Skull drill bit automatic stop control method, device, storage medium and skull drill device

Abstract

The present application relates to the field of medical device technology and discloses a method, device, storage medium, and skull drill device for automatically stopping the drilling of a skull drill. The method is applied to a skull drill device, which includes a motor driving a skull drill. The method includes: obtaining a feedback current signal from the motor during operation; detecting whether the feedback current signal meets a preset current change condition; and controlling the skull drill to stop rotation via the motor when the feedback current signal meets the preset current change condition. Because the feedback current of the skull drill motor varies when rotating in different bone layers, and the critical point of drilling is the boundary between different bone layers, the feedback current varies when the skull drill is at the critical point. Therefore, the present application can control the skull drill to stop rotation based on the feedback current signal from the motor during operation, thereby achieving automatic drilling stop.

Description

Technical Field

[0001] The present application relates to the field of medical device technology, and in particular to a skull drill automatic stop control method, equipment, storage medium and skull drill device. Background Art

[0002] Currently, skull drills are devices used to drill holes in the skull during neurosurgery. To prevent the drill bit from penetrating the skull and damaging the meninges, existing skull drills typically use a mechanical clutch to automatically stop drilling. This mechanism disengages the drive shaft between the drill bit and the motor during drilling, halting the drill.

[0003] However, due to machining errors, the quality and thickness of the patient's skull, and other factors, the mechanical clutch of the skull drill bit can easily be in a state of being about to engage but not disengaged during drilling, which can lead to lower safety. Therefore, how to better stop the skull drill device during drilling is an urgent problem to be solved. Summary of the Invention

[0004] The main purpose of this application is to provide a skull drill bit automatic stop control method, equipment, storage medium and skull drill device, aiming to solve the technical problem of how to make the skull drill device automatically stop when the skull drill bit drills through.

[0005] To achieve the above-mentioned object, the present application provides a method for controlling the automatic stop of a skull drill bit during drilling. The method is applied to a skull drill device, wherein the skull drill device includes a motor driving a skull drill bit. The method includes:

[0006] Obtaining a feedback current signal of the motor during operation;

[0007] detecting whether the feedback current signal reaches a preset current change condition;

[0008] When the feedback current signal reaches the preset current change condition, the motor is used to control the skull drill to stop rotating.

[0009] In one embodiment, the step of detecting whether the feedback current signal reaches a preset current change condition includes:

[0010] Detecting whether the current change slope of the feedback current signal is higher than a first preset slope threshold; if so, determining that the preset current change condition is met; or,

[0011] Performing Fourier transform on the feedback current signal to obtain a target spectrum diagram; detecting whether the frequency change slope of the target spectrum diagram is higher than a second preset slope threshold; and if so, determining that the preset current change condition is met.

[0012] In one embodiment, the step of performing Fourier transform on the feedback current signal to obtain a target frequency spectrum includes:

[0013] Performing Fourier transform on the feedback current signal to obtain an initial frequency spectrum;

[0014] Determining a critical frequency interval, where the critical frequency interval is a frequency interval related to friction between the cutting edge of the skull drill bit and the skull;

[0015] The initial frequency spectrum is screened based on the critical frequency interval to obtain a target frequency spectrum.

[0016] In one embodiment, the step of determining the critical frequency interval includes:

[0017] Get the current motor speed, preset mechanical reduction ratio, and preset number of drill bit blades;

[0018] Determining a closing frequency based on the current motor speed, the preset mechanical reduction ratio, and the preset number of drill bit blades;

[0019] A critical frequency interval is determined according to the critical frequency.

[0020] In one embodiment, the step of determining the resetting frequency based on the current motor speed, the preset mechanical reduction ratio, and the preset number of drill bit blades includes:

[0021] Determine the switching frequency based on the current motor speed, the preset mechanical reduction ratio, and the preset number of drill bit blades using a preset frequency calculation formula;

[0022] The preset frequency calculation formula is:

[0023] f=v / d*k;

[0024] Among them, f is the switching frequency, v is the current motor speed, d is the preset mechanical reduction ratio, and k is the preset number of drill blades.

[0025] In one embodiment, the step of determining the critical frequency interval according to the critical frequency includes:

[0026] Scaling the critical frequency;

[0027] The zoomed off-weight frequency is window-selected according to a preset interval to obtain the off-weight frequency interval.

[0028] In one embodiment, before the step of controlling the cranial drill bit to stop rotating by the motor when the feedback current signal reaches the preset current change condition, the method further includes:

[0029] The feedback current signal is filtered.

[0030] In addition, to achieve the above-mentioned purpose, the present application also proposes a skull drill automatic stop control device, the device comprising:

[0031] A current acquisition module, used to obtain a feedback current signal of the motor during operation, wherein the motor drive is connected to the skull drill bit;

[0032] A current detection module, used to detect whether the feedback current signal reaches a preset current change condition;

[0033] The motor control module is used to control the skull drill to stop rotating through the motor when the feedback current signal reaches the preset current change condition.

[0034] In one embodiment, the current detection module is further used to detect whether the current change slope of the feedback current signal is higher than a first preset slope threshold; if so, it is determined that the preset current change condition is met; or, the feedback current signal is Fourier transformed to obtain a target spectrum diagram, and whether the frequency change slope of the target spectrum diagram is higher than a second preset slope threshold; if so, it is determined that the preset current change condition is met.

[0035] In one embodiment, the current detection module is further used to perform Fourier transform on the feedback current signal to obtain an initial spectrum diagram; determine a critical frequency interval, where the critical frequency interval is a frequency interval related to the friction between the cutting edge surface of the skull drill bit and the skull; and filter the initial spectrum diagram based on the critical frequency interval to obtain a target spectrum diagram.

