Torsion control method of planing system

Abstract

The invention relates to the technical field of gynecological minimally invasive surgical instruments, and discloses a planing system torsion control method which comprises the steps that S1, a permanent magnet is fixed to an inner sheath of a planing tool bit in an embedded mode, and an electromagnetic coil is arranged at the corresponding position in a planing handle; s2, adjusting the magnetic field intensity and the direction by controlling the magnitude and the direction of the current of the electromagnetic coil so as to realize rapid steering of the inner sheath; s3, pressure sensors are installed on an outer sleeve and an inner sheath of the planing tool bit, and the stress condition of the planing tool bit is collected in real time; s4, when real-time pressure signals collected by the pressure sensor are processed, the processed real-time pressure is compared with a preset pressure threshold value, whether tool bit jamming occurs or not is judged, and then whether a flushing device is started or not to flush the planing tool bit is determined; the inner sheath is controlled to rapidly steer through the magnetic field, so that the low-rotating-speed time of the inner sheath during direction changing is shortened, and the phenomenon that the cutter head is blocked is reduced. Meanwhile, the stress condition is monitored in real time through a pressure sensor, flushing is conducted in time when meat is stuck, normal work of the inner sheath is guaranteed, and the working efficiency and safety of the planing system are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of gynecological minimally invasive surgical instruments, in particular to a planing system torque control method. BACKGROUND

[0002] As a minimally invasive medical instrument, the hysteroscopic planing system realizes tissue cutting and suction under continuous negative pressure suction through the high-speed rotating or reciprocating motion of the cutter head. The system composition includes:

[0003] The main machine provides power, negative pressure suction, and irrigation fluid supply, and the internal setting of the main machine is controlled by the control system;

[0004] The planing handle connects the main machine and the cutter head, integrates the transmission device and the irrigation / suction channel;

[0005] The planing cutter head is the core executive component, which is composed of a fixed outer sleeve (with a window at the front end) and a high-speed rotating / reciprocating inner sheath (with a cutting edge at the front end);

[0006] The foot switch controls the start and stop of planing and suction;

[0007] The irrigation / suction pipeline maintains the expansion of the uterine cavity and the clear vision;

[0008] The tissue collection container collects the cutting debris.

[0009] The working principle is that after the doctor positions the target tissue through the hysteroscope, the foot switch is stepped on to start the drive motor, the inner sheath moves at high speed, and the outer sleeve window edge forms a "mechanical scissors" to cut the tissue, and the negative pressure suction completes the tissue adsorption, debris removal and safety protection.

[0010] However, in the prior art, when the inner sheath moves at high speed, the direction changes due to improper torque control, which causes the speed to decrease, and the "cutter head jamming" phenomenon easily occurs, which is not convenient to apply. In view of the above problems, we propose a planing system torque control method. SUMMARY

[0011] The present application provides a planing system torque control method for promoting the solution to the problems mentioned in the background art.

[0012] One aspect

[0013] The present application provides the following technical scheme: a planing system torque control method, the control method comprising the following steps:

[0014] S1. Embed a permanent magnet on the inner sheath of the planing cutter head, and set an electromagnetic coil at the corresponding position in the planing handle;

[0015] S2. Adjust the magnetic field strength and direction by controlling the current size and direction of the electromagnetic coil to realize the rapid turning of the inner sheath;

[0016] S3. Installing pressure sensors on the outer sleeve and inner sheath of the planing tool head to collect the force condition of the planing tool head in real time;

[0017] S4. When the real-time pressure signal collected by the pressure sensor is processed, and the real-time pressure after processing is compared with the preset pressure threshold, it is determined whether the tool head is blocked, and then it is determined whether to start the flushing device to flush the planing tool head part.

[0018] By adopting the above technical scheme, the inner sheath is quickly turned by controlling the magnetic field strength and direction, the low speed time is reduced, and the "meat sticking" problem is solved by combining force analysis and timely flushing, thereby improving the safety and efficiency of the operation.

[0019] Further, the specific method for adjusting the magnetic field strength and direction by controlling the current size and direction of the electromagnetic coil is:

[0020] When the inner sheath needs to change direction, the control system in the main machine sends a current signal to the electromagnetic coil, and the required current size is calculated by the formula , wherein is the magnetic field strength, is the current passing through the electromagnetic coil, is a constant related to the number of turns of the electromagnetic coil and the core material;

[0021] The current size is adjusted to change the magnetic field strength, and the current direction is controlled to match the magnetic field direction required for the inner sheath to change direction, thereby pushing the inner sheath to quickly change the movement direction.

