Control method and control device of operation power equipment

Abstract

The invention discloses a control method and a control device for operation power equipment, and relates to the technical field of medical treatment. Firstly, a current signal output by a driving motor to the operation power equipment is acquired; intercepting the current signal according to a preset length to obtain a preprocessed signal; performing signal processing on the pre-processed signal, and extracting a characteristic representation parameter representing the working state of the operation power equipment; the characteristic representation parameter is compared with a preset threshold value, the current working state of the operation power equipment is determined, and finally, according to the current working state of the operation power equipment, the driving motor is controlled to output a current signal to the operation power equipment or stop outputting the current signal to the operation power equipment. The invention aims to improve the drilling identification function of the operation power equipment, improve the precision of the operation power equipment, and further improve the accuracy and safety of the operation.

Description

Technical Field

[0001] The present invention relates to the field of medical technology, and in particular to a control method and a control device for surgical power equipment. Background Art

[0002] In modern surgery, surgical power devices are widely used to perform various complex operations, such as drilling and sawing. Accurately identifying the moment of bone drilling and immediately stopping the movement of the drill is crucial to ensure surgical safety. Traditional manual control methods rely on the doctor's experience and feeling, which has great uncertainty and risk, affects the surgical effect, and poses a great medical safety hazard. Summary of the invention

[0003] The main purpose of the present invention is to propose a control method and a control device for a surgical power device, aiming to improve the drilling recognition function of the surgical power device, improve the accuracy of the surgical power device, and thereby improve the accuracy and safety of the operation.

[0004] To achieve the above object, the present invention provides a control method for a surgical power device, which is used to control the operation or stop of the surgical power device. The control method includes:

[0005] Acquire the current signal output by the driving motor to the surgical power device;

[0006] intercepting the current signal according to a preset length to obtain a preprocessed signal;

[0007] Performing signal processing on the preprocessed signal to extract characteristic characterization parameters characterizing the working state of the surgical power device;

[0008] Compare the characteristic characterization parameter with a preset threshold value to determine the current working state of the surgical power device, wherein the working state includes a near-penetration state, a penetration instant state, and a complete penetration state;

[0009] According to the current working state of the surgical power device, the driving motor is controlled to output a current signal to the surgical power device or stop outputting a current signal to the surgical power device; wherein,

[0010] If the drive motor does not stop outputting current signals to the surgical power device, the current signal is intercepted according to a preset length to obtain the next preprocessing signal and perform signal processing to extract the next characteristic characterization parameter characterizing the working state of the surgical power device, until all current signals are intercepted or the drive motor stops outputting current signals to the surgical power device.

[0011] In one embodiment, the signal processing of the preprocessed signal to extract characteristic characterization parameters characterizing the working state of the surgical power device specifically includes:

[0012] Performing filtering processing on the preprocessed signal to obtain a low-frequency signal, wherein the low-frequency signal at least includes a signal trend characterization component of the low-frequency signal;

[0013] Acquire the envelope spectrum of the low-frequency signal according to the signal trend characterization component of the low-frequency signal;

[0014] The negative entropy of the low-frequency signal is acquired according to the envelope spectrum, and the negative entropy is amplified to obtain the characteristic characterization parameter.

[0015] In one embodiment, the signal trend characterization component of the low-frequency signal is obtained by the following steps:

[0016] Sum the preprocessed signals from n to n-M+1;

[0017] Calculating a ratio of the sum of the preprocessed signals to a preset length, and using the ratio as a signal trend characterization component of the low-frequency signal;

[0018] Among them, n is a constant, M is a preset length, and the value range of k is [0, M-1].

[0019] In one embodiment, the step of acquiring the negative entropy of the low-frequency signal according to the envelope spectrum comprises:

[0020] Obtaining a ratio of the envelope spectrum of the current preprocessed signal to an average value of the envelope spectrum of all preprocessed signals obtained after the current signal is cut according to a preset length;

[0021] Taking the natural logarithm of said ratio;

[0022] Obtaining the product of the natural logarithm and the ratio;

[0023] Summing a plurality of products from n to N-1, and taking the ratio of the sum to the length of the preprocessed signal as the negative entropy of the low-frequency signal;

[0024] Wherein, n is a constant value, N is the length of the preprocessed signal, and n is less than N-1.

[0025] In one embodiment, the amplifying process of the negative entropy to obtain the characteristic characterization parameter specifically includes:

[0026] Get the RMS value of the low-frequency signal;

[0027] The negative entropy of the low-frequency signal is multiplied by the root mean square value of the low-frequency signal to obtain the characteristic characterization parameter.