[0036] In one embodiment, the current detection module is also used to obtain the current motor speed, the preset mechanical reduction ratio and the preset number of drill blades; determine the key frequency based on the current motor speed, the preset mechanical reduction ratio and the preset number of drill blades; and determine the key frequency range according to the key frequency.

[0037] In one embodiment, the current detection module is also used to determine the key frequency through a preset frequency calculation formula and based on the current motor speed, the preset mechanical reduction ratio and the preset number of drill blades; the preset frequency calculation formula is: f=v / d*k; wherein f is the key frequency, v is the current motor speed, d is the preset mechanical reduction ratio, and k is the preset number of drill blades.

[0038] In one embodiment, the current detection module is further configured to scale the critical frequency; and perform window selection on the scaled critical frequency according to a preset interval to obtain a critical frequency interval.

[0039] In one embodiment, the motor control module is further configured to filter the feedback current signal.

[0040] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, on which a skull drill bit drilling self-stop control program is stored. When the skull drill bit drilling self-stop control program is executed by the processor, the skull drill bit drilling self-stop control method described above is implemented.

[0041] In addition, to achieve the above-mentioned purpose, the present application also proposes a skull drill device, which includes: a current acquisition module, a memory, a processor, and a motor driving a skull drill bit;

[0042] The current acquisition module is connected to the processor, and is used to obtain a feedback current signal of the motor during operation and transmit the feedback current signal to the processor;

[0043] The processor is connected to the motor, and is used to run the skull drill bit drilling automatic stop control program stored in the memory. When the skull drill bit drilling automatic stop control program is executed by the processor, the skull drill bit drilling automatic stop control method described above is implemented.

[0044] The present application provides a method, device, storage medium, and skull drill device for automatically stopping the drilling of a skull drill. The method is applied to a skull drill device, wherein the skull drill device includes a motor driving a skull drill. The method includes: obtaining a feedback current signal from the motor during operation; detecting whether the feedback current signal meets a preset current change condition; and controlling the skull drill to stop rotating via the motor when the feedback current signal meets the preset current change condition. Because the feedback current of the skull drill motor varies when rotating in different bone layers, and the critical point for drilling through is the boundary between different bone layers, the phenomenon of different feedback currents occurs when the skull drill is at the critical point. Therefore, the present application can obtain the feedback current signal from the motor during operation and determine whether the feedback current signal meets the preset current change condition. If so, the motor controls the skull drill to stop rotating, thereby achieving automatic drilling stop. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0046] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0047] Figure 1 A schematic diagram of the structure of a skull drill device in the hardware operating environment involved in the embodiment of the present application;

[0048] Figure 2 This is a flow chart of the first embodiment of the skull drill automatic stop control method of the present application;

[0049] Figure 3 This is a circuit schematic diagram of the current acquisition module in the first embodiment of the skull drill automatic stop control method of this application;

[0050] Figure 4 This is another circuit schematic diagram of the first embodiment of the skull drill automatic stop control method of the present application;

[0051] Figure 5 This is a flow chart of the second embodiment of the skull drill automatic stop control method of the present application;

[0052] Figure 6 This is a structural block diagram of the first embodiment of the automatic stop control device for the skull drill of this application.

[0053] Description of Figure Numbers:

[0054] Label name Label name 1 skull drill bit 41 processor 2 Skull drill driver 42 Memory 21 Mechanical unit 5 Motor drive module 22 motor R1~R10 The first resistor to the tenth resistor 3 Current acquisition module C1~C2 First capacitor to second capacitor 31 Acquisition unit U Differential operational amplifier 32 Differential Unit N Comparator 33 Comparison Unit Q Switching tube 34 Switch unit KA1 Coil 4 Control Module KA1-1 Normally closed contact switch

[0055] The realization of the objectives, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0056] It should be understood that the specific embodiments described herein are merely used to explain the technical solutions of the present application and are not intended to limit the present application.

[0057] Reference Figure 1 , Figure 1 This is a schematic diagram of the structure of a skull drill device in the hardware operating environment involved in the embodiment of the present application.

[0058] like Figure 1 As shown, the skull drill device may include: a skull drill bit 1, a skull drill bit driver 2, a current acquisition module 3, a control module 4 and a motor drive module 5;

[0059] The skull drill 1 can be detachably connected to the skull drill driver 2. The skull drill driver 2 can include a mechanical unit 21 and a motor 22. The mechanical unit 21 can be used to connect the motor 22 to the skull drill 1. The specific structure is not limited to this embodiment. The mechanical unit 21 can drive the motor 22 to the skull drill 1, thereby driving the skull drill 1 to rotate. The motor 22 can be connected to the control module 4 via the current acquisition module 3 and can also be connected to the control module 4 via the motor drive module 5.

[0060] Specifically, the control module 4 may include a processor 41 and a memory 42. The processor 41 may be a central processing unit (CPU), and the memory 42 may be a high-speed random access memory (RAM) or a non-volatile memory (NVM), such as a disk drive. The memory 42 may optionally be a storage device independent of the processor 41. The processor 41 may be connected to the current acquisition module 3, the motor drive module 5, and the memory 42, respectively.

[0061] like Figure 1 As shown, the memory 42, identified as a computer storage medium, may include a skull drill automatic stop control program. In actual use, the current acquisition module 3 is used to obtain the feedback current signal of the motor 22 during operation and transmit the feedback current signal to the processor 41. The processor 41 is used to execute the skull drill automatic stop control program stored in the memory 42. When executed by the processor 41, the skull drill automatic stop control program implements the skull drill automatic stop control method provided in the embodiments of the present application.

