Ultrasonic scalpel frequency tracking method, frequency tracking device, and ultrasonic scalpel equipment

Abstract

This disclosure relates to a frequency tracking method, a frequency tracking device, and an ultrasonic scalpel device. The method includes: acquiring the ultrasonic scalpel's operating frequency, phase difference, impedance value, and previous operating state at the current moment during operation; determining the ultrasonic scalpel's current operating state based on its current operating frequency, or the current operating frequency and phase difference, or the current operating frequency, phase difference, and impedance value, or the current operating frequency, phase difference, and previous operating state, or the current operating frequency, phase difference, and impedance value, and the previous operating state; and performing frequency tracking processing matching the current operating state to ensure the ultrasonic scalpel operates at its resonant frequency. This enables successful frequency tracking of the ultrasonic scalpel at any starting frequency, improving its robustness and adaptability to complex working conditions.

Description

Technical Field

[0001] This disclosure relates to the field of medical devices, and more particularly to a method, device, and equipment for tracking the frequency of an ultrasonic scalpel. Background Technology

[0002] Ultrasonic soft tissue surgical devices (hereinafter referred to as ultrasonic scalpels) are surgical instruments that use ultrasonic waves to drive the scalpel shaft to vibrate mechanically. This high-frequency mechanical vibration tears biological tissue cells, thereby cutting biological soft tissue. Because it can stop bleeding while cutting, it is also known as a "bloodless scalpel".

[0003] As we know, an ultrasonic scalpel mainly consists of three components: the ultrasonic scalpel unit, the ultrasonic transducer, and the ultrasonic scalpel head mounted on the ultrasonic transducer. The ultrasonic scalpel unit is mainly used to generate ultrasonic frequency drive signals to drive the ultrasonic transducer. The ultrasonic transducer is mainly used to convert high-frequency electrical energy into mechanical energy to generate high-frequency vibration, which drives the ultrasonic scalpel head to cut biological tissue under high-frequency vibration. During the use of the ultrasonic scalpel, the ultrasonic scalpel unit can typically generate alternating current of about 55 kHz, driving the ultrasonic transducer to generate high-frequency mechanical vibration. The mechanical vibration can be transmitted to the ultrasonic scalpel head through the amplitude transformer on the ultrasonic transducer. The high-frequency vibration of the ultrasonic scalpel head (approximately 55,000 times per second) causes the water in the clamped soft tissue to rapidly vaporize, cells to tear, protein hydrogen bonds to break, and the temperature to rise, achieving the cutting and separation of soft tissue and the coagulation and hemostasis of blood vessels.

[0004] The ultrasonic scalpel main unit needs to adjust the operating frequency of the drive signal driving the ultrasonic transducer in real time to ensure that the ultrasonic transducer and ultrasonic scalpel head are in or close to a resonant state, maximizing or increasing the efficiency of electrical energy conversion into mechanical energy. For example, an impedance analyzer is used to perform a frequency sweep test on the mechanical vibration system consisting of the handle, ultrasonic transducer (including the amplitude transformer), and ultrasonic scalpel head (including the scalpel handle and scalpel handle sleeve), obtaining... Figure 1 The spectrum diagram of the equivalent circuit model of the mechanical vibration system is shown. Figure 1 In the diagram, the horizontal axis represents frequency, the right vertical axis represents impedance (impedance Z in logarithmic coordinates, i.e., lgZ), and the left vertical axis represents phase difference (i.e., the phase difference between the driving voltage and driving current of the ultrasonic transducer).

[0005] It is known that the resonant frequency has a range of values ​​(this range determines the sweep frequency range). Figure 1The abscissa Fo of point O in the figure is the lower limit value of the frequency in this value range, and the abscissa Fe of point E is the upper limit value of the frequency in this value range. The lower limit value of the frequency and the upper limit value of the frequency are known constants. For the phase difference curve, the ordinate of point O is 0; for the impedance curve, the ordinate of point O is not 0. The abscissas of points A and C are the resonant frequencies Fs (that is, the operating frequencies in the resonant state), and the abscissas of points B and D are the anti-resonant frequencies Fp (that is, the operating frequencies in the anti-resonant state, and the efficiency of converting electrical energy into mechanical energy in the anti-resonant state is the lowest). The phase difference between points C and D is 0, and the ordinate of the straight line where CD is located is the phase difference 0, with positive phase differences above and negative phase differences below. The ordinate value of point A is the resonant point impedance Zmin, that is, the minimum impedance value in the resonant state. The ordinate of point B is the anti-resonant point impedance Zmax, that is, the maximum impedance value in the anti-resonant state. The frequencies corresponding to points O and E are known constants, and the frequencies corresponding to points C and D are unknown, but satisfy Fo < Fc < Fd < Fe, that is, the relative magnitude relationship is known, and the relative position relationship on the number axis is as Figure 1 shown.

[0006] It can be Figure 1 seen that the phase differences at the resonant frequency and the anti-resonant frequency are both 0, that is, the phase differences between points C and D are both 0, and at the resonant frequency, the efficiency of converting electrical energy into mechanical energy is the highest. At the anti-resonant frequency, the efficiency of converting electrical energy into mechanical energy is the lowest. Parameters such as the resonant frequency and the anti-resonant frequency will drift with the load and working conditions. Therefore, the ultrasonic knife host needs to adjust the driving frequency (that is, the working frequency of the driving signal) of the ultrasonic transducer in real time to track the resonant frequency, that is, to keep the ultrasonic knife continuously in or close to the resonant state during the working process.

[0007] Although the spectral curve shapes of different mechanical vibration systems in different ultrasonic knives are similar, parameters such as the resonant frequency, resonant impedance, anti-resonant frequency, and anti-resonant impedance are different. After the ultrasonic knife is powered on, it will perform an unloaded frequency sweep self-check. The so-called unloaded frequency sweep self-check means that without a load, the driving frequency of the ultrasonic transducer is increased from the lower limit of the frequency to the upper limit of the frequency at a fixed step size. During this process, the driving voltage, driving current of the ultrasonic transducer, and the phase difference between the two are measured, and the impedance is calculated. Through the frequency sweep, the working frequency with a phase difference of 0 and an impedance less than 120 Ω (this value can be adjusted, for example, it can be taken from 100 - 160 Ω, which is related to the material and structure of the knife head itself) is found as the frequency sweep resonant frequency F0. The selection of the starting frequency during the working process is related to F0, so that it can quickly enter the resonant state and work efficiently. During the working process, the working frequency can be adjusted in real time according to the phase difference, so that after the frequency is adjusted, the phase difference remains 0 or near 0 (this process can be called frequency tracking). At this time, it is considered that the mechanical vibration system has reached or is close to the resonant state.

[0008] If the starting frequency is not selected correctly, for example, if it is selected in a region with high impedance, such as near or to the right of the anti-resonant frequency D, then the ultrasonic scalpel system using constant current output will not work. This is because high impedance means high voltage, which will cause the voltage waveform output by the ultrasonic scalpel host to be distorted and no longer a sine wave. The phase difference data will be inaccurate, and thus frequency tracking will not be possible.

[0009] Under normal circumstances, one mechanical vibration system is used for each surgery, and a frequency sweep self-check is performed every time the system is powered on, so there is no possibility of an incorrect starting frequency selection. If the mechanical vibration system is changed during the surgery (such as changing the ultrasonic scalpel head or ultrasonic transducer), a frequency sweep must be performed; otherwise, there is a possibility of incorrect starting frequency leading to frequency tracking failure. If the resonant frequency of the previous mechanical vibration system is the anti-resonant frequency of the new mechanical vibration system, without a frequency sweep, the resonant frequency of the previous mechanical vibration system will continue to be used as the starting frequency of the new mechanical vibration system. This means that frequency tracking will be performed using the anti-resonant frequency of the new mechanical vibration system as the starting frequency, which will lead to frequency tracking failure.

[0010] In practice, users, for convenience, may disregard the operating instructions and directly replace the mechanical vibration system without performing a frequency sweep self-test. This can cause the entire ultrasonic scalpel device to fail to track frequencies and display error messages, resulting in a poor user experience. If user ratings are lower than competitors, it will negatively impact sales. Therefore, ensuring the device can be used immediately after replacing the mechanical vibration system will improve user experience and enhance product competitiveness.

[0011] Existing technologies to prevent frequency tracking failures caused by users replacing mechanical vibration systems (such as ultrasonic transducers) without performing frequency sweep tests include continuously monitoring whether the ultrasonic transducer is connected. When the ultrasonic transducer is detected to be connected, the user is forced to perform a frequency sweep test; otherwise, the device cannot be used. However, this solution requires monitoring whether the ultrasonic transducer is connected. If a hardware and software combined solution is used, it will increase hardware costs. If a pure software solution is used, it will require continuous periodic frequency sweeps to determine whether the ultrasonic transducer is connected based on the spectrum. The disadvantage is that even if the machine is in standby mode and the user is not using the machine, the ultrasonic transducer is still working, which not only wastes energy but also shortens the normal service life of the ultrasonic transducer. Summary of the Invention

[0012] In view of this, this disclosure proposes a frequency tracking method, frequency tracking device, and ultrasonic scalpel equipment, which can solve the problem that ultrasonic scalpels need to perform frequency sweep self-testing after the mechanical vibration system is replaced in order to work normally. It can improve the robustness of ultrasonic scalpel frequency tracking, and can successfully track frequencies even if the selected frequency tracking start frequency is far from the resonant point but close to the anti-resonant point.

[0013] According to one aspect of this disclosure, a frequency tracking method for an ultrasonic scalpel is provided, comprising: acquiring the operating frequency, phase difference, impedance value, and operating state of the ultrasonic scalpel at the current moment during operation, wherein the operating state represents a normal operating state or an anti-resonant operating state, wherein the normal operating state includes the ultrasonic scalpel operating before the anti-resonant frequency, and the anti-resonant operating state includes the ultrasonic scalpel operating after the anti-resonant frequency, wherein the anti-resonant frequency includes the operating frequency when the phase difference is 0 and the impedance value is maximum; determining the operating state of the ultrasonic scalpel at the current moment based on the operating frequency of the ultrasonic scalpel at the current moment, or the operating frequency and phase difference at the current moment, or the operating frequency, phase difference, and impedance value at the current moment; or determining the operating state of the ultrasonic scalpel at the current moment based on the operating frequency, phase difference, and operating state of the ultrasonic scalpel at the current moment, or the operating frequency, phase difference, and impedance value at the current moment, and the operating state of the ultrasonic scalpel at the previous moment; and performing frequency tracking processing matching the operating state of the ultrasonic scalpel at the current moment to make the ultrasonic scalpel operate at the resonant frequency, wherein the resonant frequency includes the operating frequency when the phase difference is 0 and the impedance value is minimum.

