技术领域technical field
本实用新型涉及一种医疗器械，具体涉及一种超声刀，特别是一种超声刀频率跟踪装置。The utility model relates to a medical device, in particular to an ultrasonic knife, in particular to an ultrasonic knife frequency tracking device.
背景技术Background technique
我们知道，超声刀在外科手术中得到越来越广泛的应用，根据具体器械的构造和工作原理，超声刀可以在切割组织的同时进行凝血，其工作过程中没有电流通过人体，组织焦痂小，从而对患者的损伤小。超声刀可用于开放式外科手术、腹腔镜或内窥镜外科手术，包括机器人辅助的手术中；超声刀一般包括超声刀主机、驱动柄、刀头以及控制开关，刀头由压电换能器、刀杆和刀尖组成；超声仪器工作时，超声刀主机发出激励信号驱动压电换能器，压电换能器控制超声刀刀头的刀杆和刀尖进行高频率往复运动，从而实现切割人体组织，同时达到止血的效果。We know that the ultrasonic knife is more and more widely used in surgical operations. According to the structure and working principle of the specific instrument, the ultrasonic knife can cut the tissue while coagulating blood. There is no current passing through the human body during its work, and the tissue eschar is small. , so that the damage to the patient is small. The ultrasonic knife can be used in open surgery, laparoscopic or endoscopic surgery, including robot-assisted surgery; the ultrasonic knife generally includes an ultrasonic knife host, a driving handle, a knife head and a control switch, and the knife head is controlled by a piezoelectric transducer , knife rod and knife tip; when the ultrasonic instrument is working, the host of the ultrasonic knife sends an excitation signal to drive the piezoelectric transducer, and the piezoelectric transducer controls the knife rod and the knife tip of the ultrasonic knife head to perform high-frequency reciprocating motion, thereby realizing Cutting human tissue, while achieving the effect of hemostasis.
超声刀主机通过发出激励信号驱动压电换能器工作时，只有使压电换能器处于谐振频率状态下工作，才能保证超声刀头的振幅输出最大，而此时超声刀切割组织的效率才会最高，因此，超声波换能器的驱动电路应以其谐振频率信号进行激励。而在实际手术中，负载会随着切割人体组织的不同而不断变化，从而使整个系统的谐振频率也发生变化，此时就需要改变驱动频率使之与系统的谐振频率达到一致。When the host of the ultrasonic knife drives the piezoelectric transducer to work by sending an excitation signal, only when the piezoelectric transducer works at the resonant frequency can the maximum amplitude output of the ultrasonic knife head be guaranteed, and at this time the efficiency of the ultrasonic knife to cut tissue is only will be the highest, therefore, the driving circuit of the ultrasonic transducer should be excited with its resonant frequency signal. In the actual operation, the load will change continuously with the cutting of human tissue, so that the resonant frequency of the whole system will also change. At this time, it is necessary to change the driving frequency to make it consistent with the resonant frequency of the system.
如图1所示，为压电换能器的等效电路图，图2为压电换能器的阻抗-频率曲线，图3为压电换能器的相位-频率曲线，图中可以看出，压电换能器具有很陡峭的谐振曲线，压电换能器只有工作在谐振频率点才具有最大的机械振幅和最高的电机转换效率，因此超声刀主机的激励驱动信号应和压电换能器的谐振频率点保持一致，才能实现超声刀头高效的工作。As shown in Figure 1, it is the equivalent circuit diagram of the piezoelectric transducer, Figure 2 is the impedance-frequency curve of the piezoelectric transducer, and Figure 3 is the phase-frequency curve of the piezoelectric transducer, it can be seen from the figure , the piezoelectric transducer has a very steep resonance curve, and only when the piezoelectric transducer works at the resonant frequency point can it have the largest mechanical amplitude and the highest motor conversion efficiency, so the excitation drive signal of the ultrasonic scalpel host should be consistent with the piezoelectric transducer Only by keeping the resonant frequency points of the transducer consistent can the efficient work of the ultrasonic cutter head be realized.
