WO2021000541A1

WO2021000541A1 - Dual-loop, automatic health managing, multi-output minimally invasive surgery system

Info

Publication number: WO2021000541A1
Application number: PCT/CN2019/127135
Authority: WO
Inventors: 马振尉; 刘富春; 李威谕; 邓浮池; 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: CN110897684A

Abstract

A dual-loop, automatic health managing, multi-output minimally invasive surgery system, comprising a control system (1) and a cutter system (2), the control system (1) comprising a control module (11) and an isolated module (12) connected by means of an optocoupler. The control module (11) comprises a controller (6), control circuits (61, 62), an amplification drive circuit (63) and a power MOSFET (64). The isolated module (12) comprises an isolated step-up transformer (126), a measurement module MCU (122), measurement circuits (7, 8) and a cutter output circuit (124). The measurement circuit comprises an inner loop measurement circuit (7) and an outer loop measurement circuit (8). An output terminal of an isolated transformer connects to the cutter output circuit (124), and an input terminal and an output terminal of the isolated step-up transformer (126) connect to the controller (6) by means of the inner loop measurement circuit (7) and the outer loop measurement circuit (8) respectively. The cutter system (2) comprises a minimally invasive cutter and an ADRC frequency controller (621). 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. By means of establishing a dual-loop measurement management mechanism having an inner loop and an outer loop to perform dual-loop sampling on minimally invasive cutter working data, the real-time performance and accuracy of sampling the data is improved, ensuring stability and and safe operating performance in the working process of a multi-output minimally invasive surgery system.

Description

A double-loop self-health management multi-output minimally invasive surgery system

Technical field

The invention relates to the technical field of medical devices, and in particular to a multi-output minimally invasive surgery system for double-ring self-health management.

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, because the connected tools often need to be replaced according to actual use needs, the work of the tools The frequency also changes frequently. In order to ensure the safety of the minimally invasive surgery system, it is necessary to perform measurement and sampling management on the use data of the minimally invasive tool during use. Therefore, the present invention proposes a self-health management minimally invasive method using double-loop sampling measurement. Surgical system, through the establishment of a double-loop measurement management organization for the inner ring and outer ring, double-loop sampling of the working data of the minimally invasive tool improves the real-time performance and accuracy of the sampled data, and ensures the stability and safe operation of the multi-output minimally invasive surgery system. performance.

Summary of the invention

The present invention proposes a self-health management minimally invasive surgery system using double-ring sampling measurement. The double-ring sampling of minimally invasive tool working data is performed by setting up an inner ring and an outer ring double-ring measurement management mechanism to improve the real-time and accuracy of the sampled data , To ensure the stability and safe operation performance of the multi-output minimally invasive surgery system.

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

A self-health management multi-output minimally invasive surgery system, including a control system and a tool system. The control system includes a control module and an isolation module that are connected to each other through an optocoupler; the control module includes a controller, a control circuit, and an amplifier drive A circuit and a power field effect tube, the isolation module includes an isolation step-up transformer, a measurement module MCU, a measurement circuit, and a tool output circuit; the measurement circuit includes an inner loop measurement circuit and an outer loop measurement circuit;

The controller is connected to the input end of the isolation step-up transformer through the control circuit, the amplifying drive circuit and the power FET in turn, and the controller is also connected to the power FET through a BUCK regulating circuit ；

The output end of the isolation transformer is connected to the tool output circuit; the input end and the output end of the isolation step-up transformer are respectively connected to the controller through the inner loop measurement circuit and the outer loop measurement circuit;

The tool system includes a minimally invasive tool 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; the minimally invasive tool is set There is an ID chip.

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, the control circuit includes a frequency control circuit and an amplitude control circuit, and the frequency control circuit and the amplitude control circuit are connected in parallel to the output terminal of the controller and the input terminal of the amplifying drive circuit. The frequency control circuit and the amplitude control circuit connected in parallel are arranged to simultaneously manage the circuit information in real time, reduce working errors, and realize low error real-time control.

