Constant amplitude control method, device and equipment for ultrasonic surgical instrument

Abstract

The embodiment of the invention discloses a constant amplitude control method, device and equipment for an ultrasonic surgical instrument. The constant amplitude control method comprises the steps that a driving current effective value is obtained; determining an error and an error change rate based on the driving current effective value and a set current effective value; taking the error and the error change rate as input of a fuzzy controller, and outputting a current duty ratio change value through the fuzzy controller; and the current duty ratio change value is added to the previous duty ratio change value to serve as a new duty ratio change value, operation is cycled, and constant amplitude control over the ultrasonic surgical instrument is achieved.

Description

Technical Field

[0001] This specification relates to the fields of ultrasonic surgical instrument technology and computer technology, and in particular to a method, device and equipment for constant amplitude control of ultrasonic surgical instruments. Background Technology

[0002] Ultrasonic surgical instruments, as advanced surgical equipment, utilize high-frequency vibrations to achieve functions such as cutting, coagulation, and fragmentation. This reduces reliance on multiple instruments during surgery and is suitable for cutting soft tissue or bone, closing blood vessels, separating tissues, and fragmenting stones. The ultrasonic transducer is one of the core components of ultrasonic surgical instruments, responsible for converting electrical energy into mechanical vibrations to achieve tissue cutting. Because ultrasonic surgical instruments are frequently affected by temperature fluctuations and load changes during use, the frequency of the ultrasonic transducer drifts, thus affecting the surgical outcome.

[0003] In terms of amplitude control, most traditional ultrasonic surgical instrument systems adopt a fixed amplitude output mode. However, this mode can lead to over-adjustment and slow response due to improper parameter adjustment, and therefore cannot adapt to the dynamic changes caused by different tissue characteristics in complex surgical environments.

[0004] Therefore, a new method for constant amplitude control of ultrasonic surgical instruments is needed. Summary of the Invention

[0005] This specification provides a constant amplitude control method, device, and equipment for ultrasonic surgical instruments to solve the following technical problem: In the prior art, in terms of amplitude control, most traditional ultrasonic surgical instrument systems adopt a fixed amplitude output mode. However, this mode can lead to over-adjustment and slow response due to improper parameter adjustment, and therefore cannot adapt to the dynamic changes brought about by different tissue characteristics in complex surgical environments.

[0006] To solve the above-mentioned technical problems, the embodiments in this specification are implemented as follows:

[0007] This specification provides an embodiment of a constant amplitude control method for ultrasonic surgical instruments, including:

[0008] Obtain the effective value of the drive current;

[0009] Based on the effective value of the driving current and the effective value of the set current, the error and the rate of change of error are determined.

[0010] The error and the rate of change of the error are used as inputs to the fuzzy controller, and the current duty cycle change value is output through the fuzzy controller.

[0011] The current duty cycle change value is added to the previous duty cycle change value to form the new duty cycle change value. This process is repeated to achieve constant amplitude control of the ultrasonic surgical instruments.

[0012] This specification also provides an embodiment of a constant amplitude control device for ultrasonic surgical instruments, comprising:

[0013] The module acquires the effective value of the drive current.

[0014] The error determination module determines the error and the rate of change of error based on the effective value of the driving current and the effective value of the set current.

[0015] The fuzzy control module uses the error and the rate of change of the error as inputs to the fuzzy controller, and outputs the current duty cycle change value through the fuzzy controller;

[0016] The constant amplitude control module adds the current duty cycle change value to the previous duty cycle change value as the new duty cycle change value, and repeats this process to achieve constant amplitude control of the ultrasonic surgical instruments.

[0017] This specification also provides an electronic device, including:

[0018] At least one processor; and,

[0019] A memory communicatively connected to the at least one processor; wherein,

[0020] The memory stores instructions that can be executed by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to:

[0021] Obtain the effective value of the drive current;

[0022] Based on the effective value of the driving current and the effective value of the set current, the error and the rate of change of error are determined.

[0023] The error and the rate of change of the error are used as inputs to the fuzzy controller, and the current duty cycle change value is output through the fuzzy controller.

[0024] The current duty cycle change value is added to the previous duty cycle change value to form the new duty cycle change value. This process is repeated to achieve constant amplitude control of the ultrasonic surgical instruments.