[0028] In one embodiment, the root mean square value of the low frequency signal is obtained by the following steps:

[0029] Sum the signal trend characterization components of the low-frequency signals from i to N to obtain the signal sum of the low-frequency signals;

[0030] Calculating a ratio of the signal sum to the length of the preprocessed signal to obtain a first ratio;

[0031] Taking the root mean square of the first ratio as the root mean square value of the low-frequency signal;

[0032] Wherein, i is a positive integer, n is a constant, and N is the length of the preprocessed signal.

[0033] In one embodiment, the step of comparing the characteristic characterization parameter with a preset threshold value to determine the current working state of the surgical power device, and controlling the drive motor to output a current signal to the surgical power device / stop outputting a current signal to the surgical power device according to the current working state of the surgical power device includes:

[0034] When the characteristic characterization parameter is less than the preset threshold, it is determined that the surgical power device is in a near-penetration state, and the drive motor outputs a current signal to the power device;

[0035] When the characteristic characterization parameter is equal to the preset threshold value, it is determined that the surgical power device is in a penetration instant state, and the drive motor stops outputting a current signal to the power device;

[0036] When the characteristic characterization parameter is greater than the preset threshold, it is determined that the surgical power device is in a fully penetrated state, and the drive motor stops outputting a current signal to the power device.

[0037] In one embodiment, the preset threshold is calculated by the following steps:

[0038] Obtaining the mean and standard deviation of the characteristic characterization parameters;

[0039] The sum of the mean and P times the standard deviation is used as a preset threshold;

[0040] Wherein, P is an integer.

[0041] In one embodiment, after multiplying the negative entropy of the low-frequency signal by the root mean square value of the low-frequency signal, the method further includes:

[0042] The product of the negative entropy of the low-frequency signal and the root mean square value is intercepted according to a preset length to obtain the characteristic characterization parameter.

[0043] The present invention further provides a control device, which is applied to a surgical power device, wherein the surgical power device is driven by a driving motor; the control device comprises:

[0044] A signal acquisition module, used for acquiring and outputting the current signal output by the driving motor to the surgical power device;

[0045] A signal processing module, electrically connected to the signal acquisition module, for receiving the current signal output by the signal acquisition module, intercepting the current signal according to a preset length, obtaining a preprocessing signal, and outputting a corresponding characteristic characterization parameter after performing signal processing on the preprocessing signal;

[0046] A comparison module, electrically connected to the signal processing module, configured to receive the characteristic characterization parameter, compare the characteristic characterization parameter with a preset threshold value, and then output a comparison result;

[0047] a main controller, electrically connected to the comparison module, configured to receive the comparison result and determine the current working state of the surgical power device according to the comparison result;

[0048] And it is used to control the driving motor to output a current signal to the surgical power device or stop outputting a current signal to the surgical power device according to the current working state of the surgical power device.

[0049] The present invention further proposes a storage medium, which is a computer-readable storage medium. A computer program is stored on the computer-readable storage medium. When the computer program is executed by a processor, the steps of the control method of the surgical power device described above are implemented.

[0050] The present invention also proposes a computer program product, which includes a computer program. When the computer program is executed by a processor, the steps of the control method of the surgical power device described in any one of the above are implemented.

[0051] The present invention also provides a surgical power device, comprising the control device described above.

[0052] The present invention proposes a control method for surgical power equipment, which is used to control the operation or stop of the surgical power equipment. In the control method, first, a current signal output by a driving motor to the surgical power equipment is obtained; then, the current signal is intercepted according to a preset length to obtain a preprocessing signal; then, signal processing is performed on the preprocessing signal to extract characteristic characterization parameters that characterize the working state of the surgical power equipment; the characteristic characterization parameters are compared with a preset threshold to determine the current working state of the surgical power equipment; finally, according to the current working state of the surgical power equipment, the driving motor is controlled to output a current signal to the surgical power equipment or stop outputting a current signal to the surgical power equipment.