[0014] In one possible implementation, determining the operating state of the ultrasonic scalpel at the current moment based on its operating frequency, or the operating frequency and phase difference, or the operating frequency, phase difference, and impedance value at the current moment includes: determining the ultrasonic scalpel's operating state as an anti-resonance operating state when the operating frequency at the current moment is less than the upper limit of the ultrasonic scalpel's operating frequency, the phase difference at the current moment is less than or equal to 0, the absolute value of the phase difference at the current moment is less than or equal to a first phase difference threshold, and the impedance value at the current moment is greater than a first impedance threshold; or, determining the ultrasonic scalpel's operating state as an anti-resonance operating state when the operating frequency at the current moment is less than the upper limit of the ultrasonic scalpel's operating frequency, the phase difference at the current moment is less than or equal to 0, and the phase difference at the current moment and the N historical moments prior to the current moment are negatively correlated with the operating frequency, where N is a positive integer; or, determining the ultrasonic scalpel's operating state as an anti-resonance operating state when the operating frequency at the current moment is greater than or equal to the upper limit of the ultrasonic scalpel's operating frequency.

[0015] In one possible implementation, determining the working state of the ultrasonic scalpel at the current moment based on its current operating frequency, phase difference, and operating state at the previous moment, or its current operating frequency, phase difference, and impedance value, and its operating state at the previous moment, includes: determining the working state of the ultrasonic scalpel at the current moment based on its operating state at the previous moment when the phase difference at the current moment is less than or equal to 0, the absolute value of the phase difference at the current moment is greater than a first phase difference threshold, and the current operating frequency is less than the upper limit of the ultrasonic scalpel's operating frequency; or, ... less than or equal to a first impedance threshold, and the current operating frequency is less than the upper limit of the ultrasonic scalpel's operating frequency. If the working frequency of the ultrasonic scalpel is less than the upper limit of the working frequency of the ultrasonic scalpel, the working state of the ultrasonic scalpel at the current moment is determined based on the working state at the previous moment; or, if the phase difference at the current moment is less than or equal to 0, the phase difference at the current moment and the N historical moments before the current moment are not negatively correlated with the working frequency, and the working frequency at the current moment is less than the upper limit of the working frequency of the ultrasonic scalpel, the working state of the ultrasonic scalpel at the current moment is determined based on the working state at the previous moment; or, if the phase difference at the current moment is greater than 0 and the working frequency at the current moment is less than the upper limit of the working frequency of the ultrasonic scalpel, the working state of the ultrasonic scalpel at the current moment is determined based on the working state at the previous moment.

[0016] In one possible implementation, determining the working state of the ultrasonic scalpel at the current moment based on the working state at the previous moment includes: determining that the ultrasonic scalpel is in a normal working state at the current moment if the working state at the previous moment was a normal working state; or, determining that the ultrasonic scalpel is in a normal working state at the current moment if the working state at the previous moment was an anti-resonant working state and the phase difference at the current moment is greater than 0 and the absolute value of the phase difference at the current moment is greater than a second phase difference threshold; or, determining that the ultrasonic scalpel is in an anti-resonant working state at the current moment if the working state at the previous moment was an anti-resonant working state and the phase difference at the current moment is greater than 0 and the absolute value of the phase difference at the current moment is less than or equal to the second phase difference threshold; or, determining that the ultrasonic scalpel is in a normal working state at the current moment if the working state at the previous moment was an anti-resonant working state and the phase difference at the current moment is equal to 0 and the impedance value at the current moment is less than a second impedance ... phase difference at the previous moment is equal to 0 and the If the phase difference at the previous moment is less than 0 and the phase difference at the last moment is greater than 0, the ultrasonic scalpel is determined to be in normal working state at the current moment; or, if the working state at the last moment is in anti-resonance working state and the phase difference at the current moment is less than 0 and the phase difference at the last moment is less than or equal to 0, the ultrasonic scalpel is determined to be in anti-resonance working state at the current moment; or, if the working state at the last moment is in anti-resonance working state and the phase difference at the current moment is equal to 0, the impedance value at the current moment is greater than or equal to the second impedance threshold and the phase difference at the last moment is greater than 0, the ultrasonic scalpel is determined to be in normal working state at the current moment; or, if the working state at the last moment is in anti-resonance working state and the phase difference at the current moment is equal to 0, the impedance value at the current moment is greater than or equal to the second impedance threshold and the phase difference at the last moment is less than or equal to 0, the ultrasonic scalpel is determined to be in anti-resonance working state at the current moment; wherein, the second phase difference threshold is less than the first phase difference threshold, and the second impedance threshold is less than the first impedance threshold.

[0017] In one possible implementation, the step of performing frequency tracking processing to match the current working state of the ultrasonic scalpel includes: when the ultrasonic scalpel is in an anti-resonance working state at the current time, subtracting a first frequency step size from the current working frequency to obtain a first target working frequency corresponding to the current time, and adjusting the working frequency of the driving signal input to the ultrasonic transducer in the ultrasonic scalpel to the first target working frequency.

[0018] In one possible implementation, the step of performing frequency tracking processing to match the current working state of the ultrasonic scalpel includes: when the ultrasonic scalpel is in normal working state at the current moment and in anti-resonant working state at the previous moment, and the phase difference at the current moment is greater than 0 and the absolute value of the phase difference at the current moment is less than or equal to a second phase difference threshold, subtracting a second frequency step size from the current working frequency to obtain a second target working frequency corresponding to the current moment, and adjusting the working frequency of the driving signal input to the ultrasonic transducer in the ultrasonic scalpel to the second target working frequency; or, when the ultrasonic scalpel is in anti-resonant working state at the current moment and in anti-resonant working state at the previous moment, subtracting a second frequency step size from the current working frequency to obtain a second target working frequency corresponding to the current moment, and adjusting the working frequency of the driving signal input to the ultrasonic transducer in the ultrasonic scalpel to the second target working frequency.

[0019] In one possible implementation, the step of performing frequency tracking processing to match the current working state of the ultrasonic scalpel includes: determining the frequency adjustment amount at the current moment based on the phase difference when the ultrasonic scalpel is in a normal working state at the current moment and the working state at the previous moment was also in a normal working state; or, determining the frequency adjustment amount at the current moment based on the phase difference when the ultrasonic scalpel is in a normal working state at the current moment; wherein, when the phase difference is positive, the frequency adjustment amount is negative; when the phase difference is negative, the frequency adjustment amount is positive; adding the current working frequency to the current frequency adjustment amount to obtain the third target working frequency corresponding to the current moment, and adjusting the working frequency of the drive signal input to the ultrasonic transducer in the ultrasonic scalpel to the third target working frequency.

[0020] According to another aspect of this disclosure, a frequency tracking device for an ultrasonic scalpel is provided, comprising: an acquisition module, configured to acquire the operating frequency, phase difference, impedance value, and operating state of the ultrasonic scalpel at the current moment during operation, wherein the operating state represents a normal operating state or an anti-resonant operating state, wherein the normal operating state includes the ultrasonic scalpel operating before the anti-resonant frequency, and the anti-resonant operating state includes the ultrasonic scalpel operating after the anti-resonant frequency, wherein the anti-resonant frequency includes the operating frequency when the phase difference is 0 and the impedance value is maximum; a determination module, configured to determine the operating state of the ultrasonic scalpel at the current moment based on the operating frequency of the ultrasonic scalpel at the current moment, or the operating frequency and phase difference at the current moment, or the operating frequency, phase difference, and impedance value at the current moment; or, to determine the operating state of the ultrasonic scalpel at the current moment based on the operating frequency, phase difference, and operating state of the ultrasonic scalpel at the current moment, or the operating frequency, phase difference, and impedance value at the current moment, and the operating state of the ultrasonic scalpel at the previous moment; and a frequency tracking module, configured to perform frequency tracking processing matching the operating state of the ultrasonic scalpel at the current moment, so that the ultrasonic scalpel operates at the resonant frequency, wherein the resonant frequency includes the operating frequency when the phase difference is 0 and the impedance value is minimum.

[0021] According to another aspect of this disclosure, an ultrasonic scalpel device is provided, comprising: an ultrasonic scalpel main unit, an ultrasonic transducer, and an ultrasonic scalpel head mounted on the ultrasonic transducer; the ultrasonic scalpel main unit is configured to perform the frequency tracking method, or the ultrasonic scalpel main unit includes the frequency tracking device.

[0022] According to various aspects of this disclosure, by determining whether the current operating state is before or after the anti-resonant frequency based on the current operating frequency, or the current operating frequency and phase difference, or the current operating frequency, phase difference and impedance value, or the current operating frequency, phase difference and the previous operating state, or the current operating frequency, phase difference, impedance value and the previous operating state, frequency tracking processing matched to the operating state is then used for frequency tracking. This enables the ultrasonic scalpel to successfully track frequencies at any starting frequency (even if the frequency tracking starting frequency is far from the resonant frequency but close to the anti-resonant frequency). In particular, it can achieve successful frequency tracking without scanning self-testing after the ultrasonic scalpel's mechanical vibration system is replaced (such as replacing the ultrasonic scalpel head), improving the robustness of ultrasonic scalpel frequency tracking and enhancing the ultrasonic scalpel's ability to adapt to complex working conditions.

[0023] Other features and aspects of this disclosure will become clear from the following detailed description of exemplary embodiments with reference to the accompanying drawings. Attached Figure Description

[0024] The accompanying drawings, which are included in and form part of this specification, illustrate exemplary embodiments, features, and aspects of this disclosure together with the specification and serve to explain the principles of this disclosure.

[0025] Figure 1 A spectrum diagram of the equivalent circuit model of the mechanical vibration system in an ultrasonic scalpel according to an embodiment of the present disclosure is shown.

[0026] Figure 2 A flowchart illustrating a frequency tracking method for an ultrasonic scalpel according to an embodiment of the present disclosure is shown.

[0027] Figure 3 A flowchart illustrating one embodiment of the frequency tracking method according to an embodiment of the present disclosure is shown.