[0025] The constant amplitude control method for ultrasonic surgical instruments provided in this specification involves: acquiring the effective value of the driving current; determining the error and error rate of change based on the effective value of the driving current and the effective value of the set current; using the error and error rate of change as input to a fuzzy controller, and outputting the current duty cycle change value through the fuzzy controller; adding the current duty cycle change value to the previous duty cycle change value as the new duty cycle change value, and repeating this process to achieve constant amplitude control of the ultrasonic surgical instruments. This achieves synergistic optimization of control accuracy (steady-state error reduced to ±0.5%), dynamic response speed (adjustment time shortened by 20%), and disturbance rejection capability (amplitude fluctuation suppression rate improved by 35%), providing a robust and adaptable solution for constant amplitude control. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments or prior art of this specification, the drawings used in the description of the embodiments or prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this specification. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1 A schematic diagram of a system architecture for a constant amplitude control method for ultrasonic surgical instruments provided in the embodiments of this specification;

[0028] Figure 2 A schematic flowchart illustrating a constant amplitude control method for ultrasonic surgical instruments provided in the embodiments of this specification;

[0029] Figure 3 A framework diagram of a constant amplitude control method for ultrasonic surgical instruments provided for embodiments of this specification;

[0030] Figure 4 This is a schematic diagram of a constant amplitude control device for ultrasonic surgical instruments provided as an embodiment of this specification. Detailed Implementation

[0031] To enable those skilled in the art to better understand the technical solutions in this specification, the technical solutions in the embodiments of this specification will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this specification, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of this application.

[0032] To ensure the cutting quality and speed of ultrasonic surgical instruments, maintaining a stable vibration amplitude of the piezoelectric sensor is crucial. However, under heavy loads, resonant frequency tracking algorithms alone are insufficient to achieve this goal. As the load increases, the voltage must be increased to provide more power to the piezoelectric sensor to compensate for the additional impedance and maintain a constant operating state (proportional to the amplitude) to ensure amplitude stability.

[0033] Based on this, embodiments of this specification provide a method, apparatus, and device for constant amplitude control of ultrasonic surgical instruments.

[0034] Figure 1 This is a schematic diagram of a system architecture for a constant amplitude control method for ultrasonic surgical instruments, provided as an embodiment of this specification. Figure 1 As shown, system architecture 100 may include terminal devices 101, 102, and 103, a network 104, and a server 105. Network 104 serves as the medium for providing communication links between terminal devices 101, 102, and 103 and server 105. Network 104 may include various connection types, such as wired or wireless communication links, or fiber optic cables, etc.

[0035] Terminal devices 101, 102, and 103 interact with server 105 via network 104 to receive or send messages, etc. Various client applications can be installed on terminal devices 101, 102, and 103, such as dedicated programs for constant amplitude control methods of ultrasonic surgical instruments.

[0036] Terminal devices 101, 102, and 103 can be either hardware or software. When terminal devices 101, 102, and 103 are hardware, they can be various dedicated or general-purpose electronic devices, including but not limited to smartphones, tablets, laptops, and desktop computers. When terminal devices 101, 102, and 103 are software, they can be installed in the electronic devices listed above. They can be implemented as multiple software programs or software modules (e.g., multiple software programs or software modules used to provide distributed services) or as a single software program or software module.

[0037] Server 105 can be a server that provides various services, such as a backend server that provides services to client applications installed on terminal devices 101, 102, and 103. For example, the server can perform constant amplitude control for ultrasonic surgical instruments so that the constant amplitude control results for ultrasonic surgical instruments can be displayed on terminal device servers 101, 102, and 103.

[0038] Server 105 can be either hardware or software. When server 105 is hardware, it can be implemented as a distributed server cluster consisting of multiple servers, or as a single server. When server 105 is software, it can be implemented as multiple software programs or software modules (e.g., multiple software programs or software modules used to provide distributed services), or as a single software program or software module.

[0039] Figure 2 This is a flowchart illustrating a constant amplitude control method for ultrasonic surgical instruments provided in an embodiment of this specification. From a programming perspective, the execution entity of the process can be a program mounted on an application server or application terminal. It is understood that this method can be executed by any device, equipment, platform, or cluster of devices with computing and processing capabilities. Figure 2 As shown, the constant amplitude control method includes:

[0040] Step S201: Obtain the effective value of the drive current.

[0041] In the embodiments described in this specification, the effective value of the drive current I(k) is collected by an effective current value detection circuit.

[0042] Step S203: Based on the effective value of the driving current and the effective value of the set current, determine the error and the error change rate.

[0043] In the embodiments of this specification, determining the error and the rate of change of error based on the effective value of the driving current and the effective value of the set current specifically includes:

[0044] Based on the effective value of the driving current and the effective value of the set current, the deviation between the target current and the actual current, as well as the phase deviation, are determined.