但是在实际工作中，随着温度的变化以及外界负载阻抗的变化，压电换能器系统的谐振点会发生偏移，为了使压电换能器系统始终工作在谐振频率处，就需要超声刀主机不断跟踪压电换能器系统的谐振频率，并反馈给超声刀主机，超声刀主机不断调整激励源的激励信号的频率，保证压电换能器系统处于谐振频率状态，从而保证超声刀头的振幅输出最大，而此时超声刀切割组织的效率才会最高。However, in actual work, as the temperature changes and the external load impedance changes, the resonance point of the piezoelectric transducer system will shift. In order to make the piezoelectric transducer system always work at the resonance frequency, ultrasonic The host of the knife keeps tracking the resonance frequency of the piezoelectric transducer system and feeds it back to the host of the ultrasonic knife. The amplitude output of the head is the largest, and at this time the efficiency of the ultrasonic knife cutting tissue will be the highest.
目前超声刀频率跟踪装置及方法，其频率跟踪算法查找速度慢，运行效率低，随着温度的变化以及外界负载阻抗的变化，压电换能器系统的谐振点发生偏移时，不能快速跟踪压电换能器系统不断变化的谐振频率，也不能快速反馈给超声刀主机，超声刀主机不能及时调整激励源的激励信号的频率，不能保证压电换能器系统处于谐振频率状态，从而不能保证超声刀头的振幅输出最大，就无法保证超声刀切割组织的效率最高。At present, the frequency tracking device and method of the ultrasonic knife, its frequency tracking algorithm has a slow search speed and low operating efficiency. With the change of temperature and the change of external load impedance, when the resonance point of the piezoelectric transducer system shifts, it cannot be tracked quickly. The constantly changing resonance frequency of the piezoelectric transducer system cannot be quickly fed back to the host of the ultrasonic knife. Ensuring the maximum amplitude output of the ultrasonic knife head cannot guarantee the highest tissue cutting efficiency of the ultrasonic knife.
发明内容Contents of the invention
本实用新型针对目前超声刀频率跟踪装置及方法，其频率跟踪算法查找速度慢，运行效率低，随着温度的变化以及外界负载阻抗的变化，压电换能器系统的谐振点发生偏移时，不能快速跟踪压电换能器系统不断变化的谐振频率，也不能快速反馈给超声刀主机，超声刀主机不能及时调整激励源的激励信号的频率，不能保证压电换能器系统处于谐振频率状态，从而不能保证超声刀头的振幅输出最大，就无法保证超声刀切割组织的效率最高的技术问题，提供一种其频率跟踪算法查找速度快，运行效率高，随着温度的变化以及外界负载阻抗的变化，压电换能器系统的谐振点发生偏移时，能快速跟踪压电换能器系统不断变化的谐振频率，也能快速反馈给超声刀主机，超声刀主机能及时调整激励源的激励信号的频率，能保证压电换能器系统处于谐振频率状态，从而保证超声刀头的振幅输出最大，保证超声刀切割组织的效率最高的超声刀频率跟踪装置及方法。The utility model aims at the current ultrasonic knife frequency tracking device and method, whose frequency tracking algorithm has a slow search speed and low operating efficiency. With the change of temperature and the change of external load impedance, when the resonance point of the piezoelectric transducer system shifts , cannot quickly track the changing resonant frequency of the piezoelectric transducer system, nor can it quickly feed back to the host of the ultrasonic knife, the host of the ultrasonic knife cannot adjust the frequency of the excitation signal of the excitation source in time, and cannot ensure that the piezoelectric transducer system is at the resonant frequency state, so that the maximum amplitude output of the ultrasonic knife head cannot be guaranteed, and the technical problem of the highest efficiency of the ultrasonic knife cutting tissue cannot be guaranteed. A frequency tracking algorithm is provided with a fast search speed and high operating efficiency. With the change of temperature and external load When the impedance changes and the resonance point of the piezoelectric transducer system shifts, it can quickly track the changing resonance frequency of the piezoelectric transducer system, and can also quickly feed back to the ultrasonic knife host, and the ultrasonic knife host can adjust the excitation source in time The frequency of the excitation signal can ensure that the piezoelectric transducer system is in the resonant frequency state, thereby ensuring the maximum amplitude output of the ultrasonic knife head and ensuring the highest efficiency of the ultrasonic knife cutting tissue. The ultrasonic knife frequency tracking device and method.
