阅读说明：本技术 一种双环自健康管理的多输出微创手术系统 (Double-ring self-health-management multi-output minimally invasive surgery system ) 是由 马振尉 刘富春 李威谕 邓浮池 戚锦磊 于 2019-07-01 设计创作，主要内容包括：本发明涉及一种双环自健康管理的多输出微创手术系统,包括控制系统和刀具系统,所述控制系统包括通过光耦相互连接的控制模块和隔离模块；所述控制模块包括控制器、控制电路、放大驱动电路和功率场效应管,所述隔离模块包括隔离升压变压器、测量模块MCU、测量电路和刀具输出电路；所述隔离变压器的输出端连接所述刀具输出电路；所述刀具系统包括微创刀具和ADRC频率控制器；所述微创刀具为超声波刀具或射频刀具,所述射频刀具为双极输出射频刀具或单极输出射频刀具。通过设立内环和外环的双环测量管理机构对微创刀具工作数据进行双环采样,提升采样数据的实时性与准确性,保证多输出微创手术系统工作过程的稳定性与安全操作性能。(The invention relates to a double-ring self-health-management multi-output minimally invasive surgery system which comprises a control system and a cutter system, wherein the control system comprises a control module and an isolation module which are mutually connected through an optical coupler; the control module comprises a controller, a control circuit, an amplification driving circuit and a power field effect transistor, and the isolation module comprises an isolation step-up transformer, a measurement module MCU, a measurement circuit and a cutter output circuit; the output end of the isolation transformer is connected with the cutter output circuit; the cutter system comprises a minimally invasive cutter and an ADRC frequency controller; the minimally invasive cutter is an ultrasonic cutter or a radio frequency cutter, and the radio frequency cutter is a bipolar output radio frequency cutter or a monopolar output radio frequency cutter. The double-ring measurement management mechanism with the inner ring and the outer ring is used for carrying out double-ring sampling on the working data of the minimally invasive cutter, so that the real-time performance and the accuracy of the sampled data are improved, and the stability and the safe operation performance of the multi-output minimally invasive surgery system in the working process are ensured.)

1. A double-ring self-health-management multi-output minimally invasive surgery system comprises a control system and a cutter system, and is characterized in that,

the control system comprises a control module and an isolation module which are connected with each other through an optical coupler; the control module comprises a controller, a control circuit, an amplification driving circuit and a power field effect transistor, and the isolation module comprises an isolation step-up transformer, a measurement module MCU, a measurement circuit and a cutter output circuit; the measuring circuit comprises an inner ring measuring circuit and an outer ring measuring circuit;

the controller is connected with the input end of the isolation boosting transformer through the control circuit, the amplification driving circuit and the power field effect tube in sequence, and is also connected with the power field effect tube through a BUCK regulating circuit;

the output end of the isolation transformer is connected with the cutter output circuit; the input end and the output end of the isolation boosting transformer are respectively connected with the controller through the inner ring measuring circuit and the outer ring measuring circuit;

the cutter system comprises a minimally invasive cutter and an ADRC frequency controller; the minimally invasive cutter is an ultrasonic cutter or a radio frequency cutter, and the radio frequency cutter is a bipolar output radio frequency cutter or a monopolar output radio frequency cutter.

2. The dual ring self-health managing, multi-output minimally invasive surgical system of claim 1, wherein the ADRC frequency controller comprises:

the tracking differentiator is used for receiving the target phase difference of the cutter at the resonance working point and outputting a tracking signal, wherein the tracking signal is the change speed of the phase difference and the change rate of the phase difference;

the extended state observer is used for receiving the actual phase difference of the cutter at the resonance working point and outputting an extended signal, observing the real-time disturbance of the cutter at the resonance working point and outputting disturbance compensation, wherein the extended signal is the change speed of the phase and the change rate of the phase;

a state error feedback control law which receives the contrast variable of the tracking signal and the expansion signal and outputs a state signal;

and the direct digital frequency synthesizer is used for receiving the mixed phase value of the state signal after the disturbance compensation, outputting a digital sine wave amplitude to a connecting circuit of the cutter interface, and outputting the actual phase difference of the cutter at the resonance working point to the extended state observer.

