11 is an electrically non-isolated area. The control module 11 includes a control module MCU111, a control power supply, a power control circuit 114, a drive circuit 115, a primary measurement circuit 1191, and a protection circuit 116. The control module MCU111 is connected to The input end of the power control circuit 114, the drive circuit 115, the output end of the primary-side measurement circuit 1191 and the output end of the protection circuit are connected; the control power supply includes a strong power supply 113 for supplying power to the power control circuit 114 and Weak power supply 112 that directly supplies power to the control module 11;

The isolation module 12 is an electrical isolation area. The isolation module 12 includes an isolation module MCU121, an isolation power supply 122, a relay 124, an isolation step-up transformer 125, a tool output circuit 126, a secondary side measurement circuit and an ID read/write circuit 123, The isolation module MCU121 is connected to the secondary side measurement circuit 1192 and the ID reading and writing circuit, and the relay 124 is respectively connected to the output terminal of the isolation step-up transformer 125, the input terminal of the tool output circuit 126 and The output end of the control module MCU111 is connected, and the output end of the tool output circuit 126 is connected to the secondary side measurement circuit 1192 and the input end of the ID reading and writing circuit.

By setting up an electrical isolation area inside the control system 1, the minimally invasive surgery system realizes work communication based on the principle of electrical isolation. Two non-circulating working areas are set up in the minimally invasive surgery system. The isolation module 12 is independently powered by an isolated power supply 122 , The control module 11 is powered by the control power supply, no direct current flow path is established between the two working areas, and the circuit between the isolated area and the non-isolated area does not share the ground, so as to prevent non-circulating current from flowing between the two circuits. Realize electrical safety, prevent accidental electric shock from entering the user's body, and realize safe communication based on high-precision frequency control;

The electrical isolation area is the area directly in contact with the affected area of the patient's operation. The electrical isolation area isolates the current circuits that directly contact the patient's body to avoid medical crises; the patient electrical isolation area is equipped with a measurement circuit 119 and an ID read-write circuit to ensure that the knife is connected and connected during the operation. The working frequency of the tool is under control;

The electrical non-isolated area is equipped with a measuring circuit 119, a protection circuit and a frequency control circuit 1142. Frequency control measurements are performed in the isolated area and the non-isolated 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 .

Connection of the input terminal of the isolation step-up transformer 125 and the output terminal of the drive circuit 115, the input terminal of the relay 124 and the output terminal of the control module MCU111, the isolation module MCU121 and the control module MCU111 The methods are all connected by optocouplers. The internal energy information of the control system 1 of the minimally invasive surgery system is transmitted through optocouplers, avoiding a large amount of flowing current, achieving electrical safety, avoiding unexpected currents entering the electrical area of the patient, that is, the electrical isolation area, and achieving high-precision electrical safety communication .

The power control circuit 114 includes an amplitude control circuit 1141 and a frequency control circuit 1142, and the driving circuit 115 is an amplifying driving circuit 115. At the same time, the output working current and the amplitude and frequency of the working voltage are controlled in parallel, which can realize high-precision control with low error to the greatest extent.

The control module 11 also includes a power half field effect transistor 118 and a BUCK adjusting circuit 117. The output terminal and input terminal of the power half field effect transistor 118 are respectively connected to the output terminal of the amplifier driving circuit 115 and the isolation booster circuit. The input end of the transformer 125 is connected;

The input terminal of the BUCK regulating circuit 117 is connected to the switching power supply 3 and the output terminal of the control module MCU111 respectively, and the output terminal of the BUCK regulating circuit 117 is connected to the power half field effect transistor 118;

The input terminal and output terminal of the primary side measurement circuit 1191 are respectively connected to the output terminal of the power half field effect transistor 118 and the input terminal of the control MCU, and the input terminal and output terminal of the secondary side measurement circuit 1192 They are respectively connected to the output terminal of the isolation step-up transformer 125 and the input terminal of the control MCU.

The BUCK adjustment circuit 117 is set on the basis of the measurement circuit 119 and the control drive circuit 115 of the control system 1, and the small ripple approximation principle of the BUCK circuit and the inductance volt-second balance principle are used to realize the steady-state operation of the working circuit through a stable balance. The circuit balances the charge and discharge of the capacitor, maintains the voltage unchanged, and achieves a smooth transition, avoiding external fluctuations in the external switching power supply 3 from affecting the work balance of the minimally invasive surgery system; at the same time, the BUCK adjustment circuit 117 combines the control system 1MCU to the system's operating voltage deviation Realize real-time high-precision control.

In addition, on the basis of the BUCK regulating circuit 117, a power half field effect transistor 118, that is, a power metal oxide half field effect transistor, is provided to realize a channelized working circuit, reduce power consumption under static working conditions, and realize self-operation through a very small amount of current consumption State, saving operating costs.

The minimally invasive tool system 2 also includes a transducer. The minimally invasive tool is a minimally invasive tool provided with an ID chip, and the ID read-write circuit and the ID chip are connected in cooperation. The minimally invasive tool system 2 also includes a control button which is arranged on the minimally invasive tool and connected to the working circuit of the minimally invasive tool. The connection of the minimally invasive tool and the control system 1 is combined with ID information exchange to achieve safe operation. ID real-time identification avoids operation accidents caused by wrong connection of the tool, and at the same time improves the degree of system visualization. Directly control the working status of the minimally invasive tool through the control button.