本实用新型的技术方案是，一种超声刀频率跟踪装置，包括处理器、可编程逻辑电路FPGA单元、电源模块、可调节电源模块、存储模块、显示模块、声音模块、按键及指示灯模块、故障检测模块、安全检测模块、信号调理模块、功率放大输出模块、控制模块、ADC模块一、ADC模块二、电压反馈模块、电流反馈模块及压电换能器；The technical scheme of the utility model is an ultrasonic knife frequency tracking device, including a processor, a programmable logic circuit FPGA unit, a power supply module, an adjustable power supply module, a storage module, a display module, a sound module, buttons and an indicator light module, Fault detection module, safety detection module, signal conditioning module, power amplifier output module, control module, ADC module 1, ADC module 2, voltage feedback module, current feedback module and piezoelectric transducer;
处理器与存储模块、显示模块、声音模块连接，处理器与控制模块、信号调理模块连接，控制模块、信号调理模块分别与功率放大输出模块连接，功率放大输出模块与可调节电源模块连接，可调节电源模块与电源模块连接，功率放大输出模块与压电换能器连接；The processor is connected with the storage module, the display module and the sound module, the processor is connected with the control module and the signal conditioning module, the control module and the signal conditioning module are respectively connected with the power amplification output module, and the power amplification output module is connected with the adjustable power supply module, which can The regulating power supply module is connected with the power supply module, and the power amplification output module is connected with the piezoelectric transducer;
处理器与可编程逻辑电路FPGA单元连接，可编程逻辑电路FPGA单元与安全检测模块连接，安全检测模块另一端与功率放大输出模块连接；The processor is connected to the FPGA unit of the programmable logic circuit, the FPGA unit of the programmable logic circuit is connected to the safety detection module, and the other end of the safety detection module is connected to the power amplifier output module;
可编程逻辑电路FPGA单元与ADC模块连接，ADC模块一、ADC模块二分别与电压反馈模块和电流反馈模块连接；The FPGA unit of the programmable logic circuit is connected to the ADC module, and the first ADC module and the second ADC module are respectively connected to the voltage feedback module and the current feedback module;
可编程逻辑电路FPGA单元与按键及指示灯模块和故障检测模块连接。The programmable logic circuit FPGA unit is connected with the button and indicator light module and the fault detection module.
优选地，处理器为DSP处理器。Preferably, the processor is a DSP processor.
优选地，存储模块为EEPROM。Preferably, the storage module is EEPROM.
优选地，ADC模块为DSP自带模块或者外部高速ADC模块，ADC模块至少有两通道。Preferably, the ADC module is a built-in DSP module or an external high-speed ADC module, and the ADC module has at least two channels.
本实用新型的有益效果是，由于采取了DSP处理器和可编程逻辑电路FPGA单元，其频率跟踪算法查找速度快，运行效率高，随着温度的变化以及外界负载阻抗的变化，压电换能器系统的谐振点发生偏移时，能快速跟踪压电换能器系统不断变化的谐振频率，也能快速反馈给超声刀主机，超声刀主机能及时调整激励源的激励信号的频率，能保证压电换能器系统处于谐振频率状态，从而保证超声刀头的振幅输出最大，保证超声刀切割组织的效率最高。The beneficial effect of the utility model is that, due to the adoption of the DSP processor and the FPGA unit of the programmable logic circuit, its frequency tracking algorithm has a fast search speed and high operating efficiency. When the resonance point of the piezoelectric transducer system shifts, it can quickly track the changing resonance frequency of the piezoelectric transducer system, and can also quickly feed back to the host of the ultrasonic knife. The host of the ultrasonic knife can adjust the frequency of the excitation signal of the excitation source in time, ensuring The piezoelectric transducer system is in the resonant frequency state, so as to ensure the maximum amplitude output of the ultrasonic knife head and the highest tissue cutting efficiency of the ultrasonic knife.