3. The dual ring self-health-managing multiple output minimally invasive surgical system of claim 1, wherein the control circuit includes a frequency control circuit and an amplitude control circuit, the frequency control circuit and the amplitude control circuit being connected in parallel between the output of the controller and the input of the amplification drive circuit.

4. The dual ring self-health-managing multiple output minimally invasive surgical system of claim 1, wherein an input of the BUCK regulation circuit is connected to a switching power supply.

5. The dual-ring self-health-management multi-output minimally invasive surgical system according to claim 1, wherein an ID read-write circuit is further arranged between the cutter output circuit and the measurement module MCU.

Technical Field

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

Background

The high and new technology in the field of medical appliances is intensively applied, and has the characteristic of technology cross integration application. The scalpel is an indispensable tool for surgical operation, and plays an extremely important role in the whole operation process. The ultrasonic knife system and the radio frequency knife system are used as two kinds of operation equipment systems with minimum global trauma, and have great reverberation in the medical field due to good medical effects of less bleeding during operation, quick recovery after operation and the like.

The ultrasonic blade system comprises a host machine, a handle, an ultrasonic transducer, an ultrasonic energy amplifier, an ultrasonic energy conduction part and a cutter. The handle controls the ultrasonic transducer to convert the electric energy of the host machine into ultrasonic oscillation, the amplitude of the energy oscillation is amplified by the ultrasonic energy amplifier and is transmitted to the cutter by the ultrasonic energy transmission part, the cutter vibrates at the amplitude of 55.5KHZ to generate instant low pressure, water in the tissue is vaporized under the action of cavitation effect, protein is solidified by breaking protein hydrogen bonds, and the cell rupture tissue is opened or dissociated and seals small vessels; simultaneously, the vibration of the cutter also generates secondary energy to coagulate deep protein to seal large vessels. The ultrasonic scalpel has the advantages that no current passes through the body of a patient in application, tissue eschar and low drying degree in the using process are achieved, accurate cutting under the minimal thermal injury can be achieved, the amount of smoke generated in the cutting process is extremely small, meanwhile, the ultrasonic scalpel has the functions of cutting, dissociating, stopping bleeding and the like, and the clinical advantage is obvious.

The radio frequency knife system adopts radio frequency electric waves with higher working frequency (1.5 MHZ-4.5 MHZ) to carry out high-frequency stable output, emitter cutters with different shapes directionally emit the radio frequency electric waves, after the radio frequency electric waves contact body tissues, the tissues generate impedance, water molecules in target tissues are instantly oscillated and vaporized under the action of the radio frequency electric waves, cells are broken and evaporated, and the functions of cutting, hemostasis, mixed cutting, electrocautery, ablation, electrocoagulation and the like are realized under the low-temperature constant-temperature state of 40 ℃. The emitter electrode has the advantages of high cutting speed, good hemostatic effect, fine incision, small heat injury and no carbonization or smoke at low temperature, and is very suitable for minimally invasive surgery.

With the increasing medical level, the ultrasonic radio frequency knife system is combined and applied in minimally invasive surgery according to the clinical characteristics of the ultrasonic knife system and the radio frequency knife system, so that the ultrasonic radio frequency minimally invasive surgery knife system with double output and even multiple output power is formed. In a double-output and multi-output ultrasonic radio frequency minimally invasive scalpel system, the cutter frequency and the cutter power need to be accurately controlled through an additional mechanism, so that the precise and timely control of the cutter output frequency and power is ensured, and the control precision of minimally invasive surgery is improved.

The invention provides a self-health management minimally invasive surgery system using double-ring sampling measurement, which is characterized in that an inner ring and an outer ring double-ring measurement management mechanism are arranged to perform double-ring sampling on the working data of a minimally invasive cutter, so that the real-time performance and the accuracy of the sampling data are improved, and the stability and the safe operation performance of the working process of the multi-output minimally invasive surgery system are ensured.

Disclosure of Invention

The invention provides a self-health management minimally invasive surgery system applying double-ring sampling measurement, which carries out double-ring sampling on the working data of a minimally invasive cutter by setting a double-ring measurement management mechanism with an inner ring and an outer ring, improves the real-time performance and the accuracy of the sampling data, and ensures the stability and the safe operation performance of the working process of a multi-output minimally invasive surgery system.