[0062] Those skilled in the art will understand that Figure 1 The structure shown in the figure does not constitute a limitation to the cranial drilling device, and may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

[0063] It should be noted that currently, a skull drill device is a device used to drill holes in the skull during neurosurgery. To prevent the skull drill bit 1 from damaging the meninges after penetrating the skull during drilling, existing skull drill devices generally only achieve automatic drilling stop through mechanical clutching. That is, when drilling through the skull, the drive shaft between the skull drill bit 1 and the motor 22 is controlled to separate, thereby stopping the skull drill bit 1 from rotating.

[0064] However, due to processing errors, the quality and thickness of the patient's skull bone, etc., the mechanical clutch of the skull drill 1 is easily in a state of being about to be engaged but not engaged during drilling, which leads to lower safety. Therefore, how to better make the skull drill device automatically stop when the skull drill 1 drills through is an urgent problem to be solved.

[0065] To address the above-mentioned drawbacks, the present embodiment provides a method for controlling automatic stoppage of drilling of a skull drill. The method is applied to the above-mentioned skull drill device, and the method is applied to the skull drill device, wherein the skull drill device includes a motor 22 drivingly connected to the skull drill 1. Since the feedback current of the motor 22 varies when the skull drill 1 rotates in different bone layers, and the critical point of drilling is the boundary between different bone layers, the feedback current varies when the skull drill 1 is at the critical point. Therefore, the present embodiment can obtain the feedback current signal of the motor 22 during operation and determine whether the feedback current signal meets the preset current change condition. If so, the motor controls the skull drill to stop rotating, thereby achieving automatic stoppage of drilling.

[0066] For ease of understanding, the following Figures 1 to 6 The skull drill automatic stop control method provided in the embodiment of the present application is specifically introduced.

[0067] Reference Figure 2 , Figure 2 This is a flow chart of the first embodiment of the skull drill bit automatic stop control method of the present application, and the first embodiment of the skull drill bit automatic stop control method of the present application is proposed. Figure 2 As shown, in this embodiment, the method includes:

[0068] Step S10: obtaining a feedback current signal of the motor during operation.

[0069] It is understood that the method of this embodiment can be applied in the scenario of drilling with the above-mentioned skull drill device, and of course it can also be applied in the scenario of drilling with other devices. This embodiment uses the scenario of drilling with the above-mentioned skull drill device for illustration. The execution subject of the method of this embodiment can be a skull drill bit drilling with automatic stop control, data processing, and program execution functions, such as the above-mentioned skull drill device, specifically the processor 41 in the above-mentioned skull drill device, and of course other devices that perform the same or similar functions. This embodiment is not limited to this. This embodiment uses the above-mentioned skull drill device to illustrate this embodiment and the following embodiments.

[0070] It should be understood that the motor 22 can be a motor 22 in a skull drill device for driving the skull drill bit 1 to rotate. Figure 1As shown, the motor drive module 5 may be a module for providing a driving current to the motor 22 to rotate the motor 22. The motor drive module 5 may include a motor drive circuit. In actual use, the processor 41 may control the motor drive module 5 to output a driving current to the motor 22. After receiving the driving current, the motor 22 can drive the skull drill 1 to rotate.

[0071] The feedback current signal may be a signal corresponding to the feedback current of the motor 22 during operation, and the feedback current may be the current in the working circuit of the motor 22 during operation. As the cranial drill bit 1 rotates, the current acquisition module 3 may acquire the feedback current signal of the motor 22 in real time and transmit the acquired feedback current signal to the processor 41, thereby enabling the processor 41 to obtain the feedback current signal of the motor 22.

[0072] It should be understood that the current acquisition module 3 may include a circuit for collecting feedback current signals. Figure 3 , Figure 3 This is a circuit schematic diagram of the current acquisition module 3 in the first embodiment of the skull drill automatic stop control method of this application.

[0073] like Figure 3 As shown, in this embodiment, the current acquisition module 3 may include: an acquisition unit 31 and a differential unit 32;

[0074] The acquisition unit 31 is connected to the motor 22 and the differential unit 32 respectively. The acquisition unit 31 is used to acquire the feedback current signal of the motor 22 and transmit the feedback current signal to the differential unit 32;

[0075] The differential unit 32 is connected to the processor 41 , and is used to perform differential amplification on the feedback current signal and transmit the differentially amplified feedback current signal to the processor 41 , so that the processor 41 obtains the differentially amplified feedback current signal.

[0076] It should be noted that the acquisition unit 31 may be a unit for acquiring feedback current signals, which may include components for acquiring current, such as current sensors (including but not limited to resistive current sensors and Hall-effect current sensors).

[0077] Continue as Figure 3 As shown, the differential unit 32 may include: a differential operational amplifier U, a first capacitor C1, a second capacitor C2, and first to sixth resistors R1 to R6;

[0078] The input end of the acquisition unit 31 can be connected to the motor 22, the output end of the acquisition unit 31 can be connected to the first end of the first resistor R1, the second end of the first resistor R1 can be connected to the first end of the third resistor R3 and the first input end of the differential operational amplifier U (i.e. Figure 3 The eighth pin of the differential operational amplifier U is connected to the ground terminal of the differential operational amplifier U (i.e. Figure 3 The second pin of the differential operational amplifier U is grounded (i.e. Figure 3 AGND), the second input terminal of the differential operational amplifier U (i.e. Figure 3 The first pin of the differential operational amplifier U is connected to the second end of the second resistor R2 and the first end of the fourth resistor R4 respectively, the first end of the second resistor R2 is grounded, and the first power supply end of the differential operational amplifier U (i.e. Figure 3 The third pin of the differential operational amplifier U is connected to the positive power supply and the second end of the first capacitor C1. The first end of the first capacitor C1 is grounded. The second power supply end of the differential operational amplifier U (i.e. Figure 3 The sixth pin of the differential operational amplifier U is connected to the negative power supply and the first end of the second capacitor C2 respectively. The second end of the second capacitor C2 is grounded. The first output end of the differential operational amplifier U (i.e. Figure 3 The fourth pin of the differential operational amplifier U is connected to the second end of the fourth resistor R4 and the first end of the sixth resistor R6 respectively, the second end of the sixth resistor R6 is connected to the processor 41, and the second output end of the differential operational amplifier U (i.e. Figure 3 A fifth pin of the differential operational amplifier U is respectively connected to the second end of the third resistor R3 and the first end of the fifth resistor R5, and the second end of the fifth resistor R5 is connected to the processor 41.