[0045] If the absolute value of the deviation between the target current and the actual current is greater than the first preset deviation, and / or the absolute value of the phase deviation is less than or equal to the second preset deviation, then the error and the error change rate are determined.

[0046] In the embodiments described in this specification, the effective value of the current I is set. t It can be set according to specific business scenarios, and no restrictions are made here.

[0047] In the embodiments of this specification, determining the deviation and phase deviation between the target current and the actual current based on the effective value of the driving current and the effective value of the set current specifically includes:

[0048] The difference between the effective value of the driving current and the effective value of the set current is taken as the deviation between the target current and the actual current.

[0049] The phase deviation is determined based on the voltage corresponding to the driving current and the time difference between the zero-crossing point of the driving current.

[0050] In the embodiments described in this specification, the first preset deviation is 0.03, and the second preset deviation is 5°.

[0051] Continuing from the previous example, the effective value of the drive current I(k) is set to the effective value of the current I. t The deviation between the target current and the actual current is |I t -I(k)|>first preset deviation, at which point the ultrasonic surgical instrument control system can work effectively; similarly, at the absolute value of the phase deviation between the target current and the actual current |θ t -θ(k)|≤ the second preset deviation, at which point the transducer is in a resonant state.

[0052] In this embodiment of the specification, determining the error and the rate of change of error if the absolute value of the deviation between the target current and the actual current is greater than a first preset deviation, and / or the absolute value of the phase deviation is less than or equal to a second preset deviation, specifically includes:

[0053] If the absolute value of the deviation between the target current and the actual current is greater than the first preset deviation, and / or the absolute value of the phase deviation is less than or equal to the second preset deviation, then the effective value of the driving current is compared with the effective value of the set current to determine the error and the error change rate.

[0054] Continuing from the previous example, the effective value of the drive current I(k) is set to the effective value of the current I. t Further calculate the error e D (k) and the rate of change of error eC D (k). The calculation of error and error rate of change is carried out using existing technology and will not be described in detail here.

[0055] Step S205: Using the error and the error change rate as inputs to the fuzzy controller, the fuzzy controller outputs the current duty cycle change value.

[0056] In the embodiments of this specification, the step of using the error and the rate of change of the error as inputs to the fuzzy controller, and outputting the current duty cycle change value through the fuzzy controller, specifically includes:

[0057] Using the error and the rate of change of the error as inputs to the fuzzy controller, the proportional gain increment and integral gain increment are obtained through fuzzy inference.

[0058] Based on the proportional gain increment and the integral gain increment, the current duty cycle change value is output.

[0059] In the embodiments of this specification, the error is linearly mapped to a first fuzzy universe of discourse through a first quantization factor, and the rate of change of the error is compressed to a second fuzzy universe of discourse through a second quantization factor.

[0060] In the embodiments of this specification, the step of outputting the current duty cycle change value based on the proportional gain increment and the integral gain increment specifically includes:

[0061] The proportional gain increment is fine-tuned through the inverse mapping of the third fuzzy domain and the third quantization factor, and the integral gain increment is output through the fourth fuzzy domain and the fourth quantization factor to output the current duty cycle change value.

[0062] Continuing from the previous example, let the error e D (k) and the rate of change of error eC D (k) is used as the input variable of the fuzzy controller, and the error e D (k) and the rate of change of error eC D (k) Obtain the proportional gain increment ΔK through fuzzy inference. p D and integral gain increment ΔK i，D Then output the current duty cycle change value ΔD(k).

[0063] In a specific embodiment, the error e D The physical range of (k) is defined as [-1,1], and is linearly mapped to the first fuzzy universe of discourse [-6,6] through a first quantization factor of 0.167, thereby achieving the purpose of detecting small amplitude deviations; the error change rate eC D The basic domain of (k) covers the dynamic range of [-12, 12], which is compressed to the second fuzzy domain of [-3, 3] by a second quantization factor of 0.25, thus ensuring sensitivity to the rate of change of error while avoiding over-response caused by morning interference. The proportional gain increment ΔK p The actual adjustment range of D is limited to [-0.16, 0.16]. Fine-tuning of the proportional effect is achieved through the inverse mapping of the third fuzzy domain [-3, 3] to the third quantization factor 0.053 (i.e., 0.16 / 3 ≈ 0.053); the integral gain increment ΔK... i，D The basic domain is extended to [-40,40], and combined with the fourth fuzzy domain [-6,6] and the fourth quantization factor 6.667 (i.e., 40 / 6≈6.667), it can quickly adjust the energy output under wide load fluctuations, while suppressing the risk of overshoot.