In order to solve the technical problems, the invention provides the following technical scheme:

a multi-output minimally invasive surgery system for self-health management comprises a control system and a cutter system, wherein the control system comprises a control module and an isolation module which are connected with each other through an optical coupler; the control module comprises a controller, a control circuit, an amplification driving circuit and a power field effect transistor, and the isolation module comprises an isolation step-up transformer, a measurement module MCU, a measurement circuit and a cutter output circuit; the measuring circuit comprises an inner ring measuring circuit and an outer ring measuring circuit;

the controller is connected with the input end of the isolation boosting transformer through the control circuit, the amplification driving circuit and the power field effect tube in sequence, and is also connected with the power field effect tube through a BUCK regulating circuit;

the output end of the isolation transformer is connected with the cutter output circuit; the input end and the output end of the isolation boosting transformer are respectively connected with the controller through the inner ring measuring circuit and the outer ring measuring circuit;

the cutter system comprises a minimally invasive cutter and an ADRC frequency controller; the minimally invasive cutter is an ultrasonic cutter or a radio frequency cutter, and the radio frequency cutter is a bipolar output radio frequency cutter or a monopolar output radio frequency cutter; the minimally invasive cutters are all provided with ID chips.

Further, the ADRC frequency controller includes:

the tracking differentiator is used for receiving the target phase difference of the cutter at the resonance working point and outputting a tracking signal, wherein the tracking signal is the change speed of the phase difference and the change rate of the phase difference;

the extended state observer is used for receiving the actual phase difference of the cutter at the resonance working point and outputting an extended signal, observing the real-time disturbance of the cutter at the resonance working point and outputting disturbance compensation, wherein the extended signal is the change speed of the phase and the change rate of the phase;

a state error feedback control law which receives the contrast variable of the tracking signal and the expansion signal and outputs a state signal;

and the direct digital frequency synthesizer is used for receiving the mixed phase value of the state signal after the disturbance compensation, outputting a digital sine wave amplitude to a connecting circuit of the cutter interface, and outputting the actual phase difference of the cutter at the resonance working point to the extended state observer.

Compared with the traditional working frequency and frequency tracking method, namely a PID control algorithm takes the reference power as an input value of a control system, utilizes the power calculated by amplitude values of acquired voltage and current as feedback information, and realizes accurate control of the power of the cutter by reducing the deviation value between the feedback information and the reference power value of the input system And the real-time tracking ensures the high-precision operation and the reliability of the surgical system.

Furthermore, the control circuit comprises a frequency control circuit and an amplitude control circuit, and the frequency control circuit and the amplitude control circuit are connected in parallel with the output end of the controller and the input end of the amplification driving circuit. The frequency control circuit and the amplitude control circuit which are connected in parallel are arranged to synchronously manage circuit information in real time, so that working errors are reduced, and low-error real-time control is realized.

Furthermore, the input end of the BUCK regulating circuit is connected with a switching power supply. The working circuit realizes stable state work by a low-voltage type conversion BUCK circuit small ripple approximate principle and an inductance volt-second balance principle, the charge and discharge of a capacitor are balanced by the stable balance circuit, the voltage is maintained unchanged, the transition is smooth, and the influence of an external switch power supply on the working balance of a minimally invasive surgery system is avoided.

Furthermore, an ID read-write circuit is arranged between the cutter output circuit and the measurement module MCU. The corresponding instrument encryption is realized by setting the ID read-write circuit and carrying out identification operation on the ID chip arranged on the minimally invasive cutter, and the use safety of the instrument is improved.

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

s1: the minimally invasive cutter is connected with a control main board comprising a control module and an isolation module through a cutter interface, and the cutter is one of an ultrasonic cutter, a bipolar output radio frequency cutter or a monopolar output radio frequency cutter; when the monopolar output radio frequency cutter is used, the control main board is externally connected with a neutral polar plate through a connecting wire, and the neutral polar plate is arranged on the body surface of a patient and forms a circulating current loop with the monopolar output radio frequency cutter.