[0079] It is understandable that the differential operational amplifier U may be a dual-end output differential operational amplifier U. In actual use, after the acquisition unit 31 acquires the feedback current signal, it may be transmitted to the differential operational amplifier U through the first resistor R1. After the differential operational amplifier U performs differential amplification on the feedback current signal, it may be transmitted to the processor 41 through the first output terminal and the second output terminal of the differential operational amplifier U. The processor 41 then makes a judgment based on the differentially amplified feedback current signal.

[0080] It can also be understood that since the feedback current signal after differential amplification is an analog signal, the processor 41 can recognize the digital signal, and then the second end of the sixth resistor R6 and the second end of the fifth resistor R5 are also connected to the processor 41 through an analog-to-digital converter (not shown in the figure), and the feedback current signal after differential amplification can be analog-to-digital converted through the analog-to-digital converter, and the converted feedback current signal is transmitted to the processor 41 for judgment.

[0081] Step S20: detecting whether the feedback current signal reaches a preset current change condition;

[0082] Step S30: When the feedback current signal reaches the preset current change condition, the motor is used to control the skull drill to stop rotating.

[0083] It should be understood that the above-mentioned preset current change condition can be a condition for determining whether the skull drill bit 1 has drilled through. In this embodiment, the above-mentioned preset current change condition can be a preset current threshold. Since the feedback current of the motor 22 of the skull drill bit 1 varies when it rotates in different bone layers, and the critical point of drilling through is the boundary between different bone layers, the feedback current will vary when the skull drill bit 1 is at the critical point.

[0084] Therefore, based on the above principle, when the skull drill 1 is drilling, the feedback current of the motor 22 will increase. After the current acquisition module 3 transmits the feedback current signal to the processor 41, the processor 41 can determine whether the feedback current signal is higher than the preset current threshold. If the feedback current corresponding to the feedback current signal is not higher than the preset current threshold, it can be indicated that the hole has not been drilled through, and the processor 41 continues to detect. If the feedback current corresponding to the feedback current signal is higher than the preset current threshold, it can be indicated that the hole has been drilled through, and it can be determined that the preset current change condition has been met. At this time, the processor 41 can output a stop signal to the motor drive module 5. After receiving the stop signal, the motor drive module 5 can stop outputting the drive current to the motor 22, and then the motor 22 can stop rotating, and the skull drill 1 also stops.

[0085] As another implementation method, in order to stop the skull drill 1, in addition to the above-mentioned method of controlling the output of driving current to the motor 22 by the processor 41, a short-time reverse signal can be given to the motor 22 to reverse the motor 22, driving the skull drill 1 to reverse and overcome inertia to stop rotation, thereby achieving an emergency stop faster.

[0086] Furthermore, in order to improve the signal quality of the feedback current signal, in this embodiment, a high-pass filter and a low-pass filter may be connected in sequence after the analog-to-digital converter, and the converted feedback current signal is filtered in sequence by the high-pass filter and the low-pass filter, and then the filtered feedback current signal is transmitted to the processor 41 for judgment. The specific process is before the above step S30, and also includes:

[0087] The feedback current signal is filtered.

[0088] It should be emphasized that the above-mentioned analog-to-digital conversion and filtering functions can also be directly implemented by the above-mentioned processor 41, that is, the processor 41 can convert the feedback current signal after differential amplification into a digital signal, and determine the current value of the converted feedback current signal, and then obtain the filtered feedback current signal after high-pass filtering and low-pass filtering on the current value, and make judgments based on the filtered feedback current signal, thereby eliminating the need to set up an analog-to-digital converter and a filter, saving costs.

[0089] Furthermore, considering that directly determining whether the feedback current signal is higher than the preset threshold may have low accuracy, in this embodiment, step S20 includes:

[0090] Detecting whether the current change slope of the feedback current signal is higher than a first preset slope threshold; if so, determining that the preset current change condition is met; or,

[0091] Performing Fourier transform on the feedback current signal to obtain a target spectrum diagram; detecting whether the frequency change slope of the target spectrum diagram is higher than a second preset slope threshold; and if so, determining that the preset current change condition is met.

[0092] Alternatively, the mechanical unit 21 includes a clutch structure, which is used to separate the input of the skull drill bit 1 and the output of the motor 22 after drilling through the skull so that the motor 22 rotates at no load; detects whether the current change slope of the feedback current signal is higher than a third preset slope threshold; if so, determines that the preset current change condition is met.

[0093] It should be noted that the current change slope of the feedback current signal can be the slope of the feedback current signal at the current moment. Since the feedback current signal will undergo a sudden change and increase during drilling, the preset current change condition can be set to determine whether it exceeds a first preset slope threshold. The first preset slope threshold can be set according to actual conditions and is not limited in this embodiment. If it is not higher than the first preset slope threshold, it indicates that drilling has not occurred and there is no need to stop, and the motor 22 continues to rotate. If it is higher than the first preset slope threshold, it indicates that drilling has occurred and the motor 22 is controlled to stop.

