WO2021000540A1

WO2021000540A1 - Resistance network-based multi-output minimally invasive surgery system

Info

Publication number: WO2021000540A1
Application number: PCT/CN2019/127124
Authority: WO
Inventors: 刘富春; 马振尉; 邓浮池; 戚锦磊; 李威谕
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: CN110916762B; CN110916762A

Abstract

A resistance network-based multi-output minimally invasive surgery system. The multi-output minimally invasive surgery system comprises minimally invasive knives (5) and a control mechanism. The minimally invasive knives (5) are ultrasonic knives or radio frequency knives, and the radio frequency knives are bipolar output radio frequency knives or monopolar output radio frequency knives. The minimally invasive knives (5) are provided with a control button. The minimally invasive knives (5) are electrically connected to the control mechanism by means of a knife interface. The control mechanism comprises an ADRC frequency controller and a state determination controller. By combining an ADRC frequency controller with resistance network control, the present invention realizes real-time monitoring and debugging on a knife working frequency and a knife connection relationship.

Description

A multi-output minimally invasive surgery system based on resistance network

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 a resistance network.

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 traditional multi-output power ultrasonic radio frequency minimally invasive scalpel system realizes multi-output operation by connecting different types of ultrasonic tools or radio frequency tools. However, in actual operation, minimally invasive tools with different outputs need to be replaced multiple times during the same operation. Because the internal circuit of the mixed output control host and the tool are usually connected in a single connection, it is difficult to perform real-time frequency control and control in time. Monitoring of tool connection relationship.

Summary of the invention

In order to solve the actual operation of the existing multi-output minimally invasive scalpel system, minimally invasive tools with different outputs need to be replaced multiple times during the same operation. Because the internal circuit of the mixed output control host and the knife are usually connected A single docking relationship makes it difficult to perform real-time frequency control and tool connection monitoring technical problems in time. The present invention provides a multi-output minimally invasive surgery system based on a resistance network, thereby realizing real-time monitoring of tool working frequency and tool connection relationship And debugging.

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 a resistance network, the multi-output minimally invasive surgery system including a minimally invasive tool and a control mechanism;

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, and the minimally invasive tool is equipped with a control button;

The minimally invasive tool is electrically connected to the control mechanism through a tool interface;

The control mechanism includes an ADRC frequency controller and a state judgment controller, and 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,

The state judgment controller includes a resistance network, which is electrically connected to the minimally invasive tool and the control button through the tool interface.

Further, the minimally invasive tool also has an ID chip, and the control mechanism further includes an ID read-write circuit. When different minimally invasive tools are connected to the control mechanism, the internal ID chip of the minimally invasive tool is identified through the ID read-write circuit inside the control mechanism, and the auxiliary tool connection relationship is monitored to improve the safety connection of the tool.

Further, the control mechanism includes a control main board, 4 connecting lines are arranged between the control main board and the minimally invasive tool, and the connecting lines include 2 ID lines and 2 output lines. Multithreading connects the minimally invasive tool and the control board at the same time to ensure the safety of information and data transmission, avoid external influence on information transmission, and ensure the accuracy and efficiency of ID recognition.

Further, there are two control buttons, and each control button is electrically connected to the control mechanism. The control buttons are respectively electrically connected and controlled, and the control button connection circuit realizes different buttons corresponding to different output resistance values, thereby realizing multi-function output on the same type of tool.

Further, the single-pole output radio frequency tool also includes an external neutral plate. The neutral plate is used as the negative electrode of the power supply and is set on the patient's body surface to form a circulating current loop with the unipolar output radio frequency tool.

The use method of a multi-output minimally invasive surgery system based on a resistance network includes steps S1 to S9:

S1: The minimally invasive tool is connected to the control board including the control mechanism through the tool interface. The tool is one of an ultrasonic tool, a bipolar output RF tool or a unipolar output RF tool. The ID read-write circuit in the control mechanism is The internal ID chip of the minimally invasive tool is identified to determine the type of the connected tool; when using the unipolar output radio frequency tool, the control main board is connected to the neutral plate through the connection line, and the neutral plate is arranged on the patient's body surface and the The unipolar output RF tool forms a circulating current loop.

S2: 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)

S3: 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.

S4: 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 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.

S5: 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.

S6: 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).

S7: 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.

S8: 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.

S9: When a tool of a new specification needs to be replaced with a change in demand, the connection between the tool used before the change in demand and the tool interface is released, steps S1 to S8 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.

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 multi-output minimally invasive surgery system with ADRC active disturbance rejection frequency controller and work based on the resistance network at the same time, combining the resistance network and ADRC automatic disturbance rejection control to achieve multiple signal output for a single type of minimally invasive tool, Avoid the defects of single butt joint leading to single function of tool;

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 system's process controllability, fine operation, and timely operability.

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 working principle diagram of the ADRC controller in the present invention;

Figure 2 is a schematic diagram of one type of resistor network connection in the present invention;

Figure 3 is a schematic diagram of the working principle 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- minimally invasive tool; 6-control board; 61-isolation module; 62 -Control module; 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, a multi-output minimally invasive surgery system based on a resistance network, the multi-output minimally invasive surgery system includes a minimally invasive tool 5 and a control mechanism;

The minimally invasive tool 5 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, and the minimally invasive tool 5 has control buttons;

The minimally invasive tool 5 is electrically connected to the control mechanism through a tool interface;

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,

The state judgment controller includes a resistance network which is electrically connected to the minimally invasive tool 5 and the control button through the tool interface.

