Disclosure of Invention
The invention aims to solve the technical problems of overcoming the defects in the prior art and providing a calibration test system and a calibration test method for an electric anastomat, which are simple and convenient in calibration test, accurately identify various abnormal conditions and accurately judge whether the electric quantity of a battery is enough to support one-time complete anastomosis operation.
The technical scheme adopted by the invention for solving the technical problems is that the calibration test method of the electric anastomat comprises the following steps:
S1, data acquisition, namely selecting an electric anastomat to be calibrated by a PC upper computer, commanding the electric anastomat to normally operate for one time according to a self-defined CAN bus protocol, monitoring motor current data, motor encoder data and battery voltage data by a microprocessor in the electric anastomat, and uploading the motor current data, the motor encoder data and the battery voltage data to the PC upper computer at regular time;
S2, data calculation and conversion, namely calculating the energy consumption required by one complete anastomosis operation according to the acquired motor current data, motor encoder data and battery voltage dataTransmission ratio of motor rotation and linear motion of sliding blockSimultaneously carrying out Fourier change on a motor current time curve to obtain a motor current amplitude spectrogram;
S3, data calibration, namely transmitting the data in the step S2 to the selected electric anastomat and storing the data in a storage chip of the electric anastomat;
s4, operation judgment, namely judging whether the electric anastomat can complete one complete anastomosis operation under the current residual electric quantity according to the energy consumption W required by the calibrated one complete anastomosis operation;
s5, abnormality identification, namely monitoring motor current data, motor encoder data and battery voltage data in the anastomosis operation in real time by a microprocessor in the electric anastomat, and combining the calibrated transmission ratio of motor rotation and linear motion of the sliding block through the counted value of the motor encoderAnd simultaneously, converting a motor current time curve into a motor current amplitude spectrogram through Fourier change, and then comparing the motor current amplitude spectrogram with a calibrated motor current amplitude spectrogram to identify whether an abnormality exists.
Further, in the step S2, the energy consumption required by one complete anastomosis operation is requiredThe formula is as follows:
Wherein,Indicating the time of one complete stapling operation of the electric stapler,The current real-time dynamic value of the motor in the running process of the electric anastomat is represented,The real-time dynamic value of the voltage of the battery in the running process of the electric anastomat is represented,Time is indicated.
Further, the step S2 is a transmission ratio of the rotation of the motor and the linear motion of the sliding blockThe formula is as follows:
Wherein,The linear motion speed of the sliding block is represented,The rotating speed of the motor is represented,Indicating the length of the linear stroke of the slider,Indicating the end of counting value of the motor encoder,Representing the motor encoder count start value.
Further, the fourier transform formula in the step S2 is as follows:
Wherein,The frequency is represented by a frequency value,A function of the current time curve is represented,Representing a complex function.
The calibration test system adopting the calibration test method of the electric anastomat comprises a PC (personal computer) upper computer, a CAN (controller area network) communication card, a CAN concentrator and a plurality of electric anastomat, wherein the PC upper computer is connected with the CAN communication card, and the CAN communication card is respectively connected with the plurality of electric anastomat through the CAN concentrator.
Further, the electric anastomat comprises a microprocessor, a motor encoder module, a motor current acquisition module, a battery voltage acquisition module, a motor driving module and a power module, wherein the microprocessor is connected with the CAN concentrator through a CAN communication port and is respectively connected with the motor encoder module, the motor current acquisition module, the battery voltage acquisition module, the motor driving module and the power module.
Further, the electric anastomat further comprises a switching value acquisition module, and the switching value acquisition module is connected with the microprocessor.
The beneficial effects of the invention are as follows:
(1) According to the invention, the energy consumption required by one complete anastomosis operation is calculated according to the acquired motor current data, motor encoder data and battery voltage data of the electric anastomat to be calibratedTransmission ratio of motor rotation and linear motion of sliding blockSimultaneously, a motor current time curve is changed into a motor current amplitude frequency spectrum chart through Fourier transformation, the data are stored into an electric anastomat to be calibrated, and the residual electric quantity of the electric anastomat is compared with the energy consumption required by one complete anastomosis operation during operationThe method has the advantages that whether the residual electric quantity is enough to support one-time complete anastomosis operation is judged, the method is more comprehensive, accurate and reliable than judging whether the battery voltage is close to a lower limit critical value, and in the operation process, the motor current amplitude spectrogram converted in real time is compared with the calibrated motor current amplitude spectrogram, so that various anomalies can be intuitively and accurately identified, the probability of medical accidents is obviously reduced, and the reliability is further improved.