Further, the input terminal of the BUCK regulating circuit is connected to a switching power supply. Through the small ripple approximation principle of the low-voltage conversion BUCK circuit and the inductance volt-second balance principle, the working circuit can achieve steady-state operation, and the capacitor charging and discharging can be balanced through the stable balance circuit, maintaining the voltage constant, achieving smooth transition and avoiding the influence of external switching power supplies. Minimally invasive surgery system work balance.

Further, an ID read-write circuit is also provided between the tool output circuit and the measurement module MCU. By setting the ID read-write circuit and the ID chip on the minimally invasive tool for identification operations, the corresponding instrument encryption is realized, and the security of the instrument is improved.

The use method of the self-health management multi-output minimally invasive surgery system includes steps S1 to S12:

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 BUCK regulating circuit keeps the current and voltage of the switching power supply input to the power FET stable. The foot switch controls the input state of the switching power supply. The control module and the isolation module are respectively in the weak power supply and isolation Work under the support of the power supply; the ID read-write circuit in the isolation module recognizes the internal ID chip of the minimally invasive tool, and judges the connected tool type through ID verification according to the working mode and working parameters set by the interactive module. If it is incorrect, a prompt will be issued. If it is correct, the data will be transmitted to the control MCU system through the isolation test MCU system under the action of the optocoupler;

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 to 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: Read and write information according to the local ID set in the interactive program. The inner loop measurement circuit uses the tool output circuit to locally sample the local working data at the input of the isolation step-up transformer during tool work and form the inner loop local measurement data to output to the controller At the same time, the outer loop measuring circuit samples the isolated communication data, the isolated output voltage, the isolated output current, and the isolated output phase of the isolated step-up transformer, and forms the outer loop data and outputs it to the controller, which is set according to the host computer. Data processing and health assessment are performed on the local measurement data of the inner loop and the data of the outer loop at a fixed value, that is, real-time measurement of tool work data and health conditions and output to the interactive module for self-health processing.

S12: The controller that recognizes self-health data, that is, real-time measurement of tool working data and health data, performs voltage deviation control and synchronous control of tool working frequency and working amplitude on the BUCK regulating circuit based on the setting value of the host computer, and then passes through The amplifier drive circuit and the power field effect tube adjust the working state of the isolation step-up transformer in real time, thereby performing self-health management on the output waveform and output power of the tool output circuit.

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 interference rejection frequency control technology and based on self-health management work. While monitoring the working frequency and power of the tool in real time, double-loop sampling of the working data of the minimally invasive tool is carried out according to the design 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;

3. Separate the control module from the isolation module to avoid the control program of the control module being affected by the isolation module to the greatest extent, avoid the collapse of the control system caused by external program errors, and ensure the accuracy and safe operation 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.

Fig. 1 is a working principle diagram of the multi-output minimally invasive surgery system for Shuanghuan self-health management of the present invention;

Figure 2 is a working principle diagram of the isolation module in the present invention;

Figure 3 is a schematic diagram of the working principle of self-health management in the present invention;

Figure 4 is a flowchart of self-health management in the present invention;

Figure 5 is a working principle diagram of the ADRC frequency controller in the present invention,

In the figure: 1-control system; 11-control module; 12-isolation module; 121-isolated power supply; 122-measurement module MCU; 123-ID read-write circuit; 124-tool output circuit; 125-relay; 126-isolation Voltage transformer; 2-tool system; 21-ADRC frequency controller; 211-tracking differentiator; 212-state error feedback control law; 213-expanded state observer; 214-direct digital frequency synthesizer; 3-switching power supply; 4-foot switch; 5-interaction module; 6-controller; 61-frequency control circuit; 62-amplitude control circuit; 63-amplification drive circuit; 64-power field effect tube; 65-BUCK adjustment circuit; 7- Inner loop measuring circuit; 8-outer loop measuring circuit.