附图说明Description of drawings
图1是压电换能器等效电路图；Fig. 1 is the equivalent circuit diagram of piezoelectric transducer;
图2是压电换能器的频率-阻抗曲线图；Fig. 2 is the frequency-impedance graph of piezoelectric transducer;
图3是压电换能器的频率-相位曲线图；Fig. 3 is the frequency-phase graph of piezoelectric transducer;
图4是本实用新型超声刀频率跟踪装置的结构框图；Fig. 4 is a structural block diagram of the ultrasonic knife frequency tracking device of the present invention;
图5是本实用新型超声刀频率跟踪方法的逻辑控制框图；Fig. 5 is a logical control block diagram of the ultrasonic knife frequency tracking method of the present invention;
图6是本实用新型压电换能器在不同相位下，Δf/Δθ随阻抗的变化曲线及拟合曲线图。Fig. 6 is the variation curve and fitting curve of Δf/Δθ with impedance under different phases of the piezoelectric transducer of the present invention.
图中符号说明Description of symbols in the figure
1.电源模块；2.可调节电源模块；3.控制模块；4.功率放大输出模块；5.压电换能器；6.信号调理模块；7.存储模块EEPROM；8.显示模块；9.声音模块；10.DSP处理器；11.按键及指示灯模块；12.故障检测模块；13.可编程逻辑电路FPGA单元；14.安全检测模块；15.ADC模块一；16.电压反馈模块；17.ADC模块二；18.电流反馈模块。1. Power module; 2. Adjustable power module; 3. Control module; 4. Power amplifier output module; 5. Piezoelectric transducer; 6. Signal conditioning module; 7. Storage module EEPROM; 8. Display module; 9 .Sound module; 10. DSP processor; 11. Button and indicator light module; 12. Fault detection module; 13. Programmable logic circuit FPGA unit; 14. Safety detection module; 15. ADC module one; 16. Voltage feedback module ; 17. ADC module two; 18. Current feedback module.
具体实施方式detailed description
下面结合实施例对本发明做进一步描述。The present invention will be further described below in conjunction with the examples.
如图1、图2、图3、图4、图5、图6所示，是本发明的一种实施例，一种超声刀频率跟踪装置，包括处理器、可编程逻辑电路FPGA单元13、电源模块1、可调节电源模块2、存储模块、显示模块8、声音模块9、按键及指示灯模块11、故障检测模块12、安全检测模块14、信号调理模块6、功率放大输出模块4、控制模块3、ADC模块一15、ADC模块二17、电压反馈模块16、电流反馈模块18及压电换能器5；As shown in Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5 and Fig. 6, it is an embodiment of the present invention, an ultrasonic knife frequency tracking device, including a processor, a programmable logic circuit FPGA unit 13, Power supply module 1, adjustable power supply module 2, storage module, display module 8, sound module 9, button and indicator light module 11, fault detection module 12, safety detection module 14, signal conditioning module 6, power amplifier output module 4, control Module 3, ADC module 1 15, ADC module 2 17, voltage feedback module 16, current feedback module 18 and piezoelectric transducer 5;
处理器与存储模块2、显示模块8、声音模块9连接，处理器与控制模块3、信号调理模块6连接，控制模块3、信号调理模块6分别与功率放大输出模块4连接，功率放大输出模块4与可调节电源模块2连接，可调节电源模块2与电源模块1连接，功率放大输出模块4与压电换能器5连接；Processor is connected with storage module 2, display module 8, sound module 9, processor is connected with control module 3, signal conditioning module 6, control module 3, signal conditioning module 6 are connected with power amplification output module 4 respectively, power amplification output module 4 is connected to the adjustable power module 2, the adjustable power module 2 is connected to the power module 1, and the power amplification output module 4 is connected to the piezoelectric transducer 5;
处理器与可编程逻辑电路FPGA单元13连接，可编程逻辑电路FPGA单元13与安全检测模块14连接，安全检测模块14另一端与功率放大输出模块4连接；The processor is connected with the programmable logic circuit FPGA unit 13, the programmable logic circuit FPGA unit 13 is connected with the safety detection module 14, and the other end of the safety detection module 14 is connected with the power amplification output module 4;
可编程逻辑电路FPGA单元13与ADC模块连接，ADC模块一15、ADC模块二17分别与电压反馈模块16和电流反馈模块18连接；Programmable logic circuit FPGA unit 13 is connected with ADC module, and ADC module one 15, ADC module two 17 are connected with voltage feedback module 16 and current feedback module 18 respectively;
可编程逻辑电路FPGA单元13与按键及指示灯模块11和故障检测模块12连接。The programmable logic circuit FPGA unit 13 is connected with the button and indicator light module 11 and the fault detection module 12 .