(2) According to the invention, through the arrangement of the PC upper computer, the CAN communication card and the CAN concentrator, the PC upper computer CAN simultaneously control a plurality of electric anastomat to test and calibrate, and the electric anastomat is controlled without manually pressing keys, so that the working efficiency is greatly improved.
Detailed Description
The invention will now be further described with reference to the drawings and preferred embodiments. The drawings are simplified schematic representations which merely illustrate the basic structure of the invention and therefore show only the structures which are relevant to the invention.
Example 1
As shown in fig. 1, a calibration test method of an electric anastomat comprises the following steps:
S1, data acquisition, namely selecting an electric anastomat 400 to be calibrated by the PC upper computer 100, commanding the electric anastomat 400 to normally operate once to complete anastomosis operation according to a self-defined CAN bus protocol, monitoring motor current data, motor encoder data and battery voltage data by a microprocessor 410 in the electric anastomat 400, and uploading the motor current data, the motor encoder data and the battery voltage data to the PC upper computer 100 at regular time.
S2, data calculation and conversion, namely calculating the energy consumption required by one complete anastomosis operation according to the acquired motor current data, motor encoder data and battery voltage dataTransmission ratio of motor rotation and linear motion of sliding blockAnd simultaneously, carrying out Fourier change on the motor current time curve to obtain a motor current amplitude spectrogram.
S3, data calibration, namely transmitting the data in the step S2 to the selected electric anastomat 400, and storing the data in a memory chip of the electric anastomat 400.
S4, operation judgment, namely judging whether the electric anastomat 400 can complete one complete anastomosis operation under the current residual electric quantity according to the energy consumption W required by the calibrated one complete anastomosis operation.
After the calibrated electric stapler 400 is powered on, self-learning calibration data is read from the memory chip, and parameter configuration is performed. If it is determined that the remaining capacity of the battery in the electric stapler 400 cannot support a complete stapling operation, an error is reported and replacement of the battery is prompted.
S5, abnormality identification, namely monitoring motor current data, motor encoder data and battery voltage data in the anastomosis operation in real time by a microprocessor 410 in the electric anastomat 400, and combining the calibrated transmission ratio of motor rotation and linear motion of a sliding block through the counted value of the motor encoderAnd simultaneously, converting a motor current time curve into a motor current amplitude spectrogram through Fourier change, and then comparing the motor current amplitude spectrogram with a calibrated motor current amplitude spectrogram to identify whether an abnormality exists.
According to the acquired motor current data, motor encoder data and battery voltage data of the electric anastomat 400 to be calibrated, the energy consumption required by one complete anastomosis operation is calculatedTransmission ratio of motor rotation and linear motion of sliding blockSimultaneously, the motor current time curve is changed into a motor current amplitude frequency spectrum chart through Fourier transformation, and the data are stored into the electric anastomat 400 to be calibrated, and the residual electric quantity of a battery in the electric anastomat 400 is compared with the energy consumption required by one complete anastomosis operation during operationThe method has the advantages that whether the residual electric quantity is enough to support one-time complete anastomosis operation is judged, the method is more comprehensive, accurate and reliable than judging whether the battery voltage is close to a lower limit critical value, and in the operation process, the motor current amplitude spectrogram converted in real time is compared with the calibrated motor current amplitude spectrogram, so that various anomalies can be intuitively and accurately identified, the probability of medical accidents is obviously reduced, and the reliability is further improved.
In the step S2, the energy consumption required by one complete anastomosis operation is requiredThe formula is as follows:
Wherein,Indicating the time for a complete stapling operation of powered stapler 400,Representing the current real-time dynamic values of the motor during operation of electric stapler 400,Representing a real-time dynamic value of the voltage of the battery during operation of electric stapler 400,Time is indicated.