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 5, a self-health management multi-output minimally invasive surgery system includes a control system 1 and a cutter system 2. The control system 1 includes a control module 11 and an isolation module 12 that are connected to each other through optocouplers; The control module 11 includes a controller 6, a control circuit, an amplifying drive circuit 63, and a power FET 64, and the isolation module 12 includes an isolation step-up transformer 126, a measurement module MCU 122, a measurement circuit, and a tool output circuit 124; The measurement circuit includes an inner loop measurement circuit 7 and an outer loop measurement circuit 8;

The controller 6 is connected to the input end of the isolation step-up transformer 126 through the control circuit, the amplifying drive circuit 63 and the power FET 64 in turn, and the controller 6 is also connected through a BUCK adjustment circuit 65 The power field effect tube 64;

The output end of the isolation transformer is connected to the tool output circuit 124; the input end and output end of the isolation step-up transformer 126 are respectively connected to the controller through the inner loop measurement circuit 7 and the outer loop measurement circuit 8 6;

The tool system 2 includes a minimally invasive tool and an ADRC frequency controller 621; 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; the minimally invasive tool All are equipped with an ID chip.

The ADRC frequency controller 21 includes:

Tracking differentiator 211, receiving the target phase difference of the tool at the resonance operating point and outputting a tracking signal, where the tracking signal is the rate of change of the phase difference and the rate of change of the phase difference;

The expansion state observer 213 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 212, receiving the comparison variable of the tracking signal and the expansion signal and outputting a state signal;

And a direct digital frequency synthesizer 214, 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 213.

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 1, and uses the power calculated by the amplitude of the collected voltage and current as the feedback information, by reducing the feedback The deviation value between the 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 value includes the feedforward control value, the compensation control value and the feedback control value , With strong decoupling and internal and external disturbance estimation and supplementary capabilities, quick response, small error, high-precision real-time control of frequency, real-time observation of the phase change and state of the tool at the resonance operating point through the tracking differentiator 211 and the expansion state observer 213 The error feedback control law 212 combined with disturbance compensation realizes real-time operating frequency control, real-time response, real-time compensation control, and real-time tracking, which ensures the high-precision operation and reliability of the surgical system.

The control circuit includes a frequency control circuit 61 and an amplitude control circuit 62. The frequency control circuit 61 and the amplitude control circuit 62 are connected in parallel to the output terminal of the controller 6 and the input terminal of the amplifying drive circuit 63 . The frequency control circuit 61 and the amplitude control circuit 62 connected in parallel are arranged to simultaneously manage the circuit information in real time, reduce working errors, and realize low error real-time control.

The input terminal of the BUCK adjusting circuit 65 is connected to the switching power supply 3. Through the small ripple approximation principle of the low-voltage conversion BUCK circuit and the inductance volt-second balance principle, the working circuit can achieve steady-state operation, and the capacitor charging and discharging can be balanced through the stable balance circuit, maintaining the voltage constant, achieving a smooth transition and avoiding external switching power supplies3 Affect the work balance of minimally invasive surgery system.

An ID read-write circuit 123 is also provided between the tool output circuit 124 and the measurement module MCU122. By setting the ID read-write circuit 123 and the ID chip on the minimally invasive tool to perform the identification operation, the corresponding instrument encryption is realized, and the safety of the instrument is improved.

S1: The minimally invasive tool is connected to the control board including the control module 11 and the isolation module 12 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 3 to energize the control system 1, the BUCK regulating circuit 65 keeps the current and voltage input from the switching power supply 3 to the power FET 64 stable, the foot switch 4 controls the input state of the switching power supply 3, the control module 11 and The isolation module 12 works under the support of the weak power supply and the isolation power supply 121 respectively; the ID read-write circuit 123 in the isolation module 12 recognizes the internal ID chip of the minimally invasive tool, according to the working mode set by the interactive module 5 and The working parameters are checked by ID to determine the connected tool type. If it is incorrect, a prompt will be issued. If it is correct, the data will be transmitted to the control MCU system through the isolation test MCU system under the action of the optocoupler;

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 126 of the isolation module 12 under the action of the optocoupler, and the isolation step-up transformer 126 will step up The voltage-transformation signal is transmitted to the relay 125, and the relay 125 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 124 according to the needs of use;

Δt=t ₁ -t ₂ (1)

Δt=y _r (2)

S4: The tracking differentiator 211 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 211 is a non-linear tracking differentiator 211, which is not sensitive to the value of R.