[0064] In the embodiments described in this specification, a fuzzy controller refers to a controller that uses error e as its basis. D (k) and the rate of change of error eC D (k), proportional gain increment ΔK p，D and integral gain increment ΔK i，D A controller that performs fuzzy control.

[0065] Step S207: Add the current duty cycle change value to the previous duty cycle change value as the new duty cycle change value, and repeat the operation to achieve constant amplitude control of the ultrasonic surgical instrument.

[0066] Continuing from the previous example, the current duty cycle change value is ΔD(k), and the previous duty cycle change value is D(k-1). Then the new duty cycle change value is D(k) = D(k-1) + ΔD(k), which is used to adjust the output voltage of the Buck chopper circuit, thereby maintaining the constant operating current of the piezoelectric sensor and achieving fast and adaptive constant amplitude control.

[0067] To further understand the constant amplitude control method for ultrasonic surgical instruments provided in the embodiments of this specification, a framework diagram of the constant amplitude control method for ultrasonic surgical instruments is also provided in the embodiments of this specification. Figure 3 This is a framework diagram of a constant amplitude control method for ultrasonic surgical instruments provided as an embodiment of this specification. Figure 3 As shown, the constant amplitude control method includes: obtaining the effective value of the driving current I(k), calculating the deviation between the target current and the actual current,

[0068] If |θ t -θ(k)|≤5°, and / or |I t If -I(k)|>0.03, then the calculation error e D (k) and the rate of change of error eC D (k), the current duty cycle change value ΔD(k) is obtained through the fuzzy controller; then the new duty cycle change value is determined to be D(k)=D(k-1)+ΔD(k), thereby updating the duty cycle D(k), and the constant amplitude control of the ultrasonic surgical instrument is achieved through this process.

[0069] The constant amplitude control method for ultrasonic surgical instruments provided in this specification involves: acquiring the effective value of the driving current; determining the error and error rate of change based on the effective value of the driving current and the effective value of the set current; using the error and error rate of change as input to a fuzzy controller, and outputting the current duty cycle change value through the fuzzy controller; adding the current duty cycle change value to the previous duty cycle change value as the new duty cycle change value, and repeating this process to achieve constant amplitude control of the ultrasonic surgical instruments. This achieves synergistic optimization of control accuracy (steady-state error reduced to ±0.5%), dynamic response speed (adjustment time shortened by 20%), and disturbance rejection capability (amplitude fluctuation suppression rate improved by 35%), providing a robust and adaptable solution for constant amplitude control.

[0070] The above describes in detail a constant amplitude control method for ultrasonic surgical instruments. Correspondingly, this specification also provides a constant amplitude control device for ultrasonic surgical instruments, such as... Figure 4 As shown. Figure 4 This is a schematic diagram of a constant amplitude control device for ultrasonic surgical instruments provided in an embodiment of this specification. The constant amplitude control device includes:

[0071] The module acquires the effective value of the drive current.

[0072] The error determination module determines the error and the rate of change of error based on the effective value of the driving current and the effective value of the set current.

[0073] The fuzzy control module uses the error and the rate of change of the error as inputs to the fuzzy controller, and outputs the current duty cycle change value through the fuzzy controller;

[0074] The constant amplitude control module adds the current duty cycle change value to the previous duty cycle change value as the new duty cycle change value, and repeats this process to achieve constant amplitude control of the ultrasonic surgical instruments.

[0075] This specification also provides an electronic device, including:

[0076] At least one processor; and,

[0077] A memory communicatively connected to the at least one processor; wherein,

[0078] The memory stores instructions that can be executed by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to:

[0079] Obtain the effective value of the drive current;

[0080] Based on the effective value of the driving current and the effective value of the set current, the error and the rate of change of error are determined.

[0081] The error and the rate of change of the error are used as inputs to the fuzzy controller, and the current duty cycle change value is output through the fuzzy controller.

[0082] The current duty cycle change value is added to the previous duty cycle change value to form the new duty cycle change value. This process is repeated to achieve constant amplitude control of the ultrasonic surgical instruments.

[0083] The foregoing has described specific embodiments of this specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims may be performed in a different order than that shown in the embodiments and may still achieve the desired result. Furthermore, the processes depicted in the drawings do not necessarily require the specific or sequential order shown to achieve the desired result. In some embodiments, multitasking and parallel processing are possible or may be advantageous.