图4中可以看出，处理器为DSP处理器10，存储模块为存储模块EEPROM7，ADC模块为两路ADC模块，包括ADC模块一15和ADC模块二17，ADC模块也可以采用DSP自带模块，这种方案的处理器只需要含有两路精度比较高的ADC模块或者外部配置一片高精度的两通道ADC模块，硬件电路设计简单，不会因为器件老化等原因造成系统不稳定，处理器灵活方便。As can be seen in Fig. 4, the processor is a DSP processor 10, the storage module is a storage module EEPROM7, and the ADC module is a two-way ADC module, including ADC module one 15 and ADC module two 17, and the ADC module can also adopt the DSP self-contained module , the processor of this scheme only needs to contain two high-precision ADC modules or an external high-precision two-channel ADC module. The hardware circuit design is simple, and the system will not be unstable due to device aging and other reasons. The processor is flexible. Convenience.
该实施例的一种超声刀装置的频率跟踪方法，包括以下步骤：A frequency tracking method of an ultrasonic scalpel device in this embodiment includes the following steps:
(1)由换能器的等效电路得到换能器的阻抗和相角表达式，及表达式。(1) Obtain the impedance and phase angle expressions of the transducer from the equivalent circuit of the transducer, and expression.
如图1所示，为压电换能器的等效变换电路图。其中C0为压电换能器的静态电容，主要是指压电换能器因夹持人体组织时产生的电容；R0为压电换能器陶瓷片内的介质电损耗，因并联在C0两端，可以将R0视为无穷大，通常可以忽略其影响(图中未示出R0，直接忽略)；LS为动态电感，由压电换能器质量产生；CS为压电换能器产生的动态电容；RS为超声刀切割组织时，负载产生的动态电阻。As shown in Figure 1, it is the equivalent conversion circuit diagram of the piezoelectric transducer. Among them, C0 is the static capacitance of the piezoelectric transducer, which mainly refers to the capacitance generated when the piezoelectric transducer clamps human tissue; R0 is the dielectric loss in the ceramic sheet of the piezoelectric transducer, because it is connected in parallel At both ends of C0 , R0 can be regarded as infinite, and its influence can usually be ignored (R0 is not shown in the figure, just ignore it); LS is the dynamic inductance, produced by the mass of the piezoelectric transducer; CS is the pressure The dynamic capacitance generated by the electric transducer; RS is the dynamic resistance generated by the load when the ultrasonic knife cuts tissue.
(a)由图1的换能器的等效电路，计算出换能器阻抗的模的表达式为：(a) From the equivalent circuit of the transducer in Figure 1, the expression of the modulus of the transducer impedance is calculated as:
(b)由图1的换能器的等效电路，计算出换能器阻抗的相角的表达式为：(b) From the equivalent circuit of the transducer in Figure 1, the expression for calculating the phase angle of the transducer impedance is:
其中θ为相位，|Z|为换能器阻抗，w为角频率，w＝2πf。Where θ is the phase, |Z| is the transducer impedance, w is the angular frequency, w=2πf.
(c)由上面的相角表达式可以得到如下公式：(c) The following formula can be obtained from the above phase angle expression:
(d)由公式(3)可以得到在相位有微小变化时频率的变化量，由也即可得到的表达式。(d) From the formula (3), we can get the variation of the frequency when there is a small change in the phase, by can also be obtained the expression.
(2)处理器模拟换能器在不同工作状态，并在此工作状态下测量它的特性参数C0，LS，CS，RS，并计算某一频率处对应的阻抗、相角及将相同相角处，扫描各点频率对应的阻抗值和值绘制成点状图形。(2) The processor simulates the transducer in different working states, and measures its characteristic parameters C0 , LS , CS , RS in this working state, and calculates the corresponding impedance, phase angle and At the same phase angle, scan the impedance value corresponding to the frequency of each point and Values are plotted as dotted graphs.
