CN206097107U - 一种超声刀频率跟踪装置 - Google Patents
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Abstract
本实用新型提供一种超声刀频率跟踪装置，其解决了现有超声设备中频率跟踪速度慢、效率不高的问题，其包括处理器、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,本实用新型查找速度快，运行效率高，能快速跟踪压电换能器系统不断变化的谐振频率，能保证压电换能器系统处于谐振频率状态；本实用新型可广泛应用于超声刀。
Description
技术领域
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。
背景技术
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。
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。
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。
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。
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。
发明内容
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。
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；
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；
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；
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；
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。
优选地，处理器为DSP处理器。
优选地，存储模块为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。
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。
附图说明
图1是压电换能器等效电路图；
图2是压电换能器的频率-阻抗曲线图；
图3是压电换能器的频率-相位曲线图；
图4是本实用新型超声刀频率跟踪装置的结构框图；
图5是本实用新型超声刀频率跟踪方法的逻辑控制框图；
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。
图中符号说明
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。
具体实施方式
下面结合实施例对本发明做进一步描述。
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；
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；
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；
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；
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。
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。
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：
(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。
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。
(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：
(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：
其中θ为相位，|Z|为换能器阻抗，w为角频率，w＝2πf。
(c)由上面的相角表达式可以得到如下公式：
(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。
(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。
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。
(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。
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。
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。
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：
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。
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。
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。
(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。
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。
(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。
(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。
(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。
式(9)中，α为接近于1的调节因子。
(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。
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。
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。
Claims (4)
1.一种超声刀频率跟踪装置，其特征在于：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；
所述处理器与所述存储模块、所述显示模块、所述声音模块连接，所述处理器与所述控制模块、所述信号调理模块连接，所述控制模块、信号调理模块分别与所述功率放大输出模块连接，所述功率放大输出模块与所述可调节电源模块连接，所述可调节电源模块与所述电源模块连接，所述功率放大输出模块与所述压电换能器连接；
所述处理器与所述可编程逻辑电路FPGA单元连接，所述可编程逻辑电路FPGA单元与所述安全检测模块连接，所述安全检测模块另一端与所述功率放大输出模块连接；
所述可编程逻辑电路FPGA单元与所述ADC模块连接，所述ADC模块一、所述ADC模块二分别与所述电压反馈模块和所述电流反馈模块连接；
所述可编程逻辑电路FPGA单元与所述按键及指示灯模块和所述故障检测模块连接。
2.根据权利要求1所述的超声刀频率跟踪装置，其特征在于：所述处理器为DSP处理器。
3.根据权利要求1所述的超声刀频率跟踪装置，其特征在于：所述存储模块为EEPROM。
4.根据权利要求1所述的超声刀频率跟踪装置，其特征在于：所述ADC模块为DSP自带模块或者外部高速ADC模块，所述ADC模块至少有两通道。
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