As shown in fig. 2, in combination with a discharge curve provided by a battery manufacturer, it is determined whether the remaining power is sufficient as follows:
For example, a battery with a capacity of 1000mAh, after the battery is plugged in, the voltage is detected to be 11.37V, so that the electric quantity is 40%, and the residual electric quantity=1000mah×40% =400 mAh.
If the energy consumption required for one complete anastomosis operation is calculated in step S3450MAh, then the remaining power is determined to be insufficient to support a complete anastomosis operation.
Step S2 is a transmission ratio of motor rotation and linear motion of the sliding blockThe formula is as follows:
Wherein,The linear motion speed of the sliding block is represented,The rotating speed of the motor is represented,Indicating the length of the linear stroke of the slider,Indicating the end of counting value of the motor encoder,Representing the motor encoder count start value.
The transmission ratio of the conventional electric anastomat is obtained through theoretical calculation of a mechanical structure, and the motor encoder consistency and the motor consistency have errors due to errors in assembly of each electric anastomat, so that theoretical calculation values are quite inaccurate. In order to be able to control the speed precisely, a precise gear ratio must be required.
The fourier transform formula in step S2 is as follows:
Wherein,The frequency is represented by a frequency value,A function of the current time curve is represented,Representing a complex function.
The PC host computer 100 performs fourier transformation on the motor current time curve of the electric anastomat 400, converts the time current signal into a frequency current graph, that is, transforms from a time domain to a frequency domain, and accurately and quantitatively describes the signal in a frequency spectrum (including an amplitude spectrum, a phase spectrum and a power spectrum) manner.
For example, in the transformer no-load current waveform shown in fig. 3, the abscissa thereof is time, and the ordinate thereof is current amplitude, and it is difficult to see what rule. However, after fourier transformation, an amplitude spectrum diagram is obtained, as shown in fig. 4, in which the abscissa is frequency and the ordinate is current amplitude, so that it is clear that the high-frequency signal is rarely seen, and the high-frequency signal is mainly concentrated in the low-frequency signal.
Example 2
As shown in fig. 5, a calibration test system adopting the calibration test method of the electric anastomat described in embodiment 1 comprises a PC host 100, a CAN communication card 200, a CAN hub 300 and a plurality of electric anastomat 400, wherein the PC host 100 is connected with the CAN communication card 200, and the CAN communication card 200 is respectively connected with the plurality of electric anastomat 400 through the CAN hub 300. Through the setting of PC host computer 100, CAN communication card 200 and CAN concentrator 300, PC host computer 100 CAN control a plurality of electric anastomat 400 simultaneously and test, mark, does not need the manual work to press the button and controls electric anastomat 400, very big improvement work efficiency.
Specifically, the PC host 100 may control the system to operate during the test calibration process, and display internal operation data of the electric stapler 400, such as motor current, battery voltage, encoder count value, operation time, switching value status, etc., where the CAN hub 300 is connected to all CAN nodes, and the CAN communication card 200 may be connected to at most 256 CAN nodes.
The electric stapler 400 comprises a microprocessor 410, a motor encoder module 420, a motor current collection module 430, a battery voltage collection module 440, a motor driving module 450 and a power module 460, wherein the microprocessor 410 is connected with the CAN hub 300 through a CAN communication port 470, and the microprocessor 410 is respectively connected with the motor encoder module 420, the motor current collection module 430, the battery voltage collection module 440, the motor driving module 450 and the power module 460. Specifically, the electric stapler 400 further includes a switching value acquisition module 480, and the switching value acquisition module 480 is connected to the microprocessor 410.
The microprocessor 410 detects various data, processes various data and executes motion control algorithm logic, the motor encoder module 420 counts the motor encoders to calculate the number of turns and the rotation speed of the motor, the motor current acquisition module 430 detects the magnitude of the motor current value when the motor is running, the battery voltage acquisition module 440 acquires the battery voltage value, the motor driving module 450 drives the motor to rotate, the sliding block is driven to perform linear motion through the transmission component, and the switching value acquisition module 480 acquires the state of each digital switching value in the system.
The above embodiments are only for illustrating the technical concept and features of the present invention, and are intended to enable those skilled in the art to understand the content of the present invention and to implement the same, but are not intended to limit the scope of the present invention, and all equivalent changes or modifications made according to the spirit of the present invention should be included in the scope of the present invention.