System and method for controlling an ultrasonic tool
Systems ( 10 ) and methods ( 12 ) of controlling an ultrasonic surgical tool ( 20 ) with a console ( 22 ) are provided. A first drive signal ( 40 ) is applied to the ultrasonic surgical tool ( 20 ). A characteristic of a harmonic signal ( 44 ) resulting from application of the first drive signal ( 40 ) to the ultrasonic surgical tool ( 20 ) is acquired. A cancellation signal ( 70 ) is generated based on the characteristic of the harmonic signal ( 44 ). The first drive signal ( 40 ) and the cancellation signal ( 70 ) are combined to produce a second drive signal ( 80 ) that is sinusoidal. The second drive signal ( 80 ) is applied to the ultrasonic surgical tool ( 20 ) such that presence of the harmonic signal ( 44 ) resulting from application of the second drive signal ( 80 ) is reduced relative to presence of the harmonic signal ( 44 ) resulting from application of the first drive signal ( 40 ).
1. A console for controlling an ultrasonic surgical tool to reduce presence of a harmonic signal, the console comprising:
a controller configured to:
drive the ultrasonic surgical tool with a first drive signal;
acquire characteristics of the harmonic signal in the ultrasonic surgical tool resulting from driving the ultrasonic surgical tool with the first drive signal;
generate a cancellation signal based on the acquired characteristics of the harmonic signal;
combine the cancellation signal with the first drive signal to produce a second drive signal;
drive the ultrasonic surgical tool with the second drive signal;
compare the presence of the harmonic signal within a current of the ultrasonic surgical tool resulting from driving the ultrasonic surgical tool with the second drive signal to a predetermined threshold; and
based on the comparison, generate and drive the ultrasonic surgical tool with a third drive signal that reduces the presence of the harmonic signal within the current of the ultrasonic surgical tool relative to the presence of the harmonic signal within the current of the ultrasonic surgical tool resulting from driving the ultrasonic surgical tool with the second drive signal.
2. The console of claim 1 , wherein the controller is configured to generate and drive the ultrasonic surgical tool with the third drive signal responsive to the comparison indicating that the presence of the harmonic signal within the current of the ultrasonic surgical tool resulting from driving the ultrasonic surgical tool with the second drive signal is greater than the predetermined threshold.
3. The console of claim 1 , wherein the presence of the harmonic signal within a voltage across the ultrasonic surgical tool resulting from driving the ultrasonic surgical tool with the second drive signal is greater than the predetermined threshold, and the controller is configured to continue to drive the ultrasonic surgical tool with the second drive signal responsive to the comparison indicating that the harmonic signal within the current of the ultrasonic surgical tool resulting from driving the ultrasonic surgical tool with the second drive signal is less than the predetermined threshold.
4. The console of claim 1 , wherein the predetermined threshold is 5% of a fundamental frequency component of the current of the ultrasonic surgical tool resulting from driving the ultrasonic surgical tool with the second drive signal.
5. The console of claim 1 , wherein the controller is configured to: determine the current and a voltage of the ultrasonic surgical tool resulting from driving the ultrasonic surgical tool with the first drive signal; and compare the determined current and voltage to acquire at least one of the characteristics of the harmonic signal resulting from driving the ultrasonic surgical tool with the first drive signal.
6. The console of claim 5 , wherein the controller is configured to:
separate a fundamental frequency component from the determined voltage;
separate a harmonic frequency component from the determined current;
determine a phase difference between the separated fundamental frequency component and the separated harmonic frequency component; and
generate the cancellation signal based on the determined phase difference.
7. The console of claim 1 , wherein the controller is configured to:
measure the current of the ultrasonic surgical tool resulting from driving the ultrasonic surgical tool with the first drive signal;
determine an amplitude of a harmonic frequency component of the measured current; and
generate the cancellation signal with an amplitude determined based on the amplitude of the harmonic frequency component of the measured current.
8. The console of claim 7 , wherein the controller is configured to generate the cancellation signal with the amplitude of the cancellation signal being twice the amplitude of the harmonic frequency component of the measured current.
9. A method for controlling an ultrasonic surgical tool to reduce presence of a harmonic signal, the method comprising:
driving the ultrasonic surgical tool with a first drive signal;
acquiring characteristics of the harmonic signal in the ultrasonic surgical tool resulting from driving the ultrasonic surgical tool with the first drive signal;
generating a cancellation signal based on the acquired characteristics of the harmonic signal;
combining the cancellation signal with the first drive signal to produce a second drive signal;
driving the ultrasonic surgical tool with the second drive signal;
comparing the presence of the harmonic signal within a current of the ultrasonic surgical tool resulting from driving the ultrasonic surgical tool with the second drive signal to a predetermined threshold; and
based on the comparison, generating and driving the ultrasonic surgical tool with a third drive signal that reduces the presence of the harmonic signal within the current of the ultrasonic surgical tool relative to the presence of the harmonic signal within the current of the ultrasonic surgical tool resulting from driving the ultrasonic surgical tool with the second drive signal.
10. The method of claim 9 , further comprising:
determining that the presence of the harmonic signal within the current of the ultrasonic surgical tool resulting from driving the ultrasonic surgical tool with the second drive signal is greater than the predetermined threshold; and
generating and driving the ultrasonic surgical tool with the third drive signal responsive to the determination.
11. The method of claim 9 , wherein the presence of the harmonic signal within a voltage across the ultrasonic surgical tool resulting from driving the ultrasonic surgical tool with the third drive signal is greater than the predetermined threshold, and further comprising:
determining that the presence of the harmonic signal within the current of the ultrasonic surgical tool resulting from driving the ultrasonic surgical tool with the third drive signal is less than the predetermined threshold; and
continuing to drive the ultrasonic surgical tool with the third drive signal based on the determination.
12. The method of claim 9 , wherein the predetermined threshold is 5% of a fundamental frequency component of the current of the ultrasonic surgical tool resulting from driving the ultrasonic surgical tool with the second drive signal.
13. The method of claim 9 , further comprising:
determining the current and a voltage of the ultrasonic surgical tool resulting from driving the ultrasonic surgical tool with the first drive signal; and
comparing the determined current and voltage to acquire at least one of the characteristics of the harmonic signal resulting from driving the ultrasonic surgical tool with the first drive signal.
14. The method of claim 13 , further comprising:
separating a fundamental frequency component from the determined voltage;
separating a harmonic frequency component from the determined current;
determining a phase difference between the separated fundamental frequency component and the separated harmonic frequency component; and
generating the cancellation signal based on the determined phase difference.
15. The method of claim 9 , further comprising:
measuring the current of the ultrasonic surgical tool resulting from driving the ultrasonic surgical tool with the first drive signal;
determining an amplitude of a harmonic frequency component of the measured current; and
generating the cancellation signal with an amplitude determined based on the amplitude of the harmonic frequency component of the measured current.
16. The method of claim 15 , further comprising generating the cancellation signal with the amplitude of the cancellation signal being twice the amplitude of the harmonic frequency component of the measured current.