Methods for controlling temperature in ultrasonic device
A generator, ultrasonic device, and method for controlling a temperature of an ultrasonic blade are disclosed. A control circuit coupled to a memory determines an actual resonant frequency of an ultrasonic electromechanical system comprising an ultrasonic transducer coupled to an ultrasonic blade by an ultrasonic waveguide. The actual resonant frequency is correlated to an actual temperature of the ultrasonic blade. The control circuit retrieves from the memory a reference resonant frequency of the ultrasonic electromechanical system. The reference resonant frequency is correlated to a reference temperature of the ultrasonic blade. The control circuit then infers the temperature of the ultrasonic blade based on the difference between the actual resonant frequency and the reference resonant frequency. The control circuit controls the temperature of the ultrasonic blade based on the inferred temperature.
1. A computer-implemented interactive surgical system for controlling an estimated temperature of an ultrasonic blade, the system comprising:
an ultrasonic electromechanical system comprising an ultrasonic transducer coupled to an ultrasonic blade;
a generator to supply power at a frequency to the ultrasonic transducer; and
a control circuit coupled to a memory, wherein the control circuit is to:
iteratively determine an inferred temperature of the ultrasonic blade from a state space model, and apply a Kalman filter to update a state space estimator of the state space model over time, wherein the state space model is based on the power and the frequency supplied by the generator, and wherein the Kalman filter comprises a state variance of the state space estimator; and
adjust the power supplied by the generator to the ultrasonic transducer based on the inferred temperature of the ultrasonic blade.
2. The system of claim 1 , wherein the control circuit is further to receive a reference resonant frequency of the ultrasonic electromechanical system correlated to a reference temperature of the ultrasonic blade.
3. The system of claim 1 , wherein the state space model comprises a set of non-linear state space equations.
4. The system of claim 1 , wherein the state space model is defined by:
[
F
.
n
T
.
]
=
f
(
t
,
T
(
t
)
,
F
n
(
t
)
,
E
(
t
)
)
{dot over (y)}=h ( t,T ( t ), F n ( t ), E ( t ))
wherein:
{dot over (F)} n in defines a rate of change of a time dependent natural frequency F n (t) of the ultrasonic electromechanical system at a time t;
{dot over (T)} defines a rate of change of the inferred temperature of the ultrasonic blade with respect to F n (t) at the time t;
T(t) defines a time dependent inferred temperature of the ultrasonic blade at the time t;
E (t) defines a time dependent energy applied to the ultrasonic transducer at the time t; and
{dot over (y)} defines observable and measurable variables comprising F n (t), T(t), E(t), and the time t.
5. The system of claim 1 , wherein the state variance is to predict a subsequent state space estimator.
6. The system of claim 1 , wherein the state variance is defined by
(σ k − K) 2 =σ k−1 2 +σ P K 2
wherein:
(σ k − ) is a variance of state k;
(σ k−1 − ) is a variance of a prior state k−1;
(σ Pk − ) is a predicted variance of state k; and
(σ m − ) is an observed system variance.
7. The system of claim 6 , wherein the Kalman filter has a gain, K, defined by
K
=
(
σ
k
-
)
2
(
σ
k
-
)
2
+
σ
m
2
.
8. The system of claim 1 wherein the control circuit is to receive a reference resonant frequency of the ultrasonic electromechanical system correlated to a reference temperature of the ultrasonic blade.
9. The system of claim 8 , wherein the control circuit is to receive the reference resonant frequency of the ultrasonic electromechanical system correlated to the reference temperature of the ultrasonic blade from the memory.
10. The system of claim 8 , wherein the control circuit is to receive the reference resonant frequency of the ultrasonic electromechanical system correlated to the reference temperature of the ultrasonic blade from an internet cloud resource.
11. The system of claim 1 , further comprising a modular communication hub to communicate with the ultrasonic electromechanical system.
12. The system of claim 1 , further comprising a surgical robot hub.