S5: The expanded state observer 213 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 equivalent to the input side system The total disturbance 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 213 used is a linear expanded state observer 2133; 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: The state error feedback control law 212 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 214 after disturbance compensation by the expanded state observer 213, and the final control input process of the system is formula (6).

S8: The direct digital frequency synthesizer 214 is connected to the tool interface circuit, and the actual output value y of the tool is directly input to the expanded state observer 213, and real-time feedback loop control is performed on the working frequency of the tool.

S11: Read and write information according to the local ID set in the interactive program, the inner loop measurement circuit 7 uses the tool output circuit 124 to locally sample the local working data at the input of the isolation step-up transformer 126 during tool work and form the inner loop local measurement data output At the same time, the outer loop measuring circuit 8 samples the isolated communication data, isolated output voltage, isolated output current, and isolated output phase of the output terminal of the isolation step-up transformer 126 and forms the outer loop data to output to the controller 6. The controller 6 performs data processing and health evaluation on the inner loop local measurement data and the outer loop data according to the setting value of the host computer, that is, real-time measurement of tool working data and health conditions and output to the interactive module 5 for self-health processing .

S12: The controller 6 that identifies self-health data, that is, real-time measurement of tool working data and health data, performs voltage deviation control on the BUCK adjustment circuit 65 and synchronous control of the tool working frequency and working amplitude on the basis of the setting value of the host computer. The working state of the isolation step-up transformer 126 is adjusted in real time through the amplifying drive circuit 63 and the power FET 64 in turn, so as to perform self-health management on the output waveform and output power of the tool output circuit 124.

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;

3. Separate the control module 11 from the isolation module 12 to prevent the control program of the control module 11 from being affected by the isolation module 12 to the greatest extent, avoid the collapse of the control system 1 caused by external program errors, and ensure the accuracy and safe operation of the system.

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 dual-loop self-health management multi-output minimally invasive surgery system, including a control system and a knife system, characterized in that:

The control system includes a control module and an isolation module connected to each other through an optocoupler; the control module includes a controller, a control circuit, an amplifying drive circuit, and a power field effect tube, and the isolation module includes an isolation step-up transformer and a measurement module MCU 2. Measuring circuit and tool output circuit; said measuring circuit includes an inner loop measuring circuit and an outer loop measuring circuit;

The controller is connected to the input end of the isolation step-up transformer through the control circuit, the amplifying drive circuit and the power FET in turn, and the controller is also connected to the power FET through a BUCK regulating circuit ；

The output end of the isolation transformer is connected to the tool output circuit; the input end and the output end of the isolation step-up transformer are respectively connected to the controller through the inner loop measurement circuit and the outer loop measurement circuit;

The tool system includes a minimally invasive tool 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 dual-loop self-health management multi-output minimally invasive surgery system 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 dual-loop self-health management multi-output minimally invasive surgery system according to claim 1, wherein the control circuit includes a frequency control circuit and an amplitude control circuit, and the frequency control circuit and the amplitude The control circuit is connected in parallel with the output terminal of the controller and the input terminal of the amplifying drive circuit.
The dual-loop self-health management multi-output minimally invasive surgery system according to claim 1, wherein the input end of the BUCK adjustment circuit is connected to a switching power supply.
The dual-loop self-health management multi-output minimally invasive surgery system according to claim 1, wherein an ID read-write circuit is also provided between the tool output circuit and the measurement module MCU.