[0028] Figure 4 A flowchart illustrating another embodiment of the frequency tracking method according to embodiments of the present disclosure is shown.

[0029] Figure 5 A block diagram of an ultrasonic scalpel frequency tracking device according to an embodiment of the present disclosure is shown. Detailed Implementation

[0030] Various exemplary embodiments, features, and aspects of this disclosure will now be described in detail with reference to the accompanying drawings. The same reference numerals in the drawings denote elements that have the same or similar functions. Although various aspects of the embodiments are shown in the drawings, they are not necessarily drawn to scale unless specifically indicated otherwise.

[0031] The term “exemplary” as used herein means “serving as an example, embodiment, or illustration.” Any embodiment illustrated herein as “exemplary” is not necessarily to be construed as superior to or better than other embodiments.

[0032] In this document, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent three cases: A alone, A and B simultaneously, and B alone. Furthermore, the term "at least one" in this document means any combination of at least two of any one or more elements. For example, including at least one of A, B, and C can mean including any one or more elements selected from the set consisting of A, B, and C.

[0033] It should be understood that the terms "first," "second," etc., in the claims, specification, and drawings of this disclosure are used to distinguish different objects, rather than to describe a specific order. The terms "comprising" and "including" as used in the specification and claims of this disclosure indicate the presence of the described features, integrals, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components, and / or collections thereof.

[0034] Furthermore, to better illustrate this disclosure, numerous specific details are set forth in the following detailed description. Those skilled in the art will understand that this disclosure can be practiced without certain specific details. In some instances, methods, means, components, and circuits well known to those skilled in the art have not been described in detail in order to highlight the main points of this disclosure.

[0035] To facilitate understanding of the ultrasonic scalpel frequency tracking method of the present disclosure embodiments, the present disclosure embodiments first introduce the frequency tracking principle involved, and then describe the specific implementation of the frequency tracking method of the present disclosure embodiments.

[0036] As we know, the goal of frequency tracking is to induce resonance in the mechanical vibration system of the ultrasonic scalpel. Existing frequency tracking algorithms aim to find the resonant frequency and use the signal at that frequency to drive the ultrasonic transducer. As mentioned above, the phase difference at the resonant frequency is 0, and the impedance is relatively small. The phase difference at the anti-resonant frequency is 0, but the impedance is extremely large. Existing frequency tracking algorithms periodically adjust the frequency based on the phase difference until the phase difference is 0 and the impedance is small, indicating that the resonant frequency has been found. The modulation period of existing frequency tracking algorithms is typically a few milliseconds, allowing for real-time adjustment of the operating frequency to adapt to load changes.

[0037] The frequency tracking method proposed in this disclosure is based on the current operating frequency, phase difference, impedance value, and the operating state at the previous moment to achieve frequency tracking processing. This can be achieved by observing... Figure 1 The spectrum diagram of the mechanical vibration system in the ultrasonic scalpel shown is obtained to obtain the characteristics of the ultrasonic scalpel under different working frequencies, phase differences and impedance values, so as to identify the current working state based on the characteristics of the working frequency, phase difference and impedance value, so as to accurately track the frequency.

[0038] For example, such as Figure 1 As shown, if the current operating frequency Fn is in the OC interval, then the phase difference at the current moment is negative. In this case, a frequency adjustment Δf can be calculated based on the negative phase difference, yielding the operating frequency that needs to be updated at the current moment: Fn+1 = Fn + Δf. Figure 1As can be seen, in order to approach the resonant frequency C, Δf should be positive. That is, when the operating frequency is in the OC interval, the frequency tracking algorithm can calculate a positive frequency adjustment based on the negative phase difference. The specific value of Δf can be obtained using any known calculation strategy in the art, such as various types of PID (Proportional-Integral-Derivative) algorithms or the binary search method, etc. This disclosure does not limit the specific value of Δf. If the current operating frequency Fn is in the CD interval, then the phase difference at the current moment is positive. In this case, the frequency tracking algorithm can calculate a frequency adjustment Δf based on the positive phase difference, obtaining the operating frequency to be updated to Fn+1 = Fn + Δf at the next moment. Figure 1 As can be seen, in order to approach the resonant frequency C, Δf should be negative. That is, when the operating frequency is in the CD range, a negative frequency adjustment can be calculated based on a positive phase difference.

[0039] In summary, if the operating frequency is within the OD range, a positive phase difference results in a negative calculated frequency adjustment; a negative phase difference results in a positive calculated frequency adjustment. This continues until the phase difference is 0 or near 0, at which point frequency tracking is considered successful. Furthermore, for fast frequency tracking, the algorithm can have the property that the larger the input phase difference, the larger the output frequency adjustment.

[0040] It should be understood that as long as the starting frequency of the frequency tracking is between OC and CD, the existing frequency tracking algorithm, combined with a suitable frequency adjustment, can enable the ultrasonic scalpel to work normally. However, if the operating frequency is in the interval after point D, the phase difference is negative, and the frequency adjustment calculated by the above frequency tracking algorithm is positive. This will cause the operating frequency to move further away from the resonant frequency, resulting in frequency tracking failure. Therefore, the frequency adjustment should be changed to a negative number to approach the resonant frequency. The frequency tracking method of this disclosure aims to identify whether the operating frequency is in the interval after or before point D, and then decide whether to change the sign of the frequency adjustment to negative. The interval after point D will be referred to as the anti-resonance interval. For example, DE belongs to the anti-resonance interval. The operating state where the operating frequency is after the anti-resonance frequency point D is called the anti-resonance state, and the operating state where the operating frequency is before the anti-resonance frequency point D is called the normal operating state. Using the frequency tracking method of this disclosure, frequency tracking can be successfully performed at any starting frequency throughout the entire operating frequency band of the ultrasonic scalpel, thereby improving the robustness of the superconducting scalpel's frequency tracking and enabling the ultrasonic scalpel to cope with more complex working conditions.

[0041] Understandably, when an ultrasonic scalpel is working normally, it typically performs a frequency sweep self-test after power-on, which can find the unloaded resonant frequency F0. The starting frequency for subsequent loaded operation will then be used to track the frequency from near F0. F0 usually falls within the OD segment of the loaded frequency spectrum, thus allowing for successful frequency tracking. However, when the mechanical vibration system is replaced (e.g., the ultrasonic scalpel head is replaced), the user may not perform a frequency sweep self-test. In this case, the resonant frequency F0 obtained from the power-on frequency sweep of the previous mechanical vibration system will be used as the current starting frequency for frequency tracking. This starting frequency may fall within the DE interval, which is the anti-resonance interval. Therefore, it is necessary to correctly identify the anti-resonance interval for successful frequency tracking. The frequency tracking method of this disclosure can accurately identify whether the working frequency Fn is in the anti-resonance interval, that is, whether the ultrasonic scalpel is in an anti-resonance working state or a normal working state. It employs corresponding frequency tracking processing methods for different working states to ensure that the ultrasonic scalpel can successfully track the frequency at any starting frequency. Specifically, if it is in an anti-resonance working state, corresponding frequency tracking processing can be performed to ensure successful frequency tracking. If it is in normal working condition, i.e. not in anti-resonance working condition, the frequency tracking algorithm mentioned above can be used for frequency tracking.

[0042] like Figure 1 As shown, the phase difference in the CD interval is positive, while the phase difference in the OC and DE intervals is negative, making it easy to distinguish the OC interval from the CD and DE intervals. Since the phase differences in the OC and DE intervals are both negative, they cannot be distinguished by phase difference alone. Therefore, the frequency tracking method of this embodiment can determine point E and points beyond point E using the operating frequency; it can determine the CD interval using the operating frequency plus the phase difference; it can determine point D using the operating frequency plus the phase difference plus the impedance value; it can determine the CD interval using the operating frequency plus the phase difference plus the previous operating state; and it can determine the OC interval, point C, and the DE interval using the operating frequency plus the phase difference plus the impedance value plus the previous operating state.

[0043] In the DE interval, the frequency range is [Fd, Fe], where Fd is the operating frequency at point D, and Fe is the operating frequency at point E (i.e., the upper limit of the operating frequency). Fe is known (usually 56500Hz). The impedance range is [Ze, Zd], where Ze is the impedance value at point E, and Zd is the impedance value at point D. In the OC interval, the frequency range is [Fo, Fc], where Fc is the operating frequency at point O, and Fo is the operating frequency at point C (the lower limit of the operating frequency). Fo is known (usually 54500Hz). The impedance range is [Zc, Zo], where Zc is the impedance value at point C, and Zo is the impedance value at point O. Fc and Fd are related to the mechanical vibration system and load of the ultrasonic scalpel and are variable. The specific values ​​of Zc, Zo, Ze, and Zd are unknown, but their order of magnitude range is known, and their relative sizes can only be one of two possibilities: Zc < Zo < Ze < Zd, or Zc < Ze < Zo < Zd. In other words, Zc < Zo < Ze < Zo < Zd.<Ze,Zo> In other words, in practice, it is impossible to distinguish whether the impedance relationship falls under the first or second scenario.

[0044] But from Figure 1As can be seen, near the anti-resonant frequency D, the absolute value of the phase difference is less than a certain threshold Phase1 (e.g., 15°–40°), and the impedance value is extremely high. The impedance value in the OC interval is much smaller than the impedance value Zd at D (e.g., ≤300Ω). Therefore, a suitable impedance threshold Zt1 (e.g., 2000Ω or higher) can be selected. When the absolute value of the phase difference is less than the threshold Phase1 and the impedance value is greater than the threshold Zt1, the current operating frequency Fn can be considered to be in the region near D in the anti-resonant interval DE. Furthermore, near point C in the OC interval, the phase difference is negative, and it increases with increasing frequency. Near point D in the DE interval, the phase difference is negative, and it decreases with increasing frequency. However, near points O and E, the change in phase difference with frequency is not significant. Therefore, the relationship between the operating frequency and phase difference can be continuously observed for M (e.g., 10) tracking moments. If, for N consecutive times (the specific number can be set according to the actual situation, e.g., 7 times), the operating frequency increases, the phase difference becomes negative and decreases; or, the operating frequency decreases, the phase difference becomes negative and increases, etc., then the operating frequency at the current moment can be considered to fall within the anti-resonance interval. Specifically, it can be the region near point D in the anti-resonance interval DE. Furthermore, when the operating frequency is greater than or equal to the upper frequency limit Fe, the operating frequency can be directly considered to be in the anti-resonance interval. In this embodiment, the above three criteria can basically cover the frequency judgment at both ends of the anti-resonance interval. For frequencies not covered in the middle of the DE interval, they can be treated as frequencies in the OC interval by default. Since the phase difference is negative, the frequency will increase, and the phase difference will decrease, so the operating frequency at the current moment can be considered to fall within the anti-resonance interval. Therefore, the frequency will eventually be adjusted to the covered interval.