[0022] Further, the following strategy is adopted when the inner sheath quickly changes the movement direction: after calculating the current value of the electromagnetic coil, the control system of the main machine outputs the corresponding current to the electromagnetic coil, generates an electromagnetic force that interacts with the permanent magnet of the inner sheath, and pushes the inner sheath to change direction by an angle.

[0023] By adopting the above technical scheme, the inner sheath direction change time can be reduced.

[0024] Further, the processing method of the real-time pressure signal collected by the pressure sensor in S4 is:

[0025] The pressure sensor collects the force signal of the planing tool head at a frequency of 1000 Hz ;

[0026] The force signal is subjected to a moving average filtering process to obtain a filtered average pressure , and the processing formula is: , wherein represents the moving average filtering value at time t, is the number of data points participating in the average calculation, here , means that each time the average is calculated, 10 consecutive data points including the current time are used.

[0027] Through the above technical solution, is the sampling interval time, represents collecting data every 1 millisecond, in the hysteroscope shaving system, the pressure sensor of the shaving tool head collects tool head force data at an interval of 1 millisecond , every 10 data points collected, the sliding average filter value is calculated once according to the formula , which can effectively remove high-frequency noise in the data, making the data more smooth and stable, and more reflecting the real trend of tool head force.

[0028] Further, the strategy for determining whether the tool head is blocked is:

[0029] When the filtered average pressure is greater than the preset pressure threshold and greater than 50ms, it is determined that the tool head is blocked.

[0030] Through the above technical solution, when the shaving system is running, the sliding average filter value calculated is compared with the preset pressure threshold . When is greater than , it is not immediately determined as a meat block state, because it may be a momentary force fluctuation. Only when continues to be greater than for more than 50ms, it is determined that the tool head is blocked. This is because in actual surgery, occasional force fluctuations are common, and sustained large force is more likely to be caused by the tool head being stuck by the tissue. By setting such a determination condition, false positives can be avoided due to short-term force abnormalities, improving the accuracy of meat block state determination, and thus triggering subsequent processing measures in a timely manner, ensuring the normal operation of the shaving system and the smooth progress of the surgery.

[0031] Further, the flow rate of the flushing device is self-adaptively adjusted according to the force during the meat block, and the adjustment formula is: , wherein is the adjusted flow rate of the flushing liquid, is the initial flow rate of the flushing liquid, is the flow rate adjustment coefficient.

[0032] Further, the control method further includes a closed-loop feedback adjustment step of monitoring the inner sheath rotation speed, the magnetic field strength and the flushing flow rate in real time, and adjusting the electromagnetic coil current and the flushing flow rate through a PID algorithm.

[0033] By adopting the technical scheme, the flushing demand in normal operation can be maintained, and flushing liquid waste when meat is not stuck can be avoided; after meat is determined to be stuck, the flushing control module accurately adjusts the flushing flow according to a preset formula; first, the system detects that the tool head is stuck and immediately starts the flushing program, so that the flushing process is efficient and thorough, and water flow is rapidly sprayed under high pressure, and the stuck meat is effectively removed through accurate flow control, while damage to the equipment is avoided.

[0034] Further, a hysteroscope planing system comprises:

[0035] The planing tool head is provided with a permanent magnet in the inner sheath, and a pressure sensor is installed on the outer sleeve and the inner sheath;

[0036] The planing handle is provided with an electromagnetic coil corresponding to the position of the inner sheath;

[0037] The main machine is internally provided with a control system for executing the torque control method of the hysteroscope planing system.

[0038] The present application has the following beneficial effects:

[0039] The inner sheath is quickly turned through the magnetic field control, the low-speed time of the inner sheath when the direction is changed is reduced, and the occurrence of the tool head sticking phenomenon is reduced. At the same time, the pressure sensor monitors the stress in real time, and flushes in time when meat is stuck to ensure the normal work of the inner sheath and improve the working efficiency and safety of the planing system;

[0040] The planing system torque control method can accurately control the torque, improve the mechanical cutting precision, maintain the flushing demand in normal operation, avoid flushing liquid waste when meat is not stuck, and accurately adjust the flushing flow of the flushing control module according to a preset formula after meat is determined to be stuck. First, the system detects that the tool head is stuck and immediately starts the flushing program, so that the flushing process is efficient and thorough, and water flow is rapidly sprayed under high pressure, and the stuck meat is effectively removed through accurate flow control, while damage to the equipment is avoided. BRIEF DESCRIPTION OF DRAWINGS

[0041] Figure 1 The present application is a system flowchart.