[0094] It should be emphasized that since the feedback current signal can also be used as a basis for judgment in the frequency domain, in this embodiment, after obtaining the feedback current signal, the processor 41 can perform a Fourier transform on the feedback current signal, converting it from the time domain to the frequency domain, obtaining a target spectrum diagram, and then determining the frequency change slope at the current moment in the target spectrum diagram. The frequency change slope can be the slope of the frequency of the feedback current signal at the current moment. It is then determined whether the frequency change slope is higher than a second preset slope threshold. The second preset slope threshold can also be set according to actual conditions, and this embodiment does not impose any restrictions on this. If it is not higher than the second preset slope threshold, it can be said that the drill has not been drilled through, and there is no need to stop, and the motor 22 continues to be controlled to rotate; if it is higher than the second preset slope threshold, it can be said that the drill has been drilled through, and the motor 22 is controlled to stop rotating.

[0095] It should also be emphasized that when making a judgment, the above-mentioned processor 41 only needs to control the motor 22 to stop when the feedback current signal reaches any one of the above-mentioned two preset current change conditions, that is, when the current change slope of the feedback current signal is higher than the first preset slope threshold, or the frequency change slope of the target spectrum graph is higher than the second preset slope threshold, the motor 22 can be controlled to stop rotating.

[0096] It should be noted that skull drill devices generally can be divided into skull drill devices in which the mechanical unit 21 does not include a clutch structure, and skull drill devices in which the mechanical unit 21 includes a clutch structure. For the skull drill device in which the mechanical unit 21 does not include a clutch structure, the feedback current of the motor 22 varies when the skull drill bit 1 rotates in different bone layers. The critical point for drilling through the bone layers is the boundary between the different bone layers. Consequently, when the skull drill bit 1 is at the critical point, the feedback current varies. Therefore, whether the current exceeds the first preset slope threshold or the second preset slope threshold can be used as the preset current change condition for judgment.

[0097] For a skull drill device with a clutch mechanism in its mechanical unit 21, in addition to the aforementioned principles, since the clutch mechanism, when engaged and disengaged, causes its motor 22 to rotate under load and without load, respectively, the feedback currents in these two states differ. Consequently, when drilling through the critical point that triggers the clutch mechanism, the current will experience a sudden change and increase. The preset current change condition can be determined by determining whether the current exceeds a third preset slope threshold. This third preset slope threshold can be set based on actual conditions and is not limited in this embodiment. If the current does not exceed the third preset slope threshold, drilling has not yet occurred, triggering the clutch mechanism to disengage. No need to stop the motor 22, and the motor 22 continues to rotate. If the current exceeds the third preset slope threshold, drilling has occurred, triggering the clutch mechanism to disengage, and the motor 22 is controlled to stop. This upgrade allows existing skull drill devices with a mechanical clutch to be implemented. By adding a current detection mechanism to the mechanical clutch mechanism, the drill can be automatically stopped upon drilling, achieving a double-safety effect and improving the efficiency of the automatic stop response. This also avoids the problem of the motor continuing to rotate without load after drilling through, which could lead to the drill bit continuing to rotate.

[0098] As another implementation method, when the above-mentioned preset current change condition is a preset current threshold, it is possible not only to judge whether the feedback current signal is higher than the preset current threshold by the processor 41, but also to judge in the form of a circuit, referring to Figure 4 , Figure 4 This is another circuit schematic diagram of the first embodiment of the skull drill automatic stop control method of this application.

[0099] like Figure 4 As shown, the skull drill device may further include: a comparison unit 33 and a switch unit 34;

[0100] The comparison unit 33 is connected to the acquisition unit 31 and the switch unit 34. The comparison unit 33 is configured to transmit a generated comparison signal to the switch unit 34 when the feedback current signal acquired by the acquisition unit 31 is higher than a preset current threshold.

[0101] The switch unit 34 is connected to the processor 41, and the switch unit 34 is used to transmit the generated drilling signal to the processor 41 when the comparison signal is received, so that the processor 41 transmits the generated stop signal to the motor drive module 5 when the drilling signal is received, so as to control the motor drive module 5 to stop outputting the driving current to the motor 22.

[0102] It should be noted that the comparison unit 33 may be provided with a comparator N, and the comparator N may be used to compare the current value of the feedback current signal with a preset current threshold.

[0103] In actual use, when the skull drill device does not drill through, the current value of the feedback current signal will not exceed the preset current threshold, the comparison unit 33 will not output a comparison signal to the switch unit 34, the switch unit 34 will not transmit a drilling signal to the processor 41, and the processor will normally control the motor drive module 5 to output the feedback current signal to the motor 22. When drilling through, the current value of the feedback current signal will exceed the preset current threshold, the comparison unit 33 will output a comparison signal to the switch unit 34, and the switch unit 34 will generate a drilling signal to the processor 41 upon receiving the comparison signal. After receiving the drilling signal, the processor 41 will output a stop signal to control the motor drive module 5 to stop outputting the feedback current signal to the motor 22, and the motor 22 will stop rotating.

[0104] Further, continue as Figure 4 As shown, in this embodiment, the comparison unit 33 includes: a seventh resistor R7 to a ninth resistor R9 and a comparator N;

[0105] The non-inverting input terminal of the comparator N is connected to the acquisition unit 31, the inverting input terminal of the comparator N is connected to the first end of the seventh resistor R7, the second end of the seventh resistor R7 is connected to the second end of the eighth resistor R8 and the first end of the ninth resistor R9, respectively, and the first end of the eighth resistor R8 is connected to the power supply (i.e. Figure 4 The output end of the comparator N is connected to the switch unit 34.

[0106] It is understood that the seventh to ninth resistors R7 to R9 can be used to provide the aforementioned preset current thresholds. The specific resistance values ​​can be set based on actual conditions and are not limited in this embodiment. In actual use, when the current value of the feedback current signal is higher than the preset current threshold, the output terminal of the comparator N can output a comparison signal; when the current value of the feedback current signal is lower than the preset current threshold, the output terminal of the comparator N does not output a comparison signal.