[0045] Based on the frequency tracking principle described in the above embodiments of this disclosure, Figure 2 A flowchart illustrating a frequency tracking method for an ultrasonic scalpel according to an embodiment of the present disclosure is shown, as follows: Figure 2 As shown, the frequency tracking method includes steps S21 to S23.

[0046] In step S21, the working frequency, phase difference, impedance value, and working state of the ultrasonic scalpel at the current moment are obtained during the working process.

[0047] The term "working state" refers to either the normal operating state or the anti-resonance operating state. The normal operating state includes the ultrasonic scalpel operating before the anti-resonance frequency (the ultrasonic scalpel's operating frequency falls before the anti-resonance frequency, such as...). Figure 1 Before point D), the anti-resonance operating state includes the ultrasonic scalpel operating after the anti-resonance frequency (that is, the ultrasonic scalpel's operating frequency falls after the anti-resonance frequency, such as...). Figure 1 After point D in the diagram), the anti-resonant frequency includes the operating frequency when the phase difference is 0 and the impedance value is at its maximum (e.g., the operating frequency after point D in the diagram). Figure 1(Point D in the middle).

[0048] In practical applications, an ultrasonic scalpel can be equipped with a corresponding data acquisition circuit to collect the working frequency, phase difference, and impedance value of the ultrasonic scalpel in real time according to a certain period. The working frequency, phase difference, and impedance value at the current moment are also the working frequency, phase difference, and impedance value collected at the current moment. This embodiment does not limit the method of obtaining the working frequency, phase difference, and impedance value.

[0049] Understandably, when an ultrasonic scalpel is first activated, a no-load frequency sweep is usually performed to determine the starting frequency. Therefore, the working state of the ultrasonic scalpel at the initial moment can be directly considered as the normal working state. For the working state at each moment after the initial moment, it can be determined based on the working frequency, phase difference, impedance value, and the working state at the previous moment. In particular, if the ultrasonic scalpel head is replaced during the operation of the ultrasonic scalpel, since it was in a normal working state before the replacement, the working state at the moment before the replacement can be directly considered as the normal working state.

[0050] In step S22, the working state of the ultrasonic scalpel at the current moment is determined based on the working frequency of the ultrasonic scalpel at the current moment, or the working frequency and phase difference at the current moment, or the working frequency, phase difference and impedance value at the current moment; or, the working state of the ultrasonic scalpel at the current moment is determined based on the working frequency and phase difference of the ultrasonic scalpel at the current moment and the working state at the previous moment, or the working frequency, phase difference and impedance value at the current moment and the working state at the previous moment.

[0051] As described above, by selecting an appropriate impedance threshold Zt1 (e.g., 2000Ω or higher), when the absolute value of the phase difference is less than the threshold Phase1 and the impedance value is greater than the threshold Zt1, the current operating frequency Fn can be considered to be in the region near point D in the anti-resonance interval DE. Therefore, in one possible implementation, determining the operating state of the ultrasonic scalpel at the current moment based on its operating frequency, or the operating frequency and phase difference, or the operating frequency, phase difference, and impedance value, can include: determining the ultrasonic scalpel's operating state as anti-resonance when the current operating frequency is less than the upper limit of the ultrasonic scalpel's operating frequency, the current phase difference is less than or equal to 0, the absolute value of the current phase difference is less than or equal to a first phase difference threshold, and the current impedance value is greater than a first impedance threshold. The first phase difference threshold ranges from 15° to 40°; for example, it can be set to 40°. The first impedance threshold ranges from 2000Ω or higher; for example, it can be set to 2000Ω. This embodiment of the present disclosure does not limit this range.

[0052] As described above, if the operating frequency and phase difference satisfy the following negative correlation conditions for N consecutive times: the operating frequency increases, the phase difference is negative and decreases, or the operating frequency decreases, the phase difference is negative and increases, then the operating frequency at the current moment can be considered to fall within the anti-resonance range. Therefore, in one possible implementation, determining the operating state of the ultrasonic scalpel at the current moment based on its operating frequency, or its operating frequency and phase difference, or its operating frequency, phase difference, and impedance value, can include: determining the ultrasonic scalpel's operating state as anti-resonance when the current operating frequency is less than the upper limit of the ultrasonic scalpel's operating frequency, the current phase difference is less than or equal to 0, and the phase difference at the current moment and the N historical moments prior to the current moment are negatively correlated with the operating frequency, where N is a positive integer. Those skilled in the art can set the specific value of N according to actual needs; for example, it can be set to 7, and this embodiment of the present disclosure does not limit this. Among them, the phase difference between the current moment and the N historical moments before the current moment is negatively correlated with the working frequency. This can be understood as the phase difference decreasing as the working frequency increases or increasing as the working frequency decreases for N consecutive moments. At this time, the ultrasonic scalpel is considered to be working in an anti-resonance state.

[0053] As described above, when the operating frequency is greater than or equal to the upper frequency limit Fe, the operating frequency can be directly considered to be in the anti-resonance range. Therefore, in one possible implementation, determining the operating state of the ultrasonic scalpel at the current moment based on its current operating frequency, or the current operating frequency and phase difference, or the current operating frequency, phase difference, and impedance value, may further include: determining the current operating state of the ultrasonic scalpel as an anti-resonance operating state when the current operating frequency is greater than or equal to the upper frequency limit of the ultrasonic scalpel. The upper frequency limit of the ultrasonic scalpel is a known value, such as 56500Hz; this embodiment does not limit the specific value of the upper frequency limit of the ultrasonic scalpel.

[0054] The above three criteria can be used to accurately determine whether the ultrasonic scalpel is in an anti-resonance working state. Considering that in practice there may be situations where the above criteria are not met and the working state cannot be determined, the working state at the current moment can be determined by combining the working state at the previous moment. Therefore, in one possible implementation, determining the working state of the ultrasonic scalpel at the current moment based on its current working frequency, phase difference, and working state at the previous moment, or its current working frequency, phase difference, and impedance value, and its working state at the previous moment, includes:

[0055] If the phase difference at the current moment is less than or equal to 0, the absolute value of the phase difference at the current moment is greater than the first phase difference threshold, and the operating frequency at the current moment is less than the upper limit of the ultrasonic scalpel's operating frequency, then the operating state of the ultrasonic scalpel at the current moment is determined based on the operating state at the previous moment; or,

[0056] If the phase difference at the current moment is less than or equal to 0, the impedance value at the current moment is less than or equal to the first impedance threshold, and the operating frequency at the current moment is less than the upper limit of the ultrasonic scalpel's operating frequency, then the operating state of the ultrasonic scalpel at the current moment is determined based on the operating state at the previous moment; or,

[0057] If the phase difference at the current moment is less than or equal to 0, the phase difference at the current moment and the N historical moments prior to the current moment are not negatively correlated with the working frequency, and the working frequency at the current moment is less than the upper limit of the ultrasonic scalpel's working frequency, the working state of the ultrasonic scalpel at the current moment is determined based on the working state at the previous moment. Here, "not negatively correlated" includes being positively correlated (e.g., the phase difference increases with increasing frequency) or being uncorrelated (i.e., the phase difference does not change significantly with frequency); or...

[0058] If the phase difference at the current moment is greater than 0 and the current working frequency is less than the upper limit of the ultrasonic scalpel's working frequency, the working state of the ultrasonic scalpel at the current moment is determined based on the working state at the previous moment.

[0059] In one possible implementation, determining the working state of the ultrasonic scalpel at the current moment based on the working state at the previous moment includes:

[0060] If the ultrasonic scalpel was in normal working condition at the previous moment, then its current working condition is determined to be normal working condition; or,

[0061] If the operating state at the previous moment was anti-resonance, and the phase difference at the current moment is greater than 0 and the absolute value of the phase difference at the current moment is greater than the second phase difference threshold, then the ultrasonic scalpel is determined to be in normal operating state at the current moment; or,

[0062] If the operating state at the previous moment was anti-resonant, and the phase difference at the current moment is greater than 0 and the absolute value of the phase difference at the current moment is less than or equal to the second phase difference threshold, then the ultrasonic scalpel is determined to be in anti-resonant operating state at the current moment; or,

[0063] If the operating state at the previous moment was anti-resonant, the phase difference at the current moment is equal to 0, and the impedance value at the current moment is less than the second impedance threshold, then the ultrasonic scalpel is determined to be in normal operating state at the current moment; or,

[0064] If the operating state at the previous moment was anti-resonance and the phase difference at the current moment is less than 0 while the phase difference at the previous moment was greater than 0, then the ultrasonic scalpel is determined to be in normal operating state at the current moment; or,

[0065] If the operating state at the previous moment was anti-resonance and the phase difference at the current moment is less than 0, and the phase difference at the previous moment is less than or equal to 0, then the ultrasonic scalpel is determined to be in anti-resonance operating state at the current moment; or,

[0066] If the ultrasonic scalpel is in a normal operating state at the current moment, and the phase difference at the current moment is 0, and the impedance value at the current moment is greater than or equal to the second impedance threshold, and the phase difference at the previous moment is greater than 0; or,

[0067] If the operating state at the previous moment was anti-resonant, the phase difference at the current moment is equal to 0, the impedance value at the current moment is greater than or equal to the second impedance threshold, and the phase difference at the previous moment is less than or equal to 0, then the operating state of the ultrasonic scalpel at the current moment is determined to be anti-resonant.

[0068] The second phase difference threshold ranges from 15° to 40° and is less than the first phase difference threshold; for example, the second phase difference threshold can be 15°. The second impedance threshold is less than the first impedance threshold and ranges from 300Ω to below; for example, the second impedance threshold can be 300Ω. This disclosure does not limit the specific values ​​of the first phase difference threshold, the second phase difference threshold, the first impedance threshold, and the second impedance threshold.