[0042] Figure 2 The present application is a structure diagram of a hysteroscope planing system. DETAILED DESCRIPTION

[0043] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of the present application.

[0044] Embodiment one, refer to Figure 1 , the planing system torque control method, the control method comprises the following steps:

[0045] S1. Embed permanent magnets on the inner sheath of the planing tool head, and set electromagnetic coils at the corresponding positions in the planing handle;

[0046] S2. Adjust the magnetic field strength and direction by controlling the current size and direction of the electromagnetic coil to realize the rapid turning of the inner sheath;

[0047] The specific method for adjusting the magnetic field strength and direction by controlling the current size and direction of the electromagnetic coil is:

[0048] When the inner sheath needs to change direction, the control system in the main machine sends a current signal to the electromagnetic coil, and the required current size is calculated by the formula , wherein, is the magnetic field strength, is the current passing through the electromagnetic coil, is a constant related to the number of turns of the electromagnetic coil and the core material;

[0049] Adjust the current size to change the magnetic field strength, and control the current direction to match the magnetic field direction required for the turning of the inner sheath, so as to push the inner sheath to quickly change the movement direction.

[0050] The following strategy is adopted when the inner sheath quickly changes the movement direction: after calculating the current value of the electromagnetic coil, the control system of the main machine outputs the corresponding current to the electromagnetic coil to generate electromagnetic force interacting with the permanent magnet of the inner sheath, and pushes the inner sheath to turn at an angle.

[0051] S3. Install pressure sensors on the outer sleeve and inner sheath of the planing tool head to collect the force of the planing tool head in real time;

[0052] S4. When the real-time pressure signal collected by the pressure sensor is processed, and the real-time pressure after processing is compared with the preset pressure threshold, it is determined whether the tool head is blocked, and then it is decided whether to start the flushing device to flush the planing tool head part;

[0053] The processing method of the real-time pressure signal collected by the pressure sensor in S4 is:

[0054] The pressure sensor collects the force signal of the planing tool head at a frequency of 1000 Hz ;

[0055] force signal a filtered average pressure is obtained by performing a moving average filtering process on the force signal , and the processing formula is: , wherein, represents the moving average filtering value at time t, is the number of data points participating in the average calculation, and here , which means that each time the average value is calculated, 10 consecutive data points including the current time are used.

[0056] is the sampling interval time, indicates that data is collected every 1 millisecond, and in the hysteroscope shaving system, the pressure sensor of the shaving tool head collects tool head force data at an interval of 1 millisecond , and every 10 data points collected, the moving average filtering value is calculated according to the formula , which can effectively remove high-frequency noise in the data and make the data more smooth and stable, and can better reflect the real trend of the tool head force.

[0057] The strategy for determining whether the tool head is blocked is:

[0058] When the filtered average pressure is greater than the preset pressure threshold and is greater than 50 ms, it is determined that the tool head is blocked.

[0059] When the shaving system is running, the calculated moving average filtering value is compared with the preset pressure threshold . When is greater than , it is not immediately determined as a meat blocking state, because it may only be a momentary force fluctuation. Only when continues to be greater than for more than 50 ms, it is determined that the tool head is blocked. This is because in actual surgery, occasional force fluctuations are common, and sustained large force is more likely to be caused by the tool head being stuck by the tissue. By setting such a determination condition, false positives due to short-term force abnormalities can be avoided, the accuracy of meat blocking state determination can be improved, and subsequent processing measures can be triggered in a timely manner to ensure normal operation of the shaving system and smooth progress of the surgery

[0060] The flow rate of the irrigation fluid in the irrigation device is self-adaptively adjusted according to the force during meat blocking, and the adjustment formula is: , wherein, is the adjusted irrigation fluid flow rate, is the initial irrigation fluid flow rate, is a flow regulation coefficient.

[0061] The control method further comprises a closed-loop feedback adjustment step of monitoring the inner sheath rotation speed, the magnetic field strength and the flushing flow in real time, and adjusting the electromagnetic coil current and the flushing flow through a PID algorithm.

[0062] Example 2

[0063] Please refer to Figure 2 A hysteroscopic shaving system comprises:

[0064] A shaving head, the inner sheath of which is provided with a permanent magnet, and a pressure sensor is installed on the outer sleeve and the inner sheath thereof;

[0065] A shaving handle, which is provided with an electromagnetic coil corresponding to the position of the inner sheath;

[0066] A host computer, the inside of which is equipped with a control system for executing the shaving system torque control method.