[0107] Furthermore, the switch unit 34 includes: a switch tube Q, a tenth resistor R10 and a relay;

[0108] The base of the switch tube Q is connected to the output end of the comparator N, the emitter of the switch tube Q is connected to the first end of the tenth resistor R10, the second end of the tenth resistor R10 is grounded, the collector of the switch tube Q is connected to the second end of the coil KA1 of the relay, and the first end of the coil KA1 is connected to the power supply (i.e. Figure 4 The first end of the normally closed contact switch KA1-1 of the relay is connected to the power supply (i.e. Figure 4 VCC), and the second end of the normally closed contact switch KA1-1 is connected to the processor 41.

[0109] It should be understood that the switch tube Q can be an NPN transistor, and other switch tubes can also be used, which is not limited in this embodiment. The relay can be a normally closed relay. In this embodiment, a pin on the processor 41 can be connected to the second end of the normally closed contact switch KA1-1. In actual use, when the switch tube Q does not receive the comparison signal, the switch tube Q remains disconnected, the coil KA1 is not energized, the normally closed contact switch KA1-1 is in a closed state, and the pin connected to the normally closed contact switch KA1-1 remains at a high level. When the processor 41 detects the high level, it continues to control the motor drive module 5 to output the drive current to the motor 22, and the motor 22 operates normally. When the switch tube Q receives the comparison signal, the switch tube Q turns on, the coil KA1 is energized, the normally closed contact switch KA1-1 is disconnected, and the pin connected to the normally closed contact switch KA1-1 becomes low. When the processor 41 detects the low-level drilling signal, it outputs a stop signal to control the motor drive module 5 to stop transmitting the drive current to the motor 22, and the motor 22 stops rotating, thereby achieving automatic stop of drilling.

[0110] Reference Figure 5 , Figure 5 This is a flow chart of the second embodiment of the automatic stop control method for the skull drill bit of the present application. Based on the above-mentioned first embodiment, the second embodiment of the automatic stop control method for the skull drill bit of the present application is proposed.

[0111] Considering that not all frequencies are suitable for judgment after Fourier transform of the feedback current signal, in order to improve the accuracy of judgment, Figure 5 As shown, in this embodiment, the step of performing Fourier transform on the feedback current signal to obtain the target spectrum diagram includes:

[0112] Step S21: performing Fourier transform on the feedback current signal to obtain an initial spectrum diagram;

[0113] Step S22: determining a critical frequency interval, where the critical frequency interval is a frequency interval related to friction between the cutting edge of the skull drill bit and the skull;

[0114] Step S23: screening the initial frequency spectrum based on the critical frequency interval to obtain a target frequency spectrum.

[0115] It should be noted that the initial spectrum diagram can be a diagram of the energy distribution across the entire frequency range obtained by Fourier transforming the feedback current signal. The critical frequency range can be the frequency range associated with the friction between the cutting edge of the skull drill 1 and the skull, which requires special attention and is therefore referred to as the critical frequency range.

[0116] In actual use, after the processor 41 performs Fourier transform on the feedback current signal to obtain an initial spectrum, a critical frequency interval can be determined, and a spectrum in the critical frequency interval can be selected from the initial spectrum as the target spectrum.

[0117] Furthermore, in order to determine a suitable important frequency interval, in this embodiment, the step of determining the important frequency interval includes:

[0118] Step S221: Obtain the current motor speed, the preset mechanical reduction ratio, and the preset number of drill blades.

[0119] It is understandable that the above-mentioned current motor speed can be the speed of the motor 22 at the current moment. In this embodiment, a speed sensor is set at the motor 22 to collect the current motor speed. Of course, it can also be obtained by other means, and this embodiment does not limit this.

[0120] The above-mentioned preset mechanical reduction ratio can be the ratio between the rotational speed of the input shaft and the rotational speed of the output shaft for transmission between the motor 22 and the skull drill 1, which can be specifically Figure 1 The ratio of the speed of the input shaft to the speed of the output shaft in the mechanical unit 21. In this embodiment, the reduction ratio of the skull drill device can be pre-stored in the processor 41 as the preset mechanical reduction ratio.

[0121] The above-mentioned preset number of drill blades can be the number of blades of the skull drill bit 1 currently used by the skull drill device. Since the number of blades of different skull drill bits 1 may be different, the user can also store the corresponding preset number of drill blades in the above-mentioned processor 41 in advance; of course, it can also be obtained through existing tool identification methods, such as the processor 41 reading the blade number information stored in the identity chip of the currently connected skull drill bit 1, and the processor 41 reads the identity information of the currently connected skull drill bit 1, and then queries the number of blades of the corresponding model based on the identity information.

[0122] Step S222: Determine the switching frequency based on the current motor speed, the preset mechanical reduction ratio, and the preset number of drill blades.

[0123] It should be understood that the re-weighting frequency can be calculated after obtaining the current motor speed, the preset mechanical reduction ratio, and the preset number of drill blades. Specifically, the above step S222 includes:

[0124] Determine the switching frequency based on the current motor speed, the preset mechanical reduction ratio, and the preset number of drill bit blades using a preset frequency calculation formula;

[0125] The preset frequency calculation formula is:

[0126] f=v / d*k;

[0127] Among them, f is the switching frequency, v is the current motor speed, d is the preset mechanical reduction ratio, and k is the preset number of drill blades.