[0069] In step S23, according to the working state of the ultrasonic scalpel at the current moment, frequency tracking processing is performed to match the working state at the current moment so that the ultrasonic scalpel works at the resonant frequency, which includes the working frequency when the phase difference is 0 and the impedance value is minimum.

[0070] Specifically, when the ultrasonic scalpel is in normal working condition at the current moment (i.e., the working frequency is determined to fall within the OD interval) and the working condition at the previous moment was also normal working condition, existing frequency tracking algorithms can be used to track the frequency based on the phase difference; alternatively, regardless of whether the working condition at the previous moment was normal working condition or anti-resonance working condition, as long as the working condition at the current moment is normal working condition, existing frequency tracking algorithms can also be used to track the frequency based on the phase difference. Specifically, the above-mentioned frequency tracking processing, which matches the current working condition of the ultrasonic scalpel, can include:

[0071] If the ultrasonic scalpel is in normal working condition at the current moment and in normal working condition at the previous moment, the frequency adjustment amount at the current moment is determined based on the phase difference at the current moment; or, if the ultrasonic scalpel is in normal working condition at the current moment, the frequency adjustment amount at the current moment is determined based on the phase difference at the current moment; wherein, when the phase difference is positive, the frequency adjustment amount is negative; when the phase difference is negative, the frequency adjustment amount is positive.

[0072] The current operating frequency is added to the current frequency adjustment amount to obtain the third target operating frequency corresponding to the current time, and the operating frequency of the driving signal input to the ultrasonic transducer in the ultrasonic scalpel is adjusted to the third target operating frequency.

[0073] Let the current operating frequency be denoted as Fn, the frequency adjustment amount as Δf, the operating frequency of the third target at the current moment as Fn+1, and the phase difference as Phase. Then, the calculation formulas are: Fn+1 = Fn + Δf, Δf = -K * Phase, to calculate the operating frequency of the third target, adjust the current operating frequency, and update the ultrasonic transducer's drive frequency (i.e., the operating frequency of the drive signal) to Fn+1. Here, K is a positive number, and K can take different values ​​depending on the absolute value of the phase difference; the larger the absolute value of the phase difference, the larger the value of K; the smaller the absolute value of the phase difference, the smaller the value of K. For example, K can be selected according to Table 1, where P represents the absolute value of the phase difference.

[0074] Table 1

[0075] K 3 2.2 0.8 0.7 0.6 0.5

[0076] When the ultrasonic scalpel is in an anti-resonance operating state at the current moment (i.e., the operating frequency is determined to fall within the DE interval or after point E), the operating frequency can be successively subtracted by a large frequency step M (e.g., 15Hz-30Hz) until the operating frequency leaves the DE interval where the phase difference is negative and returns to the CD interval where the phase difference is positive or the OC interval where the phase difference is negative. Therefore, in one possible implementation, based on the ultrasonic scalpel's current operating state, frequency tracking processing matching the current operating state is performed, including:

[0077] When the ultrasonic scalpel is currently operating in an anti-resonance state, the current operating frequency is subtracted from the first frequency step size to obtain the corresponding first target operating frequency. The operating frequency of the drive signal input to the ultrasonic transducer in the ultrasonic scalpel is then adjusted to the first target operating frequency. The first frequency step size includes 15Hz-30Hz. The operating frequency of the drive signal input to the ultrasonic transducer in the ultrasonic scalpel is also the corresponding drive frequency of the ultrasonic transducer. By adjusting the drive frequency based on the first frequency step size, the ultrasonic scalpel can gradually return to its normal operating state.

[0078] Considering that if the frequency tracking algorithm is used to track the frequency based on the phase difference after returning from the DE interval to the CD interval, theoretically the operating frequency could also reach the resonant point. However, when the phase difference is positive and the absolute value is small, i.e., near the left of point D, the frequency adjustment obtained by the frequency tracking algorithm is small, resulting in a slow frequency tracking speed (if the starting frequency of the frequency tracking is near the left of point D, the frequency tracking algorithm can identify it through impedance, and the starting frequency of the frequency tracking can be changed). To solve the problem of slow frequency tracking speed caused by small frequency adjustment, the ultrasonic scalpel's current operating state is still set to an anti-resonant operating state. By further subtracting a certain large frequency step size (e.g., 10Hz-20Hz), the phase difference becomes positive and the absolute value is large. In this case, the frequency adjustment calculated by the frequency tracking algorithm based on the phase difference is large enough to allow the operating frequency to quickly reach the resonant frequency; or the phase difference can be made negative, in which case the operating frequency falls in the OC interval, and the frequency tracking algorithm can also quickly allow the operating frequency to reach the resonant frequency. Therefore, in one possible implementation, according to the current operating state of the ultrasonic scalpel, performing frequency tracking processing that matches the current operating state can include:

[0079] When the ultrasonic scalpel is in normal working condition at the current moment, and in anti-resonance working condition at the previous moment, and the phase difference at the current moment is greater than 0 and the absolute value of the phase difference at the current moment is less than or equal to the second phase difference threshold, the second target working frequency is obtained by subtracting the second frequency step size from the current working frequency. The working frequency of the driving signal input to the ultrasonic transducer in the ultrasonic scalpel is then adjusted to the second target working frequency. The second frequency step size includes 10Hz-20Hz. Specifically, when the ultrasonic scalpel is in normal working condition at the current moment, and in anti-resonance working condition at the previous moment, and the phase difference at the current moment is greater than 0 and the absolute value of the phase difference at the current moment is less than or equal to the second phase difference threshold, the current working frequency can be considered to be near the left side of point D in the CD interval. In this case, the second frequency step size can be subtracted from the current working frequency to quickly track the resonant frequency.

[0080] In one possible implementation, based on the current operating state of the ultrasonic scalpel, frequency tracking processing matching the current operating state is performed. This may further include: if the ultrasonic scalpel is in an anti-resonant operating state at both the current and previous times, subtracting a second frequency step size from the current operating frequency yields a second target operating frequency for the current time, and adjusting the operating frequency of the drive signal input to the ultrasonic transducer in the ultrasonic scalpel to the second target operating frequency. This method can be understood as operating in the anti-resonant range (e.g., the DE range) at both the current and previous times. In this case, frequency tracking can be performed by subtracting a second frequency step size from the current operating frequency; that is, adjusting the drive frequency based on the second frequency step size can gradually bring the ultrasonic scalpel back to its normal operating state.

[0081] According to the frequency tracking method of this disclosure, the operating state at the current moment is determined to be before or after the anti-resonant frequency by considering the current operating frequency, or the current operating frequency and phase difference, or the current operating frequency, phase difference and impedance value, or the current operating frequency, phase difference and the previous operating state, or the current operating frequency, phase difference and impedance value and the previous operating state. Then, frequency tracking processing matching the operating state is used to perform frequency tracking. This enables the ultrasonic scalpel to successfully track frequencies at any starting frequency (even if the frequency tracking starting frequency is far from the resonant frequency but close to the anti-resonant frequency). In particular, it can achieve successful frequency tracking without scanning self-test after the ultrasonic scalpel's mechanical vibration system is replaced (such as replacing the ultrasonic scalpel head), improving the robustness of ultrasonic scalpel frequency tracking and enhancing the ultrasonic scalpel's ability to adapt to complex working conditions.

[0082] Based on the frequency tracking method provided in the above embodiments of this disclosure, by way of example, the embodiments of this disclosure provide Figure 3 A flowchart of one embodiment of the frequency tracking method is shown, as follows: Figure 3 As shown, the implementation of this frequency tracking method includes:

[0083] Step S31: Obtain the operating frequency, phase difference, impedance value of the ultrasonic scalpel at the current moment, as well as the operating status at the previous moment;

[0084] Step S32: Determine whether the following conditions are met: the current working frequency is less than the upper limit of the ultrasonic scalpel's working frequency, the current phase difference is less than or equal to 0, the absolute value of the current phase difference is less than or equal to 40°, and the current impedance value is greater than 2000Ω; or, determine whether the current working frequency is greater than or equal to the upper limit of the working frequency, that is, whether the current working frequency is near point D or at or after point E; if these conditions are met (meaning the working frequency is near point D or at or after point E), proceed to step S40; if not, proceed to step S33; Step S40 is entered because when the working frequency is at point E, the frequency needs to be adjusted multiple times. During frequency modulation, the working frequency may fall in the middle region of DE. Setting the current working state to anti-resonance working state ensures that even if the working frequency is in the middle region of DE, it can be correctly processed.

[0085] Step S33: Determine whether the working state at the previous moment was a normal working state. If the working state at the previous moment was a normal working state, proceed to step S34; otherwise, proceed to step S35.

[0086] Step S34: Calculate the frequency adjustment amount Δf based on the phase difference, for example, Δf = -K*Phase, and then proceed to step S41;

[0087] Step S35: Determine whether the phase difference at the current moment is positive. If it is (meaning the operating frequency is in the CD range), proceed to step S36; otherwise, proceed to step S37.

[0088] Step S36: Determine whether the absolute value of the phase difference is greater than 15°. If yes, proceed to step S39; otherwise, proceed to step S40.

[0089] Step S37: Determine whether the current phase difference is 0 and the impedance value is less than 300Ω. If yes (meaning the operating frequency falls on point C), proceed to step S39; otherwise (meaning the phase difference is negative or the impedance value is greater than or equal to 300Ω), proceed to step S38.

[0090] Step S38: Determine whether the phase difference at the previous moment is positive. If so (the phase difference at the current moment is negative and the phase difference at the previous moment is positive, which means that the operating frequency has crossed the CD interval and entered the OC interval), then proceed to step S39; otherwise, proceed to step S40.

[0091] Step S39: Set the current working state to the normal working state, that is, exit the anti-resonance working state and proceed to step S34;

[0092] Step S40: Set the current working state to the anti-resonance working state, that is, adjust the working state from the normal working state to the anti-resonance working state, or continue to maintain the anti-resonance working state, and subtract the first frequency step or the second frequency step from the current working frequency.

[0093] Step S41: Update the drive frequency of the ultrasonic transducer and return to step S31.

[0094] Steps S33 to S40 can be understood as detailed anti-resonance processing measures. Their core objective is to determine whether the operating state should be changed—that is, whether to continue maintaining the anti-resonance operating state or switch to the normal operating state. Based on Figure 3 The frequency tracking process shown provides entry and exit conditions for normal and anti-resonance operating states. For the anti-resonance operating state, it identifies whether the operating frequency is near point D or at or after point E. If it is, the current operating state is marked as anti-resonance, facilitating subsequent anti-resonance frequency tracking. Normal frequency tracking calculates the frequency adjustment based on the phase difference and updates the transducer's drive frequency; at this point, the system is in normal frequency tracking mode.