S2: the switching power supply is turned on to electrify the control system, the BUCK regulating circuit enables the current and voltage input to the power field effect transistor of the switching power supply to be kept stable, the pedal switch controls the input state of the switching power supply, and the control module and the isolation module work under the support of the weak power supply and the isolation power supply respectively; an ID reading and writing circuit in the isolation module identifies an internal ID chip of the minimally invasive cutter, the connected cutter type is judged through ID checking according to a working mode and working parameters set by the interaction module, if the connected cutter type is incorrect, a prompt is sent, and if the connected cutter type is correct, data are transmitted to a control MCU system through an isolation test MCU system under the action of an optical coupler;

the control MCU system outputs a control signal of cutter work under the support of a strong power supply through a power control circuit and a frequency driver, the control signal is transmitted into an isolation boosting transformer of an isolation module under the action of an optocoupler, the isolation boosting transformer transmits a boosting transformation signal to a relay, and the relay directly receives the control signal transmitted by the control MCU system through the action of the optocoupler and respectively outputs an ultrasonic signal and a radio frequency signal to a cutter output circuit according to use requirements;

s3: the comparator collects and compares voltage and current waves generated when the cutter works and outputs a voltage square wave signal and a current square wave signal, and the microcontroller captures the voltage square wave signal and the current square wave signal to calculate and outputs the rising edge time t of the voltage square wave signal₁And the rising edge time t of the current square wave signal₂Outputting a target phase value delta t and an actual phase difference y when the cutter works after the calculation of the formula (1) and the formula (2)_r。

Δt＝t₁-t₂(1)

Δt＝y_r(2)

S4: the tracking differentiator operates on the actual phase difference y through the formula (3)_rSmoothing, outputting tracking signal and feedforward control amount r₃The tracking signal includes the speed of change r of the phase difference₁Rate of change of sum phase difference r₂，

Wherein R is an adjustable parameter, and the value of R represents y_rThe tracking speed of (2) is high and low; the tracking differentiator is a nonlinear tracking differentiator and is insensitive to the value of R.

S5: b, the control process input value u of the extended state observer is calculated by the formula (4)₀Amplified output value b₀u and the actual output value y are processed to output an expansion signal and a total system disturbance z equivalent to the input side₃Said expansion signal comprising a speed of change z of phase₁And rate of change z of phase₂，

In order to simplify the calculation, the adopted extended state observer is a linear extended state observer 3; and z₁And z₂For determining the tracking error and its derivative, z₃For compensating directly for disturbances β₁、β₂And β₃Is an adjustable parameter.

S6: the state error feedback control law outputs a state signal u after the operation of formula (5)₀，

u₀＝k₁(r₁-z₁)+k₂(r₂-z₂) (5)

Wherein k is₁And k₂Is an adjustable parameter.

S7: and the state signal is input into a direct digital frequency synthesizer after being subjected to disturbance compensation by the extended state observer, and the final control input process of the system is a formula (6).

S8: and the direct digital frequency synthesizer is connected with a cutter interface circuit, and the actual output value y of the cutter is directly input into the extended state observer to carry out real-time feedback annular control on the working frequency of the cutter.

S9: the resistance value output to the cutter is controlled by using different control buttons so as to switch the output power of the cutter, and thus, the multifunctional use of the cutter is realized; when the monopolar output radio frequency cutter is used, the control button is switched to change the output radio frequency waveform, so that the change of the electric cutting or electric coagulation function is realized; when the bipolar output radio frequency cutter is used, the control button is switched to change the output radio frequency waveform, so that the enhancement or the weakening of the blood coagulation function is realized.

S10: and when the use requirement is changed and a cutter with a new specification needs to be replaced, removing the connection relation between the cutter used before the requirement is changed and the cutter interface, repeating the steps S1-S9, and carrying out real-time feedback annular control on the working frequency of the cutter again. The cutter is directly connected, assembled, disassembled and replaced through the cutter interface, the cutter which is detachable and convenient to replace is convenient to replace according to different use requirements in the use process, and meanwhile, the real-time feedback control of the working frequency of the used cutter can be rapidly realized; the multifunctional multi-output operation of the surgical system is realized by replacing the type cutter, and meanwhile, the operation precision and the operation stability of the surgical system are reliably improved conveniently and quickly.

S11: according to the local ID read-write information set in the interactive program, the inner ring measuring circuit carries out local sampling on local working data at the input end of the isolation boosting transformer in the working process of the cutter through the cutter output circuit and outputs the local measuring data of the inner ring to the controller, meanwhile, the outer ring measuring circuit samples isolation communication data, isolation output voltage, isolation output current and isolation output phase at the output end of the isolation boosting transformer and outputs outer ring data to the controller, and the controller carries out data processing and health assessment on the local measuring data of the inner ring and the outer ring data according to the set value of an upper computer, namely, the working data and the health condition of the cutter are measured in real time and output to the interactive module for self-health processing.