The tool output circuit 126 includes an ultrasonic knife output circuit 1261 and a radio frequency knife output circuit. The ultrasonic knife output circuit 1261 and the radio frequency knife output circuit are set according to the connected tool type. The radio frequency knife output circuit can include 1.8M radio frequency tool circuit 1262 and 4M radio frequency tool circuit 1263 according to the difference of the radio frequency knife model, which is highly compatible with multiple models of external connections. Multi-category tools, so as to achieve one-to-many ultrasound and radio frequency multi-output minimally invasive surgery system based on high precision.

The human-computer interaction system 5 includes an interactive module power supply 51, an interactive module MCU52, a communication drive chip 53, a voice subsystem 54, a memory 57, and a human-computer interaction mechanism 58. The human-computer interaction mechanism 58 includes an LCD mechanism 581 and a touch screen mechanism. 582. The voice subsystem 54 is connected to the voice memory 55 and the data update interface 56;

The interaction module MCU52 is respectively connected to the memory 57, the communication drive chip 53, the voice subsystem 54 and the human-computer interaction mechanism 58, the LCD mechanism 581 and the touch screen mechanism 582 and the interaction module MCU52 is connected through LCD interface and touch screen interface respectively;

The LCD mechanism 581 includes an LCD interface driver chip and an LCD device, and the touch screen mechanism 582 includes a touch screen dedicated chip and a touch screen.

The human-computer interaction system 5 is independently powered by the interactive module power supply 51. The interactive module MCU52 realizes independent control of the human-computer interaction module. The LCD, touch screen and voice system are set up inside to realize the human-computer interaction experience of touch, hearing and vision; through memory 57 Store system working data such as Chinese character library, voice library and working parameters to avoid data loss and improve system safety; Voice subsystem 54 external data update USB interface, which can be updated according to use needs;

The ADRC frequency control mechanism 21 includes:

The control system 1 is externally connected to a foot switch 4. The foot switch 4 controls the external switching power supply 3 of the control system 1, and updates and controls the working status of the entire system through the status of the foot switch 4.

S1: Connect the switching power supply 3, the minimally invasive tool is connected to the host with the control system 1 through the tool interface. The minimally invasive tool is one of the ultrasonic minimally invasive tool, the bipolar output radio frequency tool or the unipolar output radio frequency tool When using a unipolar output radio frequency tool, the control main board is connected to a neutral plate through a connecting line, and the neutral plate is arranged on the patient's body surface and the unipolar output radio frequency tool forms a circulating current loop.

S2: The ID read and write circuit of the isolation module 12 of the control system 1 recognizes the ID chip on the minimally invasive tool, and transmits the ID information to the control module MCU111 through the isolation module MCU121, and the control module MCU111 transmits relevant information to the MCU through the communication bus The human-computer interaction mechanism 58 of the human-computer interaction system 5, when the user compares the ID information displayed on the LCD mechanism 581 of the human-computer interaction mechanism 58 with the preset value, the control system 1 is powered on and starts to work through the foot switch 4 ; Relevant work information can be played through the voice subsystem 54.

S3: According to the ID information identified in S2, the control module MCU111 outputs the relevant tool power and waveform output signals through the power control circuit 114 and the drive circuit 115 to the relay 124 of the isolation module 12 and the isolation step-up transformer 125, three sets of relays 124 Combining the output of related tool power and waveform output signals to the tool output circuit 126, the tool output circuit 126 outputs tool work information to the minimally invasive tool, and the ADRC frequency control mechanism 21 in the minimally invasive tool system 2 performs real-time frequency control.

Δt=t ₁ -t ₂ (1)

Δt=y _r (2)

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

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.

S5: The primary side measurement circuit 1191 and the secondary side measurement circuit 1192 cooperate with the control module MCU111, power control circuit 114, amplifying drive circuit 115, power half field effect transistor 118 and isolation step-up transformer 125 for real-time monitoring of tool work information, once The side measurement circuit 1191 measures the local data inner loop of the control system 1, and the secondary side measurement circuit 1192 measures the data values of the outer loop communication data and isolated output voltage, isolated output current and isolated output phase of the control system 1, and the measured value passes The internal control module MCU111 is compared with the set value. The output voltage deviation is controlled and adjusted by the BUCK adjustment circuit 117. The amplitude and frequency of the working current and voltage are respectively passed through the amplitude control circuit 1141 and the frequency control circuit 1142 in combination with the amplifier drive circuit 115 and The power half field effect transistor 118 is adjusted, and the adjusted value is output to the relay 124 through the isolation step-up transformer 125 and finally output to the working circuit of the minimally invasive tool through the tool output circuit 126.