[0095] After the anti-resonance processing is completed and the system reaches normal operating condition, the operating state can be marked as normal operating state. The frequency tracking process switches between normal operating state and anti-resonance operating state; as mentioned above, the condition for entering the anti-resonance operating state is that the current operating frequency is identified as being near point D or at or after point E. At this time, the goal of the anti-resonance processing is no longer to focus on whether the current frequency is in the anti-resonance interval, because when the operating frequency is in the middle of the DE interval, it may be impossible to determine whether it is in the anti-resonance interval. Instead, the focus is on whether the phase difference corresponding to the current frequency is positive. If not, the operating frequency is adjusted until the phase difference is positive. If it is, the current operating state is marked as normal operating state. In the normal operating state, it can first be determined whether the current operating frequency is near point D or at or after point E. If so, the current operating state is marked as anti-resonance operating state, and anti-resonance processing is performed. Among them, the default state upon initial startup is normal operating state.

[0096] Exemplary embodiments of this disclosure also provide Figure 4 A flowchart illustrating another implementation of the frequency tracking method is shown, as follows: Figure 4 As shown, the implementation of this frequency tracking method includes:

[0097] Step S51: Obtain the ultrasonic scalpel's current operating frequency, phase difference, impedance value, and previous operating state; where the current operating frequency is also the previously set operating frequency.

[0098] Step S52: Determine whether the current operating frequency is greater than or equal to the upper limit of the operating frequency (first determine whether it is at point E or after point E); if yes, proceed to step S53, otherwise proceed to step S54.

[0099] Step S53: Set the current working state to anti-resonance working state, and use the calculation formula Fn+1=Fn—L, where L is the first frequency step size, to adjust the current working frequency, and use Fn+1 to update the driving frequency output by the ultrasonic scalpel host to the ultrasonic transducer, and then return to step S51.

[0100] Step S54: Determine whether the phase difference at the current moment is less than or equal to 0. If not (i.e., the phase difference is greater than 0), proceed to step S55. If yes (i.e., the phase difference is less than or equal to 0), proceed to step S56.

[0101] Step S55: Determine whether the working state at the previous moment was a normal working state. If yes (i.e., the working state at the previous moment was a normal working state), proceed to step S61. If no (i.e., the working state at the previous moment was an anti-resonance working state), proceed to step S58.

[0102] Step S56: Determine whether the absolute value of the phase difference at the current moment is less than or equal to the first phase difference threshold (e.g., 40°). If yes, proceed to step S57; otherwise, proceed to step S55.

[0103] Step S57: Determine whether the impedance value at the current moment is greater than the first impedance threshold (i.e., 2000Ω). If yes, proceed to step S53 (which means that the operating frequency is identified as falling in the vicinity of point D, i.e., the operating frequency is determined to be in the frequency range of anti-resonance operation). If no, proceed to step S55.

[0104] Step S58: Determine whether the phase difference at the current moment is greater than 0. If yes (i.e., the phase difference is greater than 0), proceed to step S59. If no (i.e., the phase difference is less than or equal to 0), proceed to step S60.

[0105] Step S59: Determine whether the absolute value of the phase difference at the current moment is greater than the second phase difference threshold (e.g., 15°). If yes, proceed to step S61; otherwise, proceed to step S53.

[0106] Step S60: Determine whether the current phase difference is 0 and the impedance value is less than the second impedance threshold (e.g., 300Ω). If yes, proceed to step S61; otherwise, proceed to step S62.

[0107] Step S61: Set the current working state to normal working state, and use the calculation formula Fn+1=Fn+Δf, Δf=-K*Phase to adjust the current working frequency, and update it with Fn+1 as the driving frequency of the ultrasonic transducer;

[0108] Step S62: Determine whether the phase difference at the previous moment is greater than 0. If yes, proceed to step S61; otherwise, proceed to step S53.

[0109] It should be understood that the above Figure 3 or Figure 4 The specific implementations shown are some possible implementations of the embodiments of this disclosure. In fact, those skilled in the art can make adaptive adjustments to the frequency tracking method provided by the embodiments of this disclosure according to actual needs. For example, the above steps S32 and S56 can also be changed to determine whether the phase difference between the current time and the N historical times before the current time is negatively correlated with the operating frequency in order to determine whether it is in an anti-resonance operating state. The embodiments of this disclosure do not limit this.

[0110] According to embodiments of this disclosure, the ultrasonic scalpel can successfully track frequencies at any starting frequency (even if the starting frequency of the tracking frequency is far from the resonant frequency but close to the anti-resonant frequency). In particular, it can successfully track frequencies without scanning self-testing after the ultrasonic scalpel is replaced with a mechanical vibration system (such as an ultrasonic scalpel head), thereby improving the robustness of ultrasonic scalpel frequency tracking and enhancing the ultrasonic scalpel's ability to adapt to complex working conditions.

[0111] Figure 5 A block diagram of an ultrasonic scalpel frequency tracking device according to an embodiment of the present disclosure is shown, as follows: Figure 5 As shown, the frequency tracking device includes:

[0112] The acquisition module 501 is used to acquire the working frequency, phase difference, impedance value and working state of the ultrasonic scalpel at the current moment during the working process. The working state represents the normal working state or the anti-resonance working state. The normal working state includes the ultrasonic scalpel working before the anti-resonance frequency. The anti-resonance working state includes the ultrasonic scalpel working after the anti-resonance frequency. The anti-resonance frequency includes the working frequency when the phase difference is 0 and the impedance value is the maximum.

[0113] The determining module 502 is used to determine the working state of the ultrasonic scalpel at the current moment based on the working frequency of the ultrasonic scalpel at the current moment, or the working frequency and phase difference at the current moment, or the working frequency, phase difference and impedance value at the current moment; or, based on the working frequency and phase difference of the ultrasonic scalpel at the current moment and the working state at the previous moment, or the working frequency, phase difference and impedance value at the current moment and the working state at the previous moment.

[0114] The frequency tracking module 503 is used to perform frequency tracking processing that matches the current working state of the ultrasonic scalpel, so that the ultrasonic scalpel works at the resonant frequency, which includes the working frequency when the phase difference is 0 and the impedance value is minimum.

[0115] In one possible implementation, determining the operating state of the ultrasonic scalpel at the current moment based on its operating frequency, or the operating frequency and phase difference, or the operating frequency, phase difference, and impedance value at the current moment includes: determining the ultrasonic scalpel's operating state as an anti-resonance operating state when the operating frequency at the current moment is less than the upper limit of the ultrasonic scalpel's operating frequency, the phase difference at the current moment is less than or equal to 0, the absolute value of the phase difference at the current moment is less than or equal to a first phase difference threshold, and the impedance value at the current moment is greater than a first impedance threshold; or, determining the ultrasonic scalpel's operating state as an anti-resonance operating state when the operating frequency at the current moment is less than the upper limit of the ultrasonic scalpel's operating frequency, the phase difference at the current moment is less than or equal to 0, and the phase difference at the current moment and the N historical moments prior to the current moment are negatively correlated with the operating frequency, where N is a positive integer; or, determining the ultrasonic scalpel's operating state as an anti-resonance operating state when the operating frequency at the current moment is greater than or equal to the upper limit of the ultrasonic scalpel's operating frequency.

[0116] In one possible implementation, determining the working state of the ultrasonic scalpel at the current moment based on its current operating frequency, phase difference, and operating state at the previous moment, or its current operating frequency, phase difference, and impedance value, and its operating state at the previous moment, includes: determining the working state of the ultrasonic scalpel at the current moment based on its operating state at the previous moment when the phase difference at the current moment is less than or equal to 0, the absolute value of the phase difference at the current moment is greater than a first phase difference threshold, and the current operating frequency is less than the upper limit of the ultrasonic scalpel's operating frequency; or, ... less than or equal to a first impedance threshold, and the current operating frequency is less than the upper limit of the ultrasonic scalpel's operating frequency. If the working frequency of the ultrasonic scalpel is less than the upper limit of the working frequency of the ultrasonic scalpel, the working state of the ultrasonic scalpel at the current moment is determined based on the working state at the previous moment; or, if the phase difference at the current moment is less than or equal to 0, the phase difference at the current moment and the N historical moments before the current moment are not negatively correlated with the working frequency, and the working frequency at the current moment is less than the upper limit of the working frequency of the ultrasonic scalpel, the working state of the ultrasonic scalpel at the current moment is determined based on the working state at the previous moment; or, if the phase difference at the current moment is greater than 0 and the working frequency at the current moment is less than the upper limit of the working frequency of the ultrasonic scalpel, the working state of the ultrasonic scalpel at the current moment is determined based on the working state at the previous moment.

[0117] In one possible implementation, determining the working state of the ultrasonic scalpel at the current moment based on the working state at the previous moment includes: determining that the ultrasonic scalpel is in a normal working state at the current moment if the working state at the previous moment was a normal working state; or, determining that the ultrasonic scalpel is in a normal working state at the current moment if the working state at the previous moment was an anti-resonant working state and the phase difference at the current moment is greater than 0 and the absolute value of the phase difference at the current moment is greater than a second phase difference threshold; or, determining that the ultrasonic scalpel is in an anti-resonant working state at the current moment if the working state at the previous moment was an anti-resonant working state and the phase difference at the current moment is greater than 0 and the absolute value of the phase difference at the current moment is less than or equal to the second phase difference threshold; or, determining that the ultrasonic scalpel is in a normal working state at the current moment if the working state at the previous moment was an anti-resonant working state and the phase difference at the current moment is equal to 0 and the impedance value at the current moment is less than a second impedance ... phase difference at the previous moment is equal to 0 and the If the phase difference at the previous moment is less than 0 and the phase difference at the last moment is greater than 0, the ultrasonic scalpel is determined to be in normal working state at the current moment; or, if the working state at the last moment is in anti-resonance working state and the phase difference at the current moment is less than 0 and the phase difference at the last moment is less than or equal to 0, the ultrasonic scalpel is determined to be in anti-resonance working state at the current moment; or, if the working state at the last moment is in anti-resonance working state and the phase difference at the current moment is equal to 0, the impedance value at the current moment is greater than or equal to the second impedance threshold and the phase difference at the last moment is greater than 0, the ultrasonic scalpel is determined to be in normal working state at the current moment; or, if the working state at the last moment is in anti-resonance working state and the phase difference at the current moment is equal to 0, the impedance value at the current moment is greater than or equal to the second impedance threshold and the phase difference at the last moment is less than or equal to 0, the ultrasonic scalpel is determined to be in anti-resonance working state at the current moment; wherein, the second phase difference threshold is less than the first phase difference threshold, and the second impedance threshold is less than the first impedance threshold.