S12: the controller for identifying self-health data, namely measuring the working data of the cutter and the health condition data in real time carries out voltage deviation control on the BUCK regulating circuit and synchronous control on the working frequency and the working amplitude of the cutter on the basis of a set value of an upper computer, and adjusts the working state of the isolation boosting transformer in real time sequentially through the amplification driving circuit and the power field effect tube, so that the self-health management is carried out on the output waveform and the output power of the cutter output circuit.

Compared with the prior art, the invention has the following beneficial effects:

1. compared with the traditional working frequency and frequency tracking method, namely a PID control algorithm takes the reference power as an input value of a control system, utilizes the power calculated by amplitude values of acquired voltage and current as feedback information, and realizes accurate control of the power of the cutter by reducing the deviation value between the feedback information and the reference power value of the input system;

2. the multi-output minimally invasive surgery system with the ADRC active disturbance rejection frequency control technology and based on self-health management work is provided, double-loop sampling is carried out on the minimally invasive cutter work data while the cutter work frequency power is monitored in real time, the local work data and the output communication data of the surgery system are compared and monitored according to the set local data and work parameter values, multi-level, complete and timely self-health management is achieved, and the high-precision low-error performance and the operation safety of the surgery system are improved;

3. the control module is separated from the isolation module, so that the control program of the control module is prevented from being influenced by the isolation module to the greatest extent, and the control system is prevented from being crashed due to external program errors, and the precision and the safe operation performance of the system are ensured.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts. The shapes of various parts or structures in the drawings are not intended to represent the actual conditions under which the parts or structures actually operate, but are merely schematic illustrations provided for explaining the present invention.

FIG. 1 is a schematic diagram of the dual ring self-health management multiple output minimally invasive surgical system of the present invention;

FIG. 2 is a schematic diagram of the operation of the isolation module of the present invention;

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

FIG. 4 is a flow chart of the self-health management process of the present invention;

figure 5 is a schematic diagram of the operation of the ADRC frequency controller of the present invention,

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

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The embodiment of the invention comprises the following steps:

as shown in fig. 1 to 5, a self-health management multi-output minimally invasive surgery system comprises a control system 1 and a cutter system 2, wherein the control system 1 comprises a control module 11 and an isolation module 12 which are connected with each other through an optical coupler; the control module 11 comprises a controller 6, a control circuit, an amplification driving circuit 63 and a power field effect transistor 64, and the isolation module 12 comprises an isolation step-up transformer 126, a measurement module MCU122, a measurement circuit and a cutter output circuit 124; the measuring circuit comprises an inner ring measuring circuit 7 and an outer ring measuring circuit 8;

the controller 6 is connected with the input end of the isolation boosting transformer 126 sequentially through the control circuit, the amplification driving circuit 63 and the power field effect transistor 64, and the controller 6 is also connected with the power field effect transistor 64 through a BUCK regulating circuit 65;

the output end of the isolation transformer is connected with the cutter output circuit 124; the input end and the output end of the isolation step-up transformer 126 are respectively connected with the controller 6 through the inner ring measuring circuit 7 and the outer ring measuring circuit 8;

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, and the radio frequency cutter is a bipolar output radio frequency cutter or a monopolar output radio frequency cutter; the minimally invasive cutters are all provided with ID chips.

The ADRC frequency controller 21 includes:

the tracking differentiator 211 is used for receiving the target phase difference of the cutter at the resonance working point and outputting a tracking signal, wherein the tracking signal is the change speed of the phase difference and the change rate of the phase difference;

the extended state observer 213 is used for receiving the actual phase difference of the cutter at the resonance working point, outputting an extended signal, observing the real-time disturbance of the cutter at the resonance working point and outputting disturbance compensation, wherein the extended signal is the change speed of the phase and the change rate of the phase;

a state error feedback control law 212 receiving the tracking signal and the contrast variable of 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 a digitized sine wave amplitude to the connection circuit of the tool interface, and outputs the actual phase difference of the tool at the resonance working point to the extended state observer 213.