[0128] In a specific implementation, the frequency obtained by the processor 41 through the above formula can be used as the key frequency. The key frequency can be the frequency among all frequencies that is related to the friction between the cutting blade surface of the skull drill 1 and the skull, which needs to be focused on, so it can be called the key frequency. The reason for selecting the key frequency is that the signal source used in this embodiment is a feedback current signal, and its vector value is related to the load, and its load mainly comes from the friction between the cutting blade surface of the skull drill 1 and the skull.

[0129] Step S223: Determine a critical frequency interval according to the critical frequency.

[0130] After obtaining the critical frequency, to ensure accuracy, frequencies within a certain range on either side of it can be divided into the critical frequency interval. This certain range can be a preset range, and in this embodiment, ±10% is used for illustration. For example, if the calculated critical frequency is 10Hz, the critical frequency interval can be between 8Hz and 12Hz.

[0131] To further ensure accuracy, the above step S223 includes:

[0132] The critical frequency is scaled; and a window is selected for the scaled critical frequency according to a preset interval to obtain a critical frequency interval.

[0133] It should be noted that the above-mentioned scaling can be a zoom-in or zoom-out operation. In this embodiment, the zoom-out or zoom-in operation can be performed on the critical frequency according to a preset multiple, wherein the preset multiple can be set according to actual conditions. In this embodiment, 1 / 4, 1 / 2, 2, and 4 times are used for illustration. The above-mentioned preset interval can be the above-mentioned preset range, that is, ±10% is used in the above-mentioned embodiment.

[0134] In actual use, after the processor 41 determines the key frequency, it can perform 1 / 4 times, 1 / 2 times, 2 times and 4 times operations on it, and take the frequency within the ±10% window of each key frequency after scaling, that is, obtain the ±10% interval of the key frequency after scaling 1 / 4 times, the ±10% interval of the key frequency after scaling 1 / 2 times, the ±10% interval of the key frequency after scaling 2 times and the ±10% interval of the key frequency after scaling 4 times. At the same time, a corresponding second preset slope threshold can be set for each key frequency interval, and then these intervals are all judged as key frequency intervals to determine whether the frequency change slope in each key frequency interval is higher than the corresponding second preset slope threshold. If there is at least any key frequency interval whose frequency change slope is higher than the corresponding second preset slope threshold, the motor 22 can be stopped immediately.

[0135] In addition, an embodiment of the present application further proposes a storage medium on which a skull drill automatic stop control program is stored. When the skull drill automatic stop control program is executed by the processor 41, the skull drill automatic stop control method described above is implemented.

[0136] In addition, refer to Figure 6 , Figure 6 This is a structural block diagram of the first embodiment of the skull drill automatic stop control device of this application; Figure 6 As shown, the embodiment of the present application also provides a skull drill automatic stop control device, the device comprising:

[0137] A current acquisition module 601 is used to obtain a feedback current signal of the motor 22 during operation, wherein the motor 22 is driven and connected to the skull drill 1;

[0138] The current detection module 602 is used to detect whether the feedback current signal reaches a preset current change condition;

[0139] The motor control module 603 is configured to control the skull drill 1 to stop rotating via the motor 22 when the feedback current signal reaches the preset current change condition.

[0140] This embodiment can obtain the feedback current signal of the motor 22, and control the motor 22 to drive the skull drill 1 to stop rotating when the feedback current signal reaches a preset current change condition, thereby achieving automatic stop of drilling.

[0141] As an implementation manner, the motor control module 603 is further configured to filter the feedback current signal.

[0142] As an embodiment, the current detection module 602 is also used to detect whether the current change slope of the feedback current signal is higher than a first preset slope threshold; if so, it is determined that the preset current change condition is met; or, the feedback current signal is Fourier transformed to obtain a target spectrum diagram; detect whether the frequency change slope of the target spectrum diagram is higher than a second preset slope threshold; if so, it is determined that the preset current change condition is met.

[0143] Based on the first embodiment of the automatic stop control device for skull drill drilling of the present application, a second embodiment of the automatic stop control device for skull drill drilling of the present application is proposed.

[0144] In this embodiment, the current detection module 602 is also used to perform Fourier transform on the feedback current signal to obtain an initial spectrum diagram; determine a critical frequency interval, which is a frequency interval related to the friction between the cutting edge surface of the skull drill bit and the skull; and filter the initial spectrum diagram based on the critical frequency interval to obtain a target spectrum diagram.

[0145] As an embodiment, the current detection module 602 is also used to obtain the current motor speed, the preset mechanical reduction ratio and the preset number of drill blades; determine the key frequency based on the current motor speed, the preset mechanical reduction ratio and the preset number of drill blades; and determine the key frequency range according to the key frequency.

[0146] As an embodiment, the current detection module 602 is also used to determine the key frequency through a preset frequency calculation formula and based on the current motor speed, the preset mechanical reduction ratio and the preset number of drill blades; the preset frequency calculation formula is: f=v / d*k; wherein f is the key frequency, v is the current motor speed, d is the preset mechanical reduction ratio, and k is the preset number of drill blades.

[0147] As an implementation manner, the current detection module 602 is further configured to scale the critical frequency; and perform window selection on the scaled critical frequency according to a preset interval to obtain a critical frequency interval.

[0148] Other embodiments or specific implementation methods of the skull drill automatic stop control device described in this application can refer to the above-mentioned method embodiments and will not be repeated here.

[0149] It should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or system comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or system. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or system comprising the element.

[0150] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0151] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus the necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as a read-only memory 42 image (Read Only Memory image, ROM) / random access memory 42 (RandomAccess Memory, RAM), a magnetic disk, or an optical disk), and includes a number of instructions for enabling a terminal device (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present application.