根据换能器在不同工作状态下测量的特性参数C0，LS，CS，RS，并将测量参数代入公式(1)、(2)、(3)，可以得到某一频率处对应的阻抗、相角及如图6所示曲线，相位角分别为-20°、0°、20°时，随阻抗的变化曲线，同样的方法可以得到其他相位角处对应的随阻抗的变化曲线，在这里就不一一画出。According to the characteristic parameters C0 , LS , CS , RS of the transducer measured under different working conditions, and substituting the measured parameters into the formulas (1), (2), (3), the corresponding Impedance, phase angle and As shown in the curve in Figure 6, when the phase angles are -20°, 0°, and 20° respectively, With the change curve of impedance, the same method can get the corresponding Variation curves with impedance are not drawn here one by one.
(3)根据步骤(2)不同相角处，随阻抗的变化曲线，拟合得到拟合曲线。(3) At different phase angles according to step (2), With the change curve of impedance, the fitting curve is obtained by fitting.
如图6所示，相位角分别为-20°、0°、20°时，随阻抗的变化曲线，可以看出，在角度为-20°～20°之间时，随阻抗的变化曲线基本上重合，因此，可以近似的用一条拟合曲线来表示相角在-20°～20°区间内随阻抗的变化，即图6中的拟合曲线。其他不同型号的换能器系统可以根据自身的特性得到相应的相位区间及拟合曲线。As shown in Figure 6, when the phase angles are -20°, 0°, and 20°, respectively, From the change curve of impedance, it can be seen that when the angle is between -20° and 20°, The change curves with impedance basically coincide, therefore, a fitting curve can be used to approximate the phase angle in the range of -20°～20° With the change of impedance, that is the fitting curve in Figure 6. Other different types of transducer systems can obtain corresponding phase intervals and fitting curves according to their own characteristics.
拟合方法在这里采用最小二乘法，但不局限于最小二乘法，还可以采用拉格朗日插值法、牛顿插值法等等曲线拟合方法，拟合函数采用多项式，但不局限于多项式，其它像指数函数，对数函数等都可以采用。The fitting method adopts the least squares method here, but it is not limited to the least squares method. Lagrangian interpolation method, Newton interpolation method and other curve fitting methods can also be used. The fitting function uses polynomials, but it is not limited to polynomials. Other functions such as exponential functions and logarithmic functions can be used.
换能器在不同相位下，Δf/Δθ随阻抗的变化曲线及拟合曲线，拟合曲线的函数表达式为：The change curve and fitting curve of Δf/Δθ with impedance under different phases of the transducer, the function expression of the fitting curve is:
其中n为所取的拟合曲线的最高指数，P0，…Pn为拟合曲线的系数。Where n is the highest index of the fitted curve, P0 , ... Pn are the coefficients of the fitted curve.
对于其他相位处的Δf/Δθ随阻抗的变化曲线按照上述方法可以得出。在相位比较大的时候，曲线会向上偏移。实际应用中，可以根据具体的换能器得到几个相位区间下的拟合曲线，根据系统检测到的相位值来调用不同的拟合曲线函数得到对应的值。The variation curves of Δf/Δθ with impedance at other phases can be obtained according to the above method. When the phase is relatively large, the curve will shift upward. In practical applications, the fitting curves in several phase intervals can be obtained according to the specific transducers, and different fitting curve functions can be called according to the phase values detected by the system to obtain the corresponding value.
如图6中的拟合曲线为拟合后得到的随阻抗的变化曲线图。The fitting curve in Figure 6 is obtained after fitting Graph of the change with impedance.
(4)处理器将步骤(3)得到的拟合曲线数值作为子函数存储在存储器中。(4) The processor stores the fitting curve value obtained in step (3) as a sub-function in the memory.
步骤(3)得到的拟合曲线即公式(8)作为子函数存储在存储器中，如果各个相角处曲线相差较大，可按相角划分区间得到一系列的曲线，将这些曲线都存储在存储器中。The fitting curve obtained in step (3), that is, formula (8), is stored in the memory as a sub-function. If the curves at each phase angle have a large difference, a series of curves can be obtained by dividing intervals according to the phase angle, and these curves are stored in in memory.