[0084] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to interchangeably. Each embodiment focuses on describing the differences from other embodiments. In particular, the embodiments for apparatus, electronic devices, and non-volatile computer storage media are basically similar to the method embodiments, so the descriptions are relatively simple; relevant parts can be referred to the descriptions of the method embodiments.

[0085] The apparatus, electronic device, and non-volatile computer storage medium and method provided in the embodiments of this specification are corresponding. Therefore, the apparatus, electronic device, and non-volatile computer storage medium also have similar beneficial technical effects as the corresponding method. Since the beneficial technical effects of the method have been described in detail above, the beneficial technical effects of the corresponding apparatus, electronic device, and non-volatile computer storage medium will not be repeated here.

[0086] In the 1990s, improvements to a technology could be clearly distinguished as either hardware improvements (e.g., improvements to the circuit structure of diodes, transistors, switches, etc.) or software improvements (improvements to the methodology). However, with technological advancements, many methodological improvements today can be considered direct improvements to the hardware circuit structure. Designers almost always obtain the corresponding hardware circuit structure by programming the improved methodology into the hardware circuit. Therefore, it cannot be said that a methodological improvement cannot be implemented using hardware physical modules. For example, a Programmable Logic Device (PLD) (such as a Field Programmable Gate Array (FPGA)) is such an integrated circuit whose logic function is determined by the user programming the device. Designers can program and "integrate" a digital system onto a PLD themselves, without needing chip manufacturers to design and manufacture dedicated integrated circuit chips. Furthermore, nowadays, instead of manually manufacturing integrated circuit chips, this programming is mostly implemented using "logic compiler" software. Similar to the software compiler used in program development, the original code before compilation must be written in a specific programming language, called a Hardware Description Language (HDL). There are many HDLs, such as ABEL (Advanced Boolean Expression Language), AHDL (Altera Hardware Description Language), Confluence, CUPL (Cornell University Programming Language), HDCal, JHDL (Java Hardware Description Language), Lava, Lola, MyHDL, PALASM, and RHDL (Ruby Hardware Description Language). Currently, the most commonly used are VHDL (Very-High-Speed ​​Integrated Circuit Hardware Description Language) and Verilog. Those skilled in the art should understand that by simply performing some logic programming on the method flow using one of these hardware description languages ​​and programming it into an integrated circuit, the hardware circuit implementing the logical method flow can be easily obtained.

[0087] The controller can be implemented in any suitable manner. For example, it can take the form of a microprocessor or processor and a computer-readable medium storing computer-readable program code (e.g., software or firmware) executable by the (micro)processor, logic gates, switches, application-specific integrated circuits (ASICs), programmable logic controllers, and embedded microcontrollers. Examples of controllers include, but are not limited to, the following microcontrollers: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20, and Silicon Labs C8051F320. A memory controller can also be implemented as part of the control logic of the memory. Those skilled in the art will also recognize that, in addition to implementing the controller in purely computer-readable program code form, the same functionality can be achieved by logically programming the method steps to make the controller take the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers. Therefore, such a controller can be considered a hardware component, and the means included therein for implementing various functions can also be considered as structures within the hardware component. Alternatively, the means for implementing various functions can be considered as both software modules implementing the method and structures within the hardware component.

[0088] The systems, devices, modules, or units described in the above embodiments can be implemented by computer chips or entities, or by products with certain functions. A typical implementation device is a computer. Specifically, a computer can be, for example, a personal computer, a laptop computer, a cellular phone, a camera phone, a smartphone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or any combination of these devices.

[0089] For ease of description, the above apparatus is described by dividing it into various functional units. Of course, when implementing one or more embodiments of this specification, the functions of each unit can be implemented in one or more software and / or hardware.

[0090] Those skilled in the art will understand that the embodiments of this specification can be provided as methods, systems, or computer program products. Therefore, the embodiments of this specification can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the embodiments of this specification can take the form of a computer program product implemented on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0091] This specification is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this specification. It will 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 program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create a machine for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0092] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0093] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0094] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0095] Memory may include non-persistent storage in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0096] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0097] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0098] This specification can be described in the general context of computer-executable instructions that are executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc., that perform a specific task or implement a specific abstract data type. This specification can also be practiced in distributed computing environments, where tasks are performed by remote processing devices connected via a communication network. In distributed computing environments, program modules can reside on local and remote computer storage media, including storage devices.