[0067] Example 3

[0068] Taking a hysteroscopic polyp resection surgery as an example, the shaving system torque control method is specifically described:

[0069] Initialization system: set the magnetic field strength threshold value to 0.4T, the pressure threshold value to 3N, and the initial flushing flow to 500mL / min;

[0070] Shaving process: the inner sheath reciprocates at 3000RPM, and when it turns, the electromagnetic coil is supplied with a current of 26.7A to generate a magnetic field of 0.4T, and the inner sheath completes the turning within 28ms;

[0071] Meat card determination: the pressure sensor collects a signal of 3.8N after filtering, which lasts for 60ms, triggering the meat card alarm;

[0072] Flushing execution: the flushing flow is calculated to be , and the 10Hz pulse flushing is started, and the pressure drops to 2.5N after 1.2s, and the meat card is released;

[0073] The inner sheath rotation speed fluctuation is controlled within ±3.2% throughout the process, and the operation time is shortened by 20% compared with the traditional method.

[0074] Example 4

[0075] Component installation and initialization

[0076] A neodymium iron boron permanent magnet (model N35, diameter 3mm, thickness 2mm) is embedded and fixed on the surface of the inner sheath of the shaving head, ensuring that the polarity direction of the permanent magnet is perpendicular to the axis of the inner sheath.

[0077] In the handle of the planing, the position corresponding to the inner sheath permanent magnet, install the electromagnetic coil (turns 500 turns, the core uses silicon steel sheet material) by enameled wire (diameter 0.2 mm) winding, the coil axis is concentric with the inner sheath movement track.

[0078] In the outer sleeve of the planing cutter head, the front end window edge and the inner sheath cutting edge root are respectively installed micro pressure sensor (model FSR402, range 0-10N, accuracy ±0.1N), connected to the host control system through the wire.

[0079] After the system starts, the host automatically detects the connection state of each component, initializes the preset parameters: pressure threshold , initial flushing fluid flow , flow adjustment coefficient , magnetic field strength constant k=0.015T / A;

[0080] When the operation needs the inner sheath to switch from clockwise rotation to counterclockwise rotation, the host control system receives the steering signal of the foot switch and starts the steering control program.

[0081] According to the target magnetic field strength required for the inner sheath steering, the required current is calculated by the formula ;

[0082] The control system outputs the reverse current (opposite to the current direction when rotating clockwise) to the electromagnetic coil, and the current size is stabilized at 26.7A, generating a magnetic field force that repels the inner sheath permanent magnet, pushing the inner sheath to complete 180° steering within 28ms, and the minimum rotation speed of the inner sheath during steering is maintained at 2800RPM (93.3% of the rated speed of 3000RPM);

[0083] Pressure monitoring and blockage determination

[0084] The pressure sensor collects the force signal F(t) in real time at a frequency of 1000Hz, that is, a force data point is generated every 1ms.

[0085] The 10 data points (time span 10ms) collected continuously are processed by sliding average filtering, and the calculation formula is: For example, the filtered value at time t is obtained by averaging the 10 original data at time t, t-1ms,..., t-9ms.

[0086] When the calculated =3.8N (greater than the preset threshold 3N) at a certain time, and this state lasts for 60ms (more than the 50ms determination threshold), the system determines that the cutter head is blocked.

[0087] Self-adaptive control of the flushing device ​

[0088] After the determination of the blockage of the tool head, the host immediately starts the flushing device, and adjusts the flow according to the formula: Q=553.3mL / min.

[0089] The flushing device outputs the flushing liquid in a 10Hz pulse mode (i.e., switching 10 times per second), and the high-pressure water flow directly reaches the blocked part of the tool head through the flushing channel of the shaving handle.

[0090] After 1.2s, the pressure sensor monitors that drops to 2.5N (lower than the threshold value 3N), and the system determines that the blockage is removed, and automatically restores the flushing flow to the initial value 500mL / min.

[0091] Closed-loop feedback regulation

[0092] The system monitors the inner sheath rotation speed (collected by a Hall sensor, accuracy ±5RPM), the actual current of the electromagnetic coil (collected by a current transformer, accuracy ±0.1A), and the flushing flow (collected by a turbine flowmeter, accuracy ±5mL / min) in real time.