(5)处理器采集电压反馈和电流反馈信号，由此信号计算出压电换能器系统的阻抗Z和相位角θ。(5) The processor collects voltage feedback and current feedback signals, from which the impedance Z and phase angle θ of the piezoelectric transducer system are calculated.
(6)处理器根据步骤(5)计算出的相位角θ的大小，选择步骤(4)存储的相应的子函数，再将由步骤(5)计算出的阻抗值Z作为参变量计算调用的子函数的函数值，即得到了的大小。(6) The processor selects the corresponding sub-function stored in step (4) according to the size of the phase angle θ calculated in step (5), and then uses the impedance value Z calculated in step (5) as the sub-function calculated by the parameter variable calculation The function value of the function, that is, we get the size of.
(7)处理器将步骤(6)计算出的和步骤(5)计算出的相位角θ，代入到公式(9)中，得到需要调整的频率值。(7) The processor calculates the step (6) and the phase angle θ calculated in step (5) are substituted into the formula (9) to obtain the frequency value to be adjusted.
式(9)中，α为接近于1的调节因子。In formula (9), α is an adjustment factor close to 1.
(8)处理器根据计算出的需要调整的频率值，调节输出信号的频率，使激励频率与换能器系统自身的谐振频率一致。(8) The processor adjusts the frequency of the output signal according to the calculated frequency value to be adjusted, so that the excitation frequency is consistent with the resonance frequency of the transducer system itself.
采取以上办法，就可以保证超声刀头工作在最佳状态。以上控制方法，其频率跟踪算法查找速度快，运行效率高，随着温度的变化以及外界负载阻抗的变化，压电换能器系统的谐振点发生偏移时，能快速跟踪压电换能器系统不断变化的谐振频率，也能快速反馈给超声刀主机，超声刀主机能及时调整激励源的激励信号的频率，能保证压电换能器系统处于谐振频率状态；对于不同的超声换能器来说，只需要根据超声换能器在不同工作状态下的特性参数来调整拟合函数的常量系数即可实现对压电换能器的精确控制，从而控制超声刀头的振幅输出最大，超声刀切割组织的效率最高。By taking the above measures, you can ensure that the ultrasonic cutter head works in the best condition. The frequency tracking algorithm of the above control method has fast search speed and high operating efficiency. With the change of temperature and the change of external load impedance, when the resonance point of the piezoelectric transducer system shifts, it can quickly track the piezoelectric transducer. The ever-changing resonance frequency of the system can also be quickly fed back to the host of the ultrasonic knife. The host of the ultrasonic knife can adjust the frequency of the excitation signal of the excitation source in time to ensure that the piezoelectric transducer system is in the state of resonance frequency; for different ultrasonic transducers In other words, it is only necessary to adjust the constant coefficients of the fitting function according to the characteristic parameters of the ultrasonic transducer under different working conditions to achieve precise control of the piezoelectric transducer, thereby controlling the maximum amplitude output of the ultrasonic cutter head, and the ultrasonic Knives cut tissue most efficiently.
唯以上所述者，仅为本实用新型的具体实施例而已，当不能以此限定本实用新型实施的范围，故其等同组件的置换，或依本实用新型专利保护范围所作的等同变化与修改，皆应仍属本实用新型权利要求书涵盖之范畴。Only the above-mentioned ones are only specific embodiments of the present utility model, and should not limit the implementation scope of the present utility model, so they are equivalent to the replacement of components, or the equivalent changes and modifications made according to the patent protection scope of the present utility model , should still belong to the category covered by the claims of the present utility model.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620715670.6UCN206097107U (en) | 2016-07-08 | 2016-07-08 | Ultrasonic knife frequency tracking device |
| Application Number | Priority Date | Filing Date | Title |
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| CN201620715670.6UCN206097107U (en) | 2016-07-08 | 2016-07-08 | Ultrasonic knife frequency tracking device |
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| CN201620715670.6UExpired - Fee RelatedCN206097107U (en) | 2016-07-08 | 2016-07-08 | Ultrasonic knife frequency tracking device |
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