The minimally invasive tool 5 also has an ID chip, and the control mechanism also includes an ID read-write circuit. When different minimally invasive tools 5 are connected to the control mechanism, the internal ID chip of the minimally invasive tool 5 is identified through the internal ID read-write circuit of the control mechanism, and auxiliary tool connection relationship monitoring is performed to improve the safety connection of the tools.

The control mechanism includes a control main board 6, four connecting lines are arranged between the control main board 6 and the minimally invasive tool 5, and the connecting lines include two ID lines and two output lines. Multithreading connects the minimally invasive tool 5 and the control board 6 at the same time to ensure the safety of information and data transmission, avoid the influence of the outside world on the information transmission, and ensure the accuracy and efficiency of ID recognition.

The control main board 6 includes an isolation module 61 and a control module 62. The isolation module 61 and the minimally invasive tool 5 are connected through a resistance network. The ADRC frequency controller is also connected to the isolation module 61 and the micro Create tool 5; the resistance network and ADRC frequency controller monitor and control the connection relationship, working frequency and function of the minimally invasive tool 5 under the control of the isolation module 61 inside the control main board 6. Circuit isolation ensures that the working process of the minimally invasive tool 5 is not affected by the external environment, and improves the fine controllability of the minimally invasive tool 5.

The control module 62 of the control main board 6 is connected to the human-computer interaction module 8 and the foot switch 7, and the human-computer interaction module 8 and the foot switch 7 are separated from the minimally invasive tool 5 of the isolation module 61 through a non-isolated control module 62, No interference, improve the stability of the surgical system.

The control main board 6 is connected to the switching power supply 9.

There are two control buttons, and each control button is electrically connected to the control mechanism. The control buttons are respectively electrically connected and controlled, and the control button connection circuit realizes different buttons corresponding to different output resistance values, thereby realizing multi-function output on the same type of tool.

The unipolar output radio frequency tool also includes an externally connected neutral plate. The neutral plate is used as the negative electrode of the power supply and is set on the patient's body surface to form a circulating current loop with the unipolar output radio frequency tool.

S1: Turn on the power of the control main board 6 through the switch power 9 and control the power connection state of the control module 62 through the foot pedal. The minimally invasive tool 5 is connected to the control main board 6 including the control mechanism through the tool interface. The tool is an ultrasonic tool, dual One of the pole output radio frequency tool or the unipolar output radio frequency tool. The ID read-write circuit in the control mechanism recognizes the internal ID chip of the minimally invasive tool 5 and judges the type of the connected tool; when the unipolar output radio frequency tool is used , The control main board 6 is connected to an external neutral plate through a connecting wire, 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.

Δt=t ₁ -t ₂ (1)

Δt=y _r (2)

S3: 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 of the phase difference r ₁ 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.

S4: The expanded state observer 3 processes the output value b0u and 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.

S5: 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.

S6: 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).

S7: 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.

The two pins of the resistance network are connected to the control main board 6 through two output wires respectively. When SW1 or SW2 is pressed respectively, that is, when the unipolar output RF cutter's electric cutting or electrocoagulation function is used respectively, the resistance network resistance is 151 Ohms or 100 ohms; when SW1 and SW2 are pressed, that is, when using bipolar output RF tools, the resistance network resistance is 86 ohms; when SW1 and SW2 are not pressed, the RF tool is not connected, and the resistance network resistance is 200 Europe. By cooperating with the corresponding relationship between the control buttons and SW1 and SW2, the connected tool type and tool working status can be monitored in real time, which reflects the refined, controllable and real-time control characteristics of the minimally invasive working system.

2. Provide a multi-output minimally invasive surgery system with ADRC active disturbance rejection frequency controller and work based on resistance network at the same time, combining resistance network and ADRC automatic disturbance rejection control to realize multiple signal output for a single type of minimally invasive tool 5 , To avoid the defect that a single docking leads to a single tool function;

3. Through the resistance network and the connection relationship of the minimally invasive tool 5, visualize the real-time control of the use process of the minimally invasive tool 5, and monitor the type of the minimally invasive tool 5 connected to the control board 6 in real time, the connection process and the output signal size, Increase the process controllability, fine operation and timely operability of the minimally invasive surgery system.

It should be noted that when an element is referred to as being "fixed to" another element, it can 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 a resistance network, characterized in that the multi-output minimally invasive surgery system includes a minimally invasive knife and a control mechanism;

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, and the minimally invasive tool is equipped with a control button;

The minimally invasive tool is electrically connected to the control mechanism through a tool interface;

The control mechanism includes an ADRC frequency controller and a state judgment controller, and 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,

The state judgment controller includes a resistance network, which is electrically connected to the minimally invasive tool and the control button through the tool interface.
The multi-output minimally invasive surgery system based on a resistance network according to claim 1, wherein the minimally invasive tool further has an ID chip, and the control mechanism further includes an ID read-write circuit.
The multi-output minimally invasive surgery system based on a resistance network according to claim 1, wherein the control mechanism comprises a control main board, and 4 connecting lines are arranged between the control main board and the minimally invasive tool , The connecting wire includes an ID wire and an output wire.
The multi-output minimally invasive surgery system based on a resistance network according to claim 1, wherein two control buttons are provided, and each control button is electrically connected to the control mechanism. .
The multi-output minimally invasive surgery system based on a resistance network according to claim 1, wherein the single-pole output radio frequency tool further comprises an external neutral plate.