[0152] The above are only preferred embodiments of the present application and do not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A skull drill automatic stop control device, characterized in that: The device comprises: A current acquisition module, used to obtain a feedback current signal of the motor during operation, wherein the motor drive is connected to the skull drill bit; a current detection module configured to perform a Fourier transform on the feedback current signal to obtain an initial spectrum graph; obtain a current motor speed, a preset mechanical reduction ratio, and a preset number of drill blades; determine a critical frequency based on the current motor speed, the preset mechanical reduction ratio, and the preset number of drill blades; determine a critical frequency interval based on the critical frequency, the critical frequency interval being a frequency interval related to friction between the cutting edge surface of the skull drill bit and the skull; filter the initial spectrum graph based on the critical frequency interval to obtain a target spectrum graph; detect whether a frequency change slope of the target spectrum graph is higher than a second preset slope threshold; and if so, determine that a preset current change condition is met; The motor control module is used to control the skull drill to stop rotating through the motor when the feedback current signal reaches the preset current change condition.

2. The skull drill automatic stop control device according to claim 1, characterized in that: The current detection module is specifically configured to determine the critical frequency based on the current motor speed, the preset mechanical reduction ratio, and the preset number of drill blades using a preset frequency calculation formula; the preset frequency calculation formula is: Among them, f is the switching frequency, v is the current motor speed, d is the preset mechanical reduction ratio, and k is the preset number of drill blades.

3. The skull drill automatic stop control device according to claim 1, characterized in that: The current detection module is specifically used to scale the critical frequency; and perform window selection on the scaled critical frequency according to a preset interval to obtain a critical frequency interval.

4. The skull drill automatic stop control device according to any one of claims 1 to 3, characterized in that: The motor control module is further configured to filter the feedback current signal.

5. A storage medium, characterized in that The storage medium stores a skull drill automatic stop control program, and when the skull drill automatic stop control program is executed by the processor, a skull drill automatic stop control method is implemented; The skull drill bit drilling automatic stop control method comprises: Obtain feedback current signals from the motor during operation; Performing Fourier transform on the feedback current signal to obtain an initial frequency spectrum; Get the current motor speed, preset mechanical reduction ratio, and preset number of drill bit blades; Determining a closing frequency based on the current motor speed, the preset mechanical reduction ratio, and the preset number of drill bit blades; Determining a critical frequency interval according to the critical frequency, wherein the critical frequency interval is a frequency interval related to friction between the cutting edge surface of the skull drill bit and the skull; Filtering the initial spectrum graph based on the critical frequency interval to obtain a target spectrum graph; detecting whether a frequency change slope of the target spectrum graph is higher than a second preset slope threshold; if so, determining that a preset current change condition is met; When the feedback current signal reaches the preset current change condition, the motor is used to control the skull drill to stop rotating.

6. The storage medium according to claim 5, wherein The step of determining the re-weighting frequency based on the current motor speed, the preset mechanical reduction ratio, and the preset number of drill bit blades includes: Determine the switching frequency based on the current motor speed, the preset mechanical reduction ratio, and the preset number of drill bit blades using a preset frequency calculation formula; The preset frequency calculation formula is: Among them, f is the switching frequency, v is the current motor speed, d is the preset mechanical reduction ratio, and k is the preset number of drill blades.

7. The storage medium according to claim 5, wherein The step of determining the critical frequency interval according to the critical frequency includes: Scaling the critical frequency; The zoomed off-weight frequency is window-selected according to a preset interval to obtain the off-weight frequency interval.

8. The storage medium according to any one of claims 5 to 7, wherein: Before the step of controlling the skull drill to stop rotating by the motor when the feedback current signal reaches the preset current change condition, the method further includes: The feedback current signal is filtered.

9. A skull drilling device, characterized in that: The skull drill device includes: a current acquisition module, a memory, a processor, and a motor connected to the skull drill bit; The current acquisition module is connected to the processor, and is used to obtain a feedback current signal of the motor during operation and transmit the feedback current signal to the processor; The processor is connected to the motor, and is used to run a skull drill automatic stop control program stored in the memory, wherein the skull drill automatic stop control program, when executed by the processor, implements a skull drill automatic stop control method; The skull drill bit drilling automatic stop control method comprises: Performing Fourier transform on the feedback current signal to obtain an initial frequency spectrum; Get the current motor speed, preset mechanical reduction ratio, and preset number of drill bit blades; Determining a closing frequency based on the current motor speed, the preset mechanical reduction ratio, and the preset number of drill bit blades; Determining a critical frequency interval according to the critical frequency, wherein the critical frequency interval is a frequency interval related to friction between the cutting edge surface of the skull drill bit and the skull; Filtering the initial spectrum graph based on the critical frequency interval to obtain a target spectrum graph; detecting whether a frequency change slope of the target spectrum graph is higher than a second preset slope threshold; if so, determining that a preset current change condition is met; When the feedback current signal reaches the preset current change condition, the motor is used to control the skull drill to stop rotating.

10. The skull drilling device according to claim 9, wherein: The step of determining the re-weighting frequency based on the current motor speed, the preset mechanical reduction ratio, and the preset number of drill bit blades includes: Determine the switching frequency based on the current motor speed, the preset mechanical reduction ratio, and the preset number of drill bit blades using a preset frequency calculation formula; The preset frequency calculation formula is: Among them, f is the switching frequency, v is the current motor speed, d is the preset mechanical reduction ratio, and k is the preset number of drill blades.

11. The skull drilling device according to claim 9, wherein: The step of determining the critical frequency interval according to the critical frequency includes: Scaling the critical frequency; The zoomed off-weight frequency is window-selected according to a preset interval to obtain the off-weight frequency interval.

12. The cranial drill device according to any one of claims 9 to 11, characterized in that: Before the step of controlling the skull drill to stop rotating by the motor when the feedback current signal reaches the preset current change condition, the method further includes: The feedback current signal is filtered.

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