[0053] In practical applications, by acquiring and processing the current signal output by the drive motor in real time, combined with high-sensitivity mutation detection and rapid response mechanism, the control method of the surgical power equipment of the present application can quickly stop the movement of the drill bit at the moment the drill bit drills through the bone, effectively avoiding over-drilling and ensuring the accuracy and safety of the operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0055] Figure 1 It is a flow chart of an embodiment of a control method of a surgical power device of the present invention;

[0056] Figure 2 It is a flow chart of another embodiment of the control method of the surgical power device of the present invention;

[0057] Figure 3 It is a flow chart of another embodiment of the control method of the surgical power device of the present invention;

[0058] Figure 4 It is a flow chart of another embodiment of the control method of the surgical power device of the present invention;

[0059] Figure 5 A schematic diagram of bone drilling state divisions of an embodiment of a surgical power device of the present invention;

[0060] Figure 6 A schematic diagram of the current signal phase division of an embodiment of a surgical power device of the present invention;

[0061] Figure 7 This is a current signal spectrum diagram of an embodiment of a surgical power device of the present invention;

[0062] Figure 8 A schematic diagram of processing effect analysis of an embodiment of a control method for a surgical power device of the present invention;

[0063] Fig. 9 A schematic diagram of a module of an embodiment of a control device for a surgical power device of the present invention.

[0064] Description of Figure Numbers:

[0065] 10. Driving motor; 20. Signal acquisition module; 30. Signal processing module; 40. Comparison module; 50. Main controller.

[0066] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0067] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0068] It should be noted that, in this article, step codes such as S100, S200, etc. are used for the purpose of expressing the corresponding content more clearly and concisely, and do not constitute a substantial limitation on the sequence. When implementing the step, those skilled in the art may execute S200 first and then S100, etc., but these should all be within the scope of protection of this application.

[0069] In modern surgery, surgical power devices (such as bone drills, referred to as bone drills) are widely used to perform various complex operations, such as drilling and sawing. Accurately identifying the moment of bone drilling and immediately stopping the movement of the drill is crucial to ensure surgical safety. Traditional manual control methods rely on the doctor's experience and feeling, which has great uncertainty and risk, affects the surgical effect, and poses a great medical safety hazard.

[0070] It should be noted that the bone drill device includes an operating terminal and a drive motor. The operating terminal can be a drill bit, a saw blade, a clamp, etc. The specific form depends on the actual needs of the surgery. The drive motor is used to drive the operating terminal to move. In the process of drilling bones with an electric bone drill, the operating terminal is used as a drill bit. The current signal of the drive motor will be affected by the contact between the drill bit and the bone. Figure 5 As shown, Figure 5This is a schematic diagram of the drilling state partition of the bone drill equipment. It can be seen that the current signal output to the drive motor will have different characteristics at different stages. When the electric bone drill is drilling the bone, the drive motor needs to overcome the resistance of the bone, which will increase the load of the drive motor. When the drill bit is about to penetrate the bone, the resistance provided by the bone will suddenly decrease, and the load of the drive motor will decrease accordingly, causing a sudden change in the drive motor current. The current of the drive motor will be different under different loads. Specifically, during the steady bone drilling process, the current / acceleration signal is also relatively stable; during the drilling process, the current signal will have an obvious mutation effect, and then the current signal will have obvious differences in the time domain, frequency domain and the steady bone drilling process, such as Figure 6 As shown, Figure 6 The diagram is a schematic diagram of the phase division of the bone drilling signal (such as the current signal). The unit of the cutting signal length is the number of sampling points N, and the amplitude is the magnitude of the current, in mA. From the current data collected so far, the trend component of the current signal in the time domain and the first-order harmonic component in the frequency domain have a good characterization effect on the mutation effect of bone drilling, such as Figure 7 As shown, Figure 7 is a spectrum diagram of a bone drilling signal (such as a current signal), where the amplitude is the magnitude of the current, in mA, and the frequency is in Hz. Therefore, using this feature, bone drilling recognition and drilling stop control can be achieved.

[0071] refer to Figure 1 The present invention provides a control method for a surgical power device, which is used to control the operation or stop of the surgical power device. The control method includes:

[0072] Step S100, obtaining a current signal output by the driving motor to the surgical power device;

[0073] Step S200, intercepting the current signal according to a preset length to obtain a preprocessed signal;

[0074] Step S300, performing signal processing on the preprocessed signal to extract characteristic characterization parameters characterizing the working state of the surgical power device;

[0075] Step S400, comparing the characteristic characterization parameter with a preset threshold value to determine the current working state of the surgical power device, where the working state includes a near-penetration state, a penetration instant state, and a complete penetration state;

[0076] Step S500: Control the drive motor to output a current signal to the surgical power device / stop outputting a current signal to the surgical power device according to the current working state of the surgical power device; wherein:

[0077] If the drive motor does not stop outputting current signals to the surgical power device, the current signal is intercepted according to a preset length to obtain the next preprocessing signal and perform signal processing to extract the next characteristic characterization parameter characterizing the working state of the surgical power device, until all current signals are intercepted or the drive motor stops outputting current signals to the surgical power device.