[0118] In one possible implementation, the step of performing frequency tracking processing to match the current working state of the ultrasonic scalpel includes: when the ultrasonic scalpel is in an anti-resonance working state at the current time, subtracting a first frequency step size from the current working frequency to obtain a first target working frequency corresponding to the current time, and adjusting the working frequency of the driving signal input to the ultrasonic transducer in the ultrasonic scalpel to the first target working frequency.

[0119] In one possible implementation, the step of performing frequency tracking processing to match the current working state of the ultrasonic scalpel includes: when the ultrasonic scalpel is in normal working state at the current moment and in anti-resonant working state at the previous moment, and the phase difference at the current moment is greater than 0 and the absolute value of the phase difference at the current moment is less than or equal to a second phase difference threshold, subtracting a second frequency step size from the current working frequency to obtain a second target working frequency corresponding to the current moment, and adjusting the working frequency of the driving signal input to the ultrasonic transducer in the ultrasonic scalpel to the second target working frequency; or, when the ultrasonic scalpel is in anti-resonant working state at the current moment and in anti-resonant working state at the previous moment, subtracting a second frequency step size from the current working frequency to obtain a second target working frequency corresponding to the current moment, and adjusting the working frequency of the driving signal input to the ultrasonic transducer in the ultrasonic scalpel to the second target working frequency.

[0120] In one possible implementation, the step of performing frequency tracking processing to match the current working state of the ultrasonic scalpel includes: determining the frequency adjustment amount at the current moment based on the phase difference when the ultrasonic scalpel is in a normal working state at the current moment and the working state at the previous moment was also in a normal working state; or, determining the frequency adjustment amount at the current moment based on the phase difference when the ultrasonic scalpel is in a normal working state at the current moment; wherein, when the phase difference is positive, the frequency adjustment amount is negative; when the phase difference is negative, the frequency adjustment amount is positive; adding the current working frequency to the current frequency adjustment amount to obtain the third target working frequency corresponding to the current moment, and adjusting the working frequency of the drive signal input to the ultrasonic transducer in the ultrasonic scalpel to the third target working frequency.

[0121] According to the frequency tracking device of this disclosure, the operating state at the current moment is determined to be before or after the anti-resonant frequency by using the current operating frequency, or the current operating frequency and phase difference, or the current operating frequency, phase difference and impedance value, or the current operating frequency, phase difference and the previous operating state, or the current operating frequency, phase difference and impedance value and the previous operating state. Then, frequency tracking processing matching the operating state is used to perform frequency tracking, which enables the ultrasonic scalpel to successfully track the frequency at any starting frequency (even if the frequency tracking starting frequency is far from the resonant frequency but close to the anti-resonant frequency). In particular, after the ultrasonic scalpel is replaced with a mechanical vibration system (such as an ultrasonic scalpel head), frequency tracking can be successfully performed without scanning self-test, improving the robustness of ultrasonic scalpel frequency tracking and enhancing the ultrasonic scalpel's ability to adapt to complex working conditions.

[0122] In some embodiments, the functions or modules of the apparatus provided in this disclosure can be used to perform the methods described in the above method embodiments. The specific implementation can be referred to the description of the above method embodiments, and for the sake of brevity, it will not be repeated here.

[0123] Based on the frequency tracking method and device provided in the above embodiments of this disclosure, this disclosure also proposes an ultrasonic scalpel device, including: an ultrasonic scalpel main unit, an ultrasonic transducer, and an ultrasonic scalpel head mounted on the ultrasonic transducer; the ultrasonic scalpel main unit is configured for the frequency tracking method described above, or the ultrasonic scalpel main unit includes the frequency tracking device described above. It should be understood that this disclosure does not limit the specific structure, type, etc., of the ultrasonic scalpel device.

[0124] This disclosure also proposes a computer-readable storage medium storing computer program instructions that, when executed by an ultrasonic scalpel host, implement the above-described method. The computer-readable storage medium can be volatile or non-volatile.

[0125] This disclosure also provides a computer program product, including computer-readable code, or a non-volatile computer-readable storage medium carrying computer-readable code, wherein when the computer-readable code is run in an ultrasonic scalpel host, the ultrasonic scalpel host performs the above-described method.

[0126] This disclosure can be a system, method, and / or computer program product. The computer program product may include a computer-readable storage medium on which computer-readable program instructions are loaded to enable an ultrasonic scalpel host to perform various aspects of this disclosure. The computer-readable program instructions described herein may be downloaded to the ultrasonic scalpel host from the computer-readable storage medium or downloaded to the ultrasonic scalpel host via a network, such as the Internet, a local area network, a wide area network, and / or a wireless network. The network may include copper transmission cables, fiber optic transmissions, wireless transmissions, routers, firewalls, switches, gateway computers, and / or edge servers. A network adapter card or network interface in the ultrasonic scalpel host receives the computer-readable program instructions from the network and forwards the computer-readable program instructions to a computer-readable storage medium stored in the ultrasonic scalpel host.

[0127] The computer program instructions used to perform the operations of this disclosure may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, status setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Smalltalk, C++, etc., and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The computer-readable program instructions may be executed entirely on the ultrasonic scalpel host, partially on the ultrasonic scalpel host, or as a standalone software package. In some embodiments, electronic circuitry, such as programmable logic circuitry, field-programmable gate arrays (FPGAs), or programmable logic arrays (PLAs), is customized by utilizing the status information of the computer-readable program instructions to execute the computer-readable program instructions, thereby implementing various aspects of this disclosure.

[0128] Various aspects of this disclosure are described herein with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this disclosure. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer-readable program instructions. These computer-readable program instructions can be provided to an ultrasonic scalpel host to produce a machine such that, when executed by the ultrasonic scalpel host, they create means for implementing the functions / actions specified in one or more blocks of the flowchart illustrations and / or block diagrams. These computer-readable program instructions can also be stored in a computer-readable storage medium that causes the ultrasonic scalpel host to operate in a particular manner; thus, the computer-readable medium storing the instructions comprises an article of manufacture that includes instructions for implementing various aspects of the functions / actions specified in one or more blocks of the flowchart illustrations and / or block diagrams.

[0129] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments of the present disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of an instruction containing one or more executable instructions for implementing a specified logical function. In some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, may be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0130] The various embodiments of this disclosure have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical application, or technical improvements to the embodiments in the market, or to enable others skilled in the art to understand the embodiments disclosed herein.

Claims

1. A method for tracking the frequency of an ultrasonic scalpel, characterized in that, include: The working frequency, phase difference, impedance value, and working state of the ultrasonic scalpel at the current moment are obtained during the working process. The working state represents the normal working state or the anti-resonance working state. The normal working state includes the ultrasonic scalpel working before the anti-resonance frequency. The anti-resonance working state includes the ultrasonic scalpel working after the anti-resonance frequency. The anti-resonance frequency includes the working frequency when the phase difference is 0 and the impedance value is the maximum. The working state of the ultrasonic scalpel at the current moment is determined based on its working frequency, phase difference and working state at the previous moment, or its working frequency, phase difference and impedance value at the current moment and working state at the previous moment. Based on the current working state of the ultrasonic scalpel, frequency tracking processing is performed to match the current working state, so that the ultrasonic scalpel operates at the resonant frequency, which includes the working frequency when the phase difference is 0 and the impedance value is minimum. The step of performing frequency tracking processing that matches the current working state of the ultrasonic scalpel includes: If the ultrasonic scalpel is in normal working condition at the current moment, and in anti-resonance working condition at the previous moment, and the phase difference at the current moment is greater than 0 and the absolute value of the phase difference at the current moment is less than or equal to the second phase difference threshold, then the second frequency step size is subtracted from the current working frequency to obtain the second target working frequency corresponding to the current moment, and the working frequency of the driving signal input to the ultrasonic transducer in the ultrasonic scalpel is adjusted to the second target working frequency; or, When the ultrasonic scalpel is in an anti-resonance operating state at the current moment and in the previous moment, the second frequency step size is subtracted from the current operating frequency to obtain the second target operating frequency corresponding to the current moment, and the operating frequency of the driving signal input to the ultrasonic transducer in the ultrasonic scalpel is adjusted to the second target operating frequency.

2. The method according to claim 1, characterized in that, Determining the operating state of the ultrasonic scalpel at the current moment based on its current operating frequency, phase difference, and operating state at the previous moment, or its current operating frequency, phase difference, impedance value, and operating state at the previous moment, includes: If the phase difference at the current moment is less than or equal to 0, the absolute value of the phase difference at the current moment is greater than the first phase difference threshold, and the operating frequency at the current moment is less than the upper limit of the operating frequency of the ultrasonic scalpel, the operating state of the ultrasonic scalpel at the current moment is determined based on the operating state at the previous moment; or, If the phase difference at the current moment is less than or equal to 0, the impedance value at the current moment is less than or equal to the first impedance threshold, and the operating frequency at the current moment is less than the upper limit of the operating frequency of the ultrasonic scalpel, the operating state of the ultrasonic scalpel at the current moment is determined based on the operating state at the previous moment; or, If the phase difference at the current moment is less than or equal to 0, the phase difference between the current moment and the N historical moments prior to the current moment is not negatively correlated with the working frequency, and the working frequency at the current moment is less than the upper limit of the working frequency of the ultrasonic scalpel, then the working state of the ultrasonic scalpel at the current moment is determined based on the working state at the previous moment; or, If the phase difference at the current moment is greater than 0 and the operating frequency at the current moment is less than the upper limit of the operating frequency of the ultrasonic scalpel, the operating state of the ultrasonic scalpel at the current moment is determined based on the operating state at the previous moment.