[0093] The PID algorithm (proportional coefficient 0.5, integral time 0.2s, and differential time 0.1s) is used to dynamically adjust the current of the electromagnetic coil, and when the inner sheath rotation speed fluctuates more than ±5%, the current is automatically corrected to maintain a stable rotation speed.

[0094] For the flushing flow, the PID algorithm is used to adjust the opening of the electromagnetic valve to ensure that the actual flow deviates from the calculated value within ±10mL / min.

[0095] It should be noted that, in the present text, relational terms such as first and second are used merely to distinguish one entity or action from another, without necessarily requiring or implying any actual such relationship or order between or among the entities or actions. Also, the terms "comprises", "comprising", or any other variations thereof are intended to cover non-exclusive inclusions, so that a process, method, article, or apparatus that comprises a list of elements does not only include those elements, but also other elements not expressly listed or inherent to such process, method, article, or apparatus.

[0096] The above description is only the preferred embodiments of the present application, and it should be noted that, for those skilled in the art, without departing from the technical principles of the present application, a number of improvements and refinements can be made, and these improvements and refinements should also be considered as the protection scope of the present application.

Claims

1. A torque control method for a planing system, characterized in that, The control method includes the following steps: S1. A permanent magnet is embedded in the inner sheath of the planer head, and an electromagnetic coil is set in the corresponding position inside the planer handle; S2. The magnetic field strength and direction are adjusted by controlling the magnitude and direction of the current in the electromagnetic coil to achieve rapid turning of the inner sheath; S3. Install pressure sensors on the outer sheath and inner sheath of the planing cutter head to collect the force on the planing cutter head in real time; S4. When the real-time pressure signal collected by the pressure sensor is processed, and the processed real-time pressure is compared with the preset pressure threshold, it is determined whether the cutter head is stuck, and then it is decided whether to start the flushing device to flush the planing cutter head.

2. The torque control method for a planing system according to claim 1, characterized in that, The specific method for adjusting the magnetic field strength and direction by controlling the magnitude and direction of the current in the electromagnetic coil is as follows: When the inner sheath needs to change direction, the control system inside the main unit sends a current signal to the electromagnetic coil, which is then processed by the formula... Calculate the required current, where, The magnetic field strength, The current passing through the electromagnetic coil, These are constants related to the number of turns of the electromagnetic coil and the core material; The magnitude of the current is adjusted to change the magnetic field strength, and the direction of the current is controlled to match the magnetic field direction required for the inner sheath to turn, thereby driving the inner sheath to change its direction of motion rapidly.

3. The torque control method for a planing system according to claim 2, characterized in that, When the inner sheath rapidly changes its direction of motion, it employs the following strategy: After calculating the current value of the electromagnetic coil, the host's control system outputs the corresponding current to the electromagnetic coil, generating an electromagnetic force that interacts with the permanent magnet of the inner sheath, thus propelling the inner sheath to change direction at an angle.

4. The torque control method for a planing system according to claim 3, characterized in that, The method for processing the real-time pressure signal collected by the pressure sensor in S4 is as follows: The pressure sensor acquires the force signal of the planer head at a frequency of 1000Hz. ; Force signal The average pressure is obtained by performing a moving average filter. The processing formula is: ,in, The moving average filter value represents the value at time t. This refers to the number of data points used in the average calculation. This means that each calculation of the average will use 10 consecutive data points, including the current time.

5. The torque control method for a planing system according to claim 4, characterized in that, The strategy for determining whether a cutting head jamming has occurred is as follows: When the filtered average pressure greater than the preset pressure threshold If the time exceeds 50ms, it is determined that the tool head is stuck.

6. The torque control method for a planing system according to claim 5, characterized in that, The flow rate of the rinsing fluid in the rinsing device is adaptively adjusted according to the magnitude of the force applied when the meat is stuck, and the adjustment formula is as follows: ,in, To adjust the flushing fluid flow rate, This is the initial flushing fluid flow rate. This is the flow rate regulation coefficient.

7. The torque control method for a planing system according to any one of claims 1-6, characterized in that, The control method also includes a closed-loop feedback adjustment step, which monitors the inner sheath rotation speed, magnetic field strength and flushing flow rate in real time, and adjusts the electromagnetic coil current and flushing flow rate through a PID algorithm.

8. A hysteroscopic ablation system, characterized in that, include: The planing head has a permanent magnet installed in its inner sheath, and pressure sensors are installed on its outer tube and inner sheath. The planer handle has an electromagnetic coil installed at the corresponding position of its inner sheath. The host computer has an internal control system for executing the torque control method of the planing system as described in any one of claims 1 to 7.

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