[0078] In this embodiment, the control method of the surgical power device of the present invention can be applied to the control device of the surgical power device, for example, the control device is integrated with a memory for storing a computer program of the control method of the surgical power device, and a processor for executing the computer program of the control method of the surgical power device. The control device can be implemented by a main controller, such as MCU, DSP (Digital Signal Process), FPGA (Field Programmable Gate Array), PLC, SOC (System On Chip), etc.

[0079] It should be noted that during the drilling process of the bone drill, the change of the current signal can be divided into three main stages: close to drilling (close to penetration state), drilling moment (penetration moment state), and complete penetration (penetration completion state). When the drill bit approaches the other side of the bone, the area of ​​contact between the drill bit and the bone gradually decreases, and the cutting resistance of the drill bit also decreases accordingly. However, as the drill bit is about to penetrate the bone, the contact points between the drill bit and the bone become more and more concentrated, resulting in local stress concentration, which will generate higher friction, which will increase the load of the drive motor and increase the current. In addition, as the drill bit approaches the other side of the bone, the rotation speed of the drill bit may slow down, which will further increase the current demand of the drive motor, causing the current to increase when approaching drilling. When the drill bit just penetrates the bone, the contact point between the drill bit and the bone suddenly disappears, and the drill bit enters a low resistance environment from a high resistance environment. At this moment, the cutting resistance of the drill bit decreases sharply, but the inertia of the drive motor still exists, resulting in a sudden increase in the load of the drive motor in a short period of time. Since the load of the drive motor reaches its maximum at this moment, the current rises rapidly and reaches its peak. This is because at the moment the drill penetrates the bone, the drive motor needs to overcome the final high resistance while maintaining the rotation speed of the drill, causing the current to reach a peak. When the drill completely penetrates the bone, the drill enters the air or soft tissue, and the cutting resistance is greatly reduced. At this time, the drill is no longer restricted by the high resistance of the bone, and the load on the drive motor is significantly reduced. As the drill enters a low-resistance environment, the load on the drive motor decreases rapidly, and the current drops accordingly. The drive motor operates under low load conditions, and the current returns to normal levels or lower values. Therefore, the current signal at the moment of drilling is greater than the current signal in the stable stage of the bone drilling process. The present application determines the current working state of the drill bit of the surgical power device by detecting the current signal of the surgical power device, thereby performing drilling identification and controlling the operation / stopping of the surgical power device. Among them, the working state of the surgical power device includes but is not limited to a state close to penetration, a state at the moment of penetration, and a state of complete penetration.

[0080] Specifically, the current signal output by the driving motor of the surgical power device to the surgical power device can be collected in real time by the current sensor, for example, the current signal output by the driving motor within a preset time length is collected, and the current signal within the preset time length is sequentially intercepted and processed according to the preset length to obtain multiple pre-processed signals, for example, using a sliding window processing method, wherein the window size of the sliding window is M, and M is the preset length of each interception. For example, M is 50, and the data corresponding to the current signal within the preset time length is 100. The first interception obtains the data corresponding to the first pre-processed signal as [1,50]. The second interception obtains the data corresponding to the current signal within the preset time length as [2,51], and so on, until all 100 data are intercepted, that is, the data corresponding to the last pre-processed signal is [51,100]. In this way, multiple pre-processed signals of the same length can be intercepted; then the first pre-processed signal is subjected to signal processing, including filtering, envelope calculation, negative entropy calculation, and root mean square value calculation, to obtain the characteristic characterization parameters corresponding to the first pre-processed signal. Finally, the characteristic characterization parameters are compared with the preset threshold value to determine the current working state of the electric bone drill, and the drive motor is controlled to output current signals to the surgical power device / stop outputting current signals to the surgical power device according to the current working state. It can be understood that after the first preprocessing signal is processed, the next preprocessing signal is selected for signal processing to obtain the characteristic characterization parameters corresponding to the second preprocessing signal, until all preprocessing signals are selected, that is, all current signals are intercepted or the drive motor stops outputting current signals to the surgical power device, the control device of the surgical power device of the present invention stops working to reduce power loss. Among them, the number of preprocessing signals is equal to the number of characteristic characterization parameters. Each characteristic characterization parameter should be compared with the preset threshold value, so that the current working state of the surgical power device can be determined according to each characteristic characterization parameter. It should be noted that the preset threshold value can be the maximum threshold value of the current signal in the stable stage during the bone drilling process. The control device can also judge the changing trend of the current. When it is determined according to the characteristic characterization parameters that the current value output by the drive motor is in an upward state (gradually increasing) and is less than the preset threshold value, it means that the current working state of the drill bit is close to the penetration state. At this time, the start control signal continues to be output to control the drive motor to output the current signal to the surgical power device until drilling through. When the control device determines according to a characteristic characterization parameter that the current value output by the drive motor reaches the preset threshold value, it means that the current working state of the drill bit is in the penetration moment state, and immediately outputs a stop control signal to the drive motor, stops outputting the current signal, and controls the drive motor to stop moving. That is, when it is determined to be the penetration moment state, the motor power supply is automatically cut off, the output of the current signal to the surgical power device is stopped, the drilling work is terminated, and soft tissue damage is prevented.In addition, when it is determined based on the characteristic characterization parameters that the current value output by the drive motor is in a decreasing state (gradually decreasing) and is greater than the preset threshold, it means that the current working state of the drill bit is in the penetration completion state, and the drive motor is immediately controlled to stop outputting current signals to the surgical power equipment to avoid unnecessary damage.