3. The method according to claim 2, characterized in that, Determining the working state of the ultrasonic scalpel at the current moment based on the working state at the previous moment includes: If the ultrasonic scalpel was in normal working condition at the previous moment, then its current working condition is determined to be normal working condition; or, If the ultrasonic scalpel is in a normal operating state at the current moment, and the phase difference at the current moment is greater than 0 and the absolute value of the phase difference at the current moment is greater than the second phase difference threshold; or, If the ultrasonic scalpel is in an anti-resonant operating state at the previous moment, and the phase difference at the current moment is greater than 0 and the absolute value of the phase difference at the current moment is less than or equal to the second phase difference threshold, then the ultrasonic scalpel is determined to be in an anti-resonant operating state at the current moment; or, If the ultrasonic scalpel is in a normal operating state at the current moment, and its operating state at the previous moment is in an anti-resonant operating state, and the phase difference at the current moment is equal to 0 and the impedance value at the current moment is less than the second impedance threshold; or, if the ultrasonic scalpel is in a normal operating state at the current moment, and its operating state at the previous moment is in an anti-resonant operating state, and the phase difference at the current moment is less than 0 and the phase difference at the previous moment is greater than 0; or, If the ultrasonic scalpel is in an anti-resonance operating state at the previous moment and the phase difference at the current moment is less than 0 and the phase difference at the previous moment is less than or equal to 0, then the ultrasonic scalpel is determined to be in an anti-resonance operating state at the current moment; or, If the ultrasonic scalpel is in a normal operating state at the current moment, and the phase difference at the current moment is 0, and the impedance value at the current moment is greater than or equal to the second impedance threshold, and the phase difference at the previous moment is greater than 0; or, If the working state at the previous moment was anti-resonance working state, the phase difference at the current moment is equal to 0, the impedance value at the current moment is greater than or equal to the second impedance threshold, and the phase difference at the previous moment is less than or equal to 0, then the working state of the ultrasonic scalpel at the current moment is determined to be anti-resonance working state. Wherein, the second phase difference threshold is less than the first phase difference threshold, and the second impedance threshold is less than the first impedance threshold.

4. The method according to any one of claims 1 to 3, characterized in that, The step of performing frequency tracking processing that matches the current working state of the ultrasonic scalpel includes: When the ultrasonic scalpel is in an anti-resonance operating state at the current moment, the first frequency step size is subtracted from the current operating frequency to obtain the first target operating frequency corresponding to the current moment, and the operating frequency of the driving signal input to the ultrasonic transducer in the ultrasonic scalpel is adjusted to the first target operating frequency.

5. The method according to any one of claims 1 to 3, characterized in that, The step of performing frequency tracking processing that matches the current working state of the ultrasonic scalpel includes: If the ultrasonic scalpel is in normal working condition at the current moment and in normal working condition at the previous moment, the frequency adjustment amount at the current moment is determined based on the phase difference at the current moment; or, if the ultrasonic scalpel is in normal working condition at the current moment, the frequency adjustment amount at the current moment is determined based on the phase difference at the current moment; wherein, when the phase difference is positive, the frequency adjustment amount is negative; when the phase difference is negative, the frequency adjustment amount is positive. The current operating frequency is added to the current frequency adjustment amount to obtain the third target operating frequency corresponding to the current time, and the operating frequency of the driving signal input to the ultrasonic transducer in the ultrasonic scalpel is adjusted to the third target operating frequency.

6. A frequency tracking device for an ultrasonic scalpel, characterized in that, include: The acquisition module is used to acquire the working frequency, phase difference, impedance value and working state of the ultrasonic scalpel at the current moment during the working process. The working state represents the normal working state or the anti-resonance working state. The normal working state includes the ultrasonic scalpel working before the anti-resonance frequency. The anti-resonance working state includes the ultrasonic scalpel working after the anti-resonance frequency. The anti-resonance frequency includes the working frequency when the phase difference is 0 and the impedance value is the maximum. The determination module is used to determine the working state of the ultrasonic scalpel at the current moment based on the working frequency and phase difference of the ultrasonic scalpel at the current moment and the working state at the previous moment, or the working frequency, phase difference, impedance value at the current moment and the working state at the previous moment. The frequency tracking module is used to perform frequency tracking processing that matches the current working state of the ultrasonic scalpel, so that the ultrasonic scalpel works at the resonant frequency, which includes the working frequency when the phase difference is 0 and the impedance value is minimum. The step of performing frequency tracking processing that matches the current working state of the ultrasonic scalpel includes: If the ultrasonic scalpel is in normal working condition at the current moment, and in anti-resonance working condition at the previous moment, and the phase difference at the current moment is greater than 0 and the absolute value of the phase difference at the current moment is less than or equal to the second phase difference threshold, then the second frequency step size is subtracted from the current working frequency to obtain the second target working frequency corresponding to the current moment, and the working frequency of the driving signal input to the ultrasonic transducer in the ultrasonic scalpel is adjusted to the second target working frequency; or, When the ultrasonic scalpel is in an anti-resonance operating state at the current moment and in the previous moment, the second frequency step size is subtracted from the current operating frequency to obtain the second target operating frequency corresponding to the current moment, and the operating frequency of the driving signal input to the ultrasonic transducer in the ultrasonic scalpel is adjusted to the second target operating frequency.

7. The apparatus according to claim 6, characterized in that, Determining the operating state of the ultrasonic scalpel at the current moment based on its current operating frequency, phase difference, and operating state at the previous moment, or its current operating frequency, phase difference, impedance value, and operating state at the previous moment, includes: If the phase difference at the current moment is less than or equal to 0, the absolute value of the phase difference at the current moment is greater than the first phase difference threshold, and the operating frequency at the current moment is less than the upper limit of the operating frequency of the ultrasonic scalpel, the operating state of the ultrasonic scalpel at the current moment is determined based on the operating state at the previous moment; or, If the phase difference at the current moment is less than or equal to 0, the impedance value at the current moment is less than or equal to the first impedance threshold, and the operating frequency at the current moment is less than the upper limit of the operating frequency of the ultrasonic scalpel, the operating state of the ultrasonic scalpel at the current moment is determined based on the operating state at the previous moment; or, If the phase difference at the current moment is less than or equal to 0, the phase difference between the current moment and the N historical moments prior to the current moment is not negatively correlated with the working frequency, and the working frequency at the current moment is less than the upper limit of the working frequency of the ultrasonic scalpel, then the working state of the ultrasonic scalpel at the current moment is determined based on the working state at the previous moment; or, If the phase difference at the current moment is greater than 0 and the operating frequency at the current moment is less than the upper limit of the operating frequency of the ultrasonic scalpel, the operating state of the ultrasonic scalpel at the current moment is determined based on the operating state at the previous moment.

8. The apparatus according to claim 7, characterized in that, Determining the working state of the ultrasonic scalpel at the current moment based on the working state at the previous moment includes: If the ultrasonic scalpel was in normal working condition at the previous moment, then its current working condition is determined to be normal working condition; or, If the ultrasonic scalpel is in a normal operating state at the current moment, and the phase difference at the current moment is greater than 0 and the absolute value of the phase difference at the current moment is greater than the second phase difference threshold; or, If the ultrasonic scalpel is in an anti-resonant operating state at the previous moment, and the phase difference at the current moment is greater than 0 and the absolute value of the phase difference at the current moment is less than or equal to the second phase difference threshold, then the ultrasonic scalpel is determined to be in an anti-resonant operating state at the current moment; or, If the ultrasonic scalpel is in a normal operating state at the current moment, and the phase difference at the current moment is equal to 0 and the impedance value at the current moment is less than the second impedance threshold, then the ultrasonic scalpel is determined to be in a normal operating state at the current moment; or, If the ultrasonic scalpel is in an anti-resonance operating state at the previous moment, and the phase difference at the current moment is less than 0 while the phase difference at the previous moment is greater than 0, then the ultrasonic scalpel is determined to be in a normal operating state at the current moment; or, If the ultrasonic scalpel is in an anti-resonance operating state at the previous moment and the phase difference at the current moment is less than 0 and the phase difference at the previous moment is less than or equal to 0, then the ultrasonic scalpel is determined to be in an anti-resonance operating state at the current moment; or, If the ultrasonic scalpel is in a normal operating state at the current moment, and the phase difference at the current moment is 0, and the impedance value at the current moment is greater than or equal to the second impedance threshold, and the phase difference at the previous moment is greater than 0; or, If the working state at the previous moment was anti-resonance working state, the phase difference at the current moment is equal to 0, the impedance value at the current moment is greater than or equal to the second impedance threshold, and the phase difference at the previous moment is less than or equal to 0, then the working state of the ultrasonic scalpel at the current moment is determined to be anti-resonance working state. Wherein, the second phase difference threshold is less than the first phase difference threshold, and the second impedance threshold is less than the first impedance threshold.

9. The apparatus according to any one of claims 6 to 8, characterized in that, The step of performing frequency tracking processing that matches the current working state of the ultrasonic scalpel includes: When the ultrasonic scalpel is in an anti-resonance operating state at the current moment, the first frequency step size is subtracted from the current operating frequency to obtain the first target operating frequency corresponding to the current moment, and the operating frequency of the driving signal input to the ultrasonic transducer in the ultrasonic scalpel is adjusted to the first target operating frequency.

10. The apparatus according to any one of claims 6 to 8, characterized in that, The step of performing frequency tracking processing that matches the current working state of the ultrasonic scalpel includes: If the ultrasonic scalpel is in normal working condition at the current moment and in normal working condition at the previous moment, the frequency adjustment amount at the current moment is determined based on the phase difference at the current moment; or, if the ultrasonic scalpel is in normal working condition at the current moment, the frequency adjustment amount at the current moment is determined based on the phase difference at the current moment; wherein, when the phase difference is positive, the frequency adjustment amount is negative; when the phase difference is negative, the frequency adjustment amount is positive. The current operating frequency is added to the current frequency adjustment amount to obtain the third target operating frequency corresponding to the current time, and the operating frequency of the driving signal input to the ultrasonic transducer in the ultrasonic scalpel is adjusted to the third target operating frequency.

11. An ultrasonic scalpel device, comprising: An ultrasonic scalpel main unit, an ultrasonic transducer, and an ultrasonic scalpel head mounted on the ultrasonic transducer; characterized in that the ultrasonic scalpel main unit is configured to perform the frequency tracking method according to any one of claims 1 to 5, or the ultrasonic scalpel main unit includes the frequency tracking device according to any one of claims 6 to 10.

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