[0099] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to interchangeably. Each embodiment focuses on describing the differences from other embodiments. In particular, the system embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions in the method embodiments.

[0100] The above description is merely an embodiment of this specification and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principle of this application should be included within the scope of the claims of this application.

Claims

1. A method for constant amplitude control of ultrasonic surgical instruments, characterized in that, The constant amplitude control method includes: Obtain the effective value of the drive current; Based on the effective value of the driving current and the effective value of the set current, the error and the rate of change of error are determined. The error and the rate of change of the error are used as inputs to the fuzzy controller, and the current duty cycle change value is output through the fuzzy controller. The current duty cycle change value is added to the previous duty cycle change value to form the new duty cycle change value. This process is repeated to achieve constant amplitude control of the ultrasonic surgical instruments.

2. The constant amplitude control method as described in claim 1, characterized in that, The determination of the error and error rate of change based on the effective value of the driving current and the effective value of the set current specifically includes: Based on the effective value of the driving current and the effective value of the set current, the deviation between the target current and the actual current, as well as the phase deviation, are determined. If the absolute value of the deviation between the target current and the actual current is greater than the first preset deviation, and / or the absolute value of the phase deviation is less than or equal to the second preset deviation, then the error and the error change rate are determined.

3. The constant amplitude control method as described in claim 2, characterized in that, The determination of the deviation between the target current and the actual current, as well as the phase deviation, based on the effective value of the driving current and the effective value of the set current, specifically includes: The difference between the effective value of the driving current and the effective value of the set current is taken as the deviation between the target current and the actual current. The phase deviation is determined based on the voltage corresponding to the driving current and the time difference between the zero-crossing point of the driving current.

4. The constant amplitude control method as described in claim 2, characterized in that, The first preset deviation is 0.03, and the second preset deviation is 5°.

5. The constant amplitude control method as described in claim 2, characterized in that, If the absolute value of the deviation between the target current and the actual current is greater than a first preset deviation, and / or the absolute value of the phase deviation is less than or equal to a second preset deviation, then the error and the rate of change of error are determined, specifically including: If the absolute value of the deviation between the target current and the actual current is greater than the first preset deviation, and / or the absolute value of the phase deviation is less than or equal to the second preset deviation, then the effective value of the driving current is compared with the effective value of the set current to determine the error and the error change rate.

6. The constant amplitude control method as described in claim 1, characterized in that, The step of using the error and the rate of change of the error as inputs to the fuzzy controller, and outputting the current duty cycle change value through the fuzzy controller, specifically includes: Using the error and the rate of change of the error as inputs to the fuzzy controller, the proportional gain increment and integral gain increment are obtained through fuzzy inference. Based on the proportional gain increment and the integral gain increment, the current duty cycle change value is output.

7. The constant amplitude control method as described in claim 1, characterized in that, The error is linearly mapped to a first fuzzy universe through a first quantization factor, and the rate of change of the error is compressed to a second fuzzy universe through a second quantization factor.

8. The constant amplitude control method as described in claim 6, characterized in that, The step of outputting the current duty cycle change value based on the proportional gain increment and the integral gain increment specifically includes: The proportional gain increment is fine-tuned through the inverse mapping of the third fuzzy domain and the third quantization factor, and the integral gain increment is output through the fourth fuzzy domain and the fourth quantization factor to output the current duty cycle change value.

9. A constant amplitude control device for ultrasonic surgical instruments, characterized in that, The constant amplitude control device includes: The module acquires the effective value of the drive current. The error determination module determines the error and the rate of change of error based on the effective value of the driving current and the effective value of the set current. The fuzzy control module uses the error and the rate of change of the error as inputs to the fuzzy controller, and outputs the current duty cycle change value through the fuzzy controller; The constant amplitude control module adds the current duty cycle change value to the previous duty cycle change value as the new duty cycle change value, and repeats this process to achieve constant amplitude control of the ultrasonic surgical instruments.

10. An electronic device, comprising: At least one processor; as well as, A memory communicatively connected to the at least one processor; wherein, The memory stores instructions executable by the at least one processor, which, when executed by the at least one processor, enable the at least one processor to: Obtain the effective value of the drive current; Based on the effective value of the driving current and the effective value of the set current, the error and the rate of change of error are determined. The error and the rate of change of the error are used as inputs to the fuzzy controller, and the current duty cycle change value is output through the fuzzy controller. The current duty cycle change value is added to the previous duty cycle change value to form the new duty cycle change value. This process is repeated to achieve constant amplitude control of the ultrasonic surgical instruments.

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