Compared with the traditional working frequency and frequency tracking method, namely a PID control algorithm takes the reference power as an input value of a control system 1, utilizes the power calculated by amplitude values of acquired voltage and current as feedback information, and realizes accurate control of the power of the cutter by reducing the deviation value between the feedback information and the reference power value of the input system The real-time compensation control and the real-time tracking ensure the high-precision operation and the reliability of the surgical system.

The control circuit comprises a frequency control circuit 61 and an amplitude control circuit 62, and the frequency control circuit 61 and the amplitude control circuit 62 are connected in parallel with the output end of the controller 6 and the input end of the amplification driving circuit 63. The frequency control circuit 61 and the amplitude control circuit 62 which are connected in parallel are arranged to synchronously manage circuit information in real time, so that working errors are reduced, and low-error real-time control is realized.

The input end of the BUCK adjusting circuit 65 is connected with the switching power supply 3. The working circuit realizes stable state work by a low-voltage type conversion BUCK circuit small ripple approximate principle and an inductance volt-second balance principle, the charge and discharge of a capacitor are balanced by the stable balance circuit, the voltage is kept unchanged, the smooth transition is realized, and the influence of an external switch power supply 3 on the working balance of a minimally invasive surgery system is avoided.

An ID read-write circuit 123 is also arranged between the cutter output circuit 124 and the measurement module MCU 122. The ID read-write circuit 123 and an ID chip on the minimally invasive cutter are arranged to perform identification operation, so that corresponding instrument encryption is realized, and the use safety of the instrument is improved.

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

s1: the minimally invasive cutter is connected with a control main board comprising a control module 11 and an isolation module 12 through a cutter interface, and the cutter is one of an ultrasonic cutter, a bipolar output radio frequency cutter or a monopolar output radio frequency cutter; when the monopolar output radio frequency cutter is used, the control main board is externally connected with a neutral polar plate through a connecting wire, and the neutral polar plate is arranged on the body surface of a patient and forms a circulating current loop with the monopolar output radio frequency cutter.

S2: the switching power supply 3 is turned on to electrify the control system 1, the BUCK regulating circuit 65 enables the current and voltage input to the power field effect tube 64 of the switching power supply 3 to be kept stable, the foot switch 4 controls the input state of the switching power supply 3, and the control module 11 and the isolation module 12 work under the support of a weak power supply and an isolation power supply 121 respectively; an ID reading and writing circuit 123 in the isolation module 12 identifies an internal ID chip of the minimally invasive cutter, the connected cutter type is judged through ID checking according to a working mode and working parameters set by the interaction module 5, if the connected cutter type is incorrect, a prompt is sent, and if the connected cutter type is correct, data are transmitted to a control MCU system through an isolation test MCU system under the action of an optical coupler;

the control MCU system outputs a control signal of cutter work under the support of a strong power supply through a power control circuit and a frequency driver, the control signal is transmitted into an isolation step-up transformer 126 of the isolation module 12 under the action of an optical coupler, the isolation step-up transformer 126 transmits a step-up voltage transformation signal to a relay 125, and the relay 125 directly receives the control signal transmitted by the control MCU system through the action of the optical coupler and respectively outputs an ultrasonic signal and a radio frequency signal to a cutter output circuit 124 according to use requirements;

s3: the comparator collects and compares voltage and current waves generated when the cutter works and outputs a voltage square wave signal and a current square wave signal, and the microcontroller captures the voltage square wave signal and the current square wave signal to calculate and outputs the rising edge time t of the voltage square wave signal₁And the rising edge time t of the current square wave signal₂Outputting a target phase value delta t and an actual phase difference y when the cutter works after the calculation of the formula (1) and the formula (2)_r。

Δt＝t₁-t₂(1)

Δt＝y_r(2)

S4: the tracking differentiator 211 operates on the actual phase difference y through the equation (3)_rSmoothing, outputting tracking signal and feedforward control amount r₃The tracking signal includes the speed of change r of the phase difference₁Rate of change of sum phase difference r₂，

Wherein R is an adjustable parameter, and the value of R represents y_rThe tracking speed of (2) is high and low; the tracking differentiator 211 is a non-linear tracking differentiator 211, and is insensitive to the value of R.