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 1, 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;

4. The human-computer interaction system 5 combines the self-health management measurement circuit 119 to provide multi-dimensional user experience such as vision, touch, and hearing. It improves the diversity of operations while monitoring the working frequency and power of the tool in real time, and double-loop sampling of the working data of the minimally invasive tool , According to the set local data and working parameter values, the local working data and output communication data of the surgical system are compared and monitored, realizing multi-level, complete and timely self-health management, and improving the high-precision, low-error performance and operation of the surgical system safety;

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

A multi-output minimally invasive surgery system based on ADRC frequency control, including a control system and a minimally invasive tool system, characterized in that:

The control system includes an isolation module and a control module that are connected to each other through an optocoupler, and the control module is connected to a human-computer interaction system through a communication bus and a power cord;

The minimally invasive tool system includes a minimally invasive tool and an ADRC frequency control mechanism, the minimally invasive tool is an ultrasonic minimally invasive tool or a radio frequency minimally invasive tool, and the radio frequency minimally invasive tool is a bipolar output radio frequency minimally invasive tool or a unipolar output Radio frequency minimally invasive tool; the control system and the minimally invasive tool system are connected through the ADRC frequency control mechanism, and the input and output ends of the ADRC frequency control mechanism are respectively isolated from the minimally invasive tool and the Module connection;

The control system and the minimally invasive tool system are also connected to a tool resistance network through a power output line. The control system further includes a measurement circuit, and the measurement circuit includes a primary side measurement circuit and a measurement circuit located in the control module. The secondary side measurement circuit located in the isolation module.
The multi-output minimally invasive surgery system based on ADRC frequency control according to claim 1, wherein the control module is an electrical non-isolated area, and the control module includes a control module MCU, a control power supply, and a power control circuit , A drive circuit, a primary side measurement circuit, and a protection circuit, the control module MCU is respectively connected to the input end of the power control circuit, the drive circuit, the output end of the primary side measurement circuit, and the output end of the protection circuit connection;

The isolation module is an electrical isolation area. The isolation module includes an isolation module MCU, an isolation power supply, a relay, an isolation step-up transformer, a tool output circuit, a secondary side measurement circuit, and an ID read/write circuit. The isolation module MCU and the The secondary side measurement circuit is connected to the ID read-write circuit, and the relay is connected to the output terminal of the isolation step-up transformer, the input terminal of the tool output circuit, and the output terminal of the control module MCU, respectively. The output terminal of the tool output circuit is connected with the input terminal of the secondary side measurement circuit and the ID read-write circuit.
The multi-output minimally invasive surgery system based on ADRC frequency control according to claim 2, wherein the input end of the isolation step-up transformer and the output end of the drive circuit, the input end of the relay and The output terminal of the control module MCU, the connection mode of the isolation module MCU and the control module MCU are all connected by optocouplers.
The multi-output minimally invasive surgery system based on ADRC frequency control according to claim 2, wherein the power control circuit includes an amplitude control circuit and a frequency control circuit, and the drive circuit is an amplifying drive circuit.
The multi-output minimally invasive surgery system based on ADRC frequency control according to claim 4, wherein the control module further comprises a power half field effect transistor and a BUCK adjustment circuit, and the power half field effect transistor The output terminal and the input terminal are respectively connected with the output terminal of the amplifying drive circuit and the input terminal of the isolation step-up transformer;

The input end of the BUCK adjustment circuit is connected to the switching power supply and the output end of the control module MCU, respectively, and the output end of the BUCK adjustment circuit is connected to the power half field effect transistor;

The input terminal and output terminal of the primary side measurement circuit are respectively connected with the output terminal of the power half field effect transistor and the input terminal of the control MCU, and the input terminal and output terminal of the secondary side measurement circuit are respectively connected with the output terminal of the control MCU. The output terminal of the isolation step-up transformer is connected to the input terminal of the control MCU.
The multi-output minimally invasive surgery system based on ADRC frequency control according to claim 2, wherein the minimally invasive tool system further comprises a transducer, and the minimally invasive tool is a minimally invasive surgery system equipped with an ID chip. For cutting tools, the ID read-write circuit and the ID chip are connected in cooperation with each other.
The multi-output minimally invasive surgery system based on ADRC frequency control according to claim 2, wherein the tool output circuit includes an ultrasonic knife output circuit and a radio frequency knife output circuit.
The multi-output minimally invasive surgery system based on ADRC frequency control according to claim 1, wherein the human-computer interaction system includes an interactive module power supply, an interactive module MCU, a communication driver chip, a voice subsystem, and a memory And a human-computer interaction mechanism, the human-computer interaction mechanism includes an LCD mechanism and a touch screen mechanism, and the voice subsystem is connected to a voice memory and a data update interface;

The interaction module MCU is respectively connected to the memory, the communication drive chip, the voice subsystem and the human-computer interaction mechanism, and the LCD mechanism and the touch screen mechanism are connected to the interaction module MCU through LCD Interface and touch screen interface connection;

The LCD mechanism includes an LCD interface driver chip and an LCD device, and the touch screen mechanism includes a touch screen dedicated chip and a touch screen.
The multi-output minimally invasive surgery system based on ADRC frequency control according to claim 1, wherein the ADRC frequency control mechanism 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 multi-output minimally invasive surgery system based on ADRC frequency control according to claim 1, wherein the control system is externally connected with a foot switch.