S5: the extended state observer 213 operates on the control process input value u via equation (4) via b₀Amplified output value b₀u and the actual output value y are processed to output an expansion signal and a total system disturbance z equivalent to the input side₃Said expansion signal comprising a speed of change z of phase₁And rate of change z of phase₂，

In order to simplify the calculation, the extended state observer 213 is a linear extended state observer 2133; and z₁And z₂For finding tracking error andderivative thereof, z₃For compensating directly for disturbances β₁、β₂And β₃Is an adjustable parameter.

S6: the state error feedback control law 212 outputs a state signal u after the operation of formula (5)₀，

u₀＝k₁(r₁-z₁)+k₂(r₂-z₂) (5)

Wherein k is₁And k₂Is an adjustable parameter.

S7: the state signal is disturbed and compensated by the extended state observer 213 and then input into the direct digital frequency synthesizer 214, and the control input process of the final system is formula (6).

S8: the direct digital frequency synthesizer 214 is connected with a cutter interface circuit, and the actual output value y of the cutter is directly input to the extended state observer 213 to perform real-time feedback loop control on the working frequency of the cutter.

S9: the resistance value output to the cutter is controlled by using different control buttons so as to switch the output power of the cutter, and thus, the multifunctional use of the cutter is realized; when the monopolar output radio frequency cutter is used, the control button is switched to change the output radio frequency waveform, so that the change of the electric cutting or electric coagulation function is realized; when the bipolar output radio frequency cutter is used, the control button is switched to change the output radio frequency waveform, so that the enhancement or the weakening of the blood coagulation function is realized.

S10: and when the use requirement is changed and a cutter with a new specification needs to be replaced, removing the connection relation between the cutter used before the requirement is changed and the cutter interface, repeating the steps S1-S9, and carrying out real-time feedback annular control on the working frequency of the cutter again. The cutter is directly connected, assembled, disassembled and replaced through the cutter interface, the cutter which is detachable and convenient to replace is convenient to replace according to different use requirements in the use process, and meanwhile, the real-time feedback control of the working frequency of the used cutter can be rapidly realized; the multifunctional multi-output operation of the surgical system is realized by replacing the type cutter, and meanwhile, the operation precision and the operation stability of the surgical system are reliably improved conveniently and quickly.

S11: according to the local ID read-write information set in the interactive program, the inner ring measuring circuit 7 carries out local sampling on the local working data at the input end of the isolation boosting transformer 126 in the working process of the cutter through the cutter output circuit 124 and forms inner ring local measuring data to be output to the controller 6, meanwhile, the outer ring measuring circuit 8 carries out sampling on the isolation communication data, the isolation output voltage, the isolation output current and the isolation output phase at the output end of the isolation boosting transformer 126 and forms outer ring data to be output to the controller 6, and the controller 6 carries out data processing and health assessment on the inner ring local measuring data and the outer ring data according to the set value of an upper computer, namely, the working data and the health condition of the cutter are measured in real time and output to the interactive module 5 for self-health processing.

S12: the controller 6 for recognizing self-health data, namely real-time measurement of tool working data and health condition data, performs voltage deviation control and synchronous control of tool working frequency and working amplitude on the BUCK regulating circuit 65 on the basis of a set value of an upper computer, and adjusts the working state of the isolation boosting transformer 126 in real time sequentially through the amplification driving circuit 63 and the power field effect tube 64, so that self-health management is performed on the output waveform and the output power of the tool output circuit 124.

Compared with the prior art, the invention has the following beneficial effects:

1. compared with the traditional working frequency and frequency tracking method, namely a PID control algorithm takes the reference power as an input value of a control system 1, utilizes the power calculated by amplitude values of acquired voltage and current as feedback information, and realizes accurate control of the power of the cutter by reducing the deviation value between the feedback information and the reference power value of the input system;

2. the multi-output minimally invasive surgery system with the ADRC active disturbance rejection frequency control technology and based on self-health management work is provided, double-loop sampling is carried out on the minimally invasive cutter work data while the cutter work frequency power is monitored in real time, the local work data and the output communication data of the surgery system are compared and monitored according to the set local data and work parameter values, multi-level, complete and timely self-health management is achieved, and the high-precision low-error performance and the operation safety of the surgery system are improved;

3. the control module 11 is separated from the isolation module 12, so that the control program of the control module 11 is prevented from being influenced by the isolation module 12 to the greatest extent, and the control system 1 is prevented from being crashed due to external program errors, and the precision and the safe operation performance of the system are ensured.

It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only.

The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by the present specification, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.