[0081] In addition, in addition to identifying the moment when the drill bit drills through the bone, the control method of the present invention can also determine whether the drill bit is offset by analyzing the change of the current signal. For example, the control device can further calculate the standard deviation of the current signal based on the acquired current signal after a series of signal processing, and compare it with the standard deviation threshold in the stable stage. In the stable bone drilling stage, the standard deviation of the current signal should be relatively small. If the control device determines that the calculated standard deviation is greater than the standard deviation threshold, it may mean that the drill bit has deviated. At this time, the drill bit of the surgical power device is controlled to stop moving to avoid causing a medical safety accident. If the control device determines that the calculated standard deviation is less than or equal to the standard deviation threshold, the drill bit has not deviated. At this time, the drill bit of the surgical power device is controlled to continue moving, and when the characteristic characterization parameter is greater than or equal to the preset threshold, the drive motor is controlled to drive the drill bit to stop moving. In this way, it is possible to timely discover whether the current working state of the surgical power device drill bit is offset, and take corresponding treatment measures. For example, the surgical power device is connected to the surgical navigation system, and the surgical power device also includes a depth detection sensor (such as a laser sensor) and an angle detection sensor (such as a gyroscope acceleration sensor). During the operation, the depth detection sensor can monitor the depth of the drilling in real time, so that the user can observe and control the control device through the surgical navigation system to correct the offset caused by the vibration of the drive motor, and ensure the accuracy of the driving motor's depth; when the control device determines that the depth of the drill bit reaches the pre-set drilling depth according to the depth detection signal output by the depth detection sensor, the power supply of the drive motor is automatically cut off and the drilling is stopped. Similarly, the angle detection sensor can monitor the angle of the drilling in real time and output an angle detection signal to the control device. The doctor can correct the traveling posture in real time to ensure that the drilling angle remains unchanged; at the same time, when the control device determines that the drilling angle is greater than the offset angle according to the angle detection signal, the power supply of the drive motor is automatically cut off and the drilling is stopped. In this way, it can be ensured that the drill bit drills at a preset angle and depth. When the drill bit reaches the preset depth or angle, the control device will also immediately control the drive motor to stop moving to prevent damage to soft tissue, thereby ensuring the safety and accuracy of the operation.

[0082] It is understandable that the preset duration and the preset threshold are set in advance by the R&D personnel. When the preset duration is infinitely close to zero, the current value collected is at a certain moment. Since the signal processing process is rapid, usually at the millisecond level, this means that the time from collection to processing to control is very short and can be performed almost in real time. Therefore, when the control device determines that the drill of the surgical power device has drilled through the bone based on the comparison result of the characteristic characterization parameter and the preset threshold and controls the drive motor to drive the drill to stop moving, it will not cause over-drilling, and can ensure the safety and accuracy of the operation.

[0083] In practical applications, by acquiring and processing the current signal output by the drive motor in real time, combined with high-sensitivity mutation detection and rapid response mechanism, the control method of the surgical power equipment of the present application can quickly stop the movement of the drill bit at the moment the drill bit penetrates the bone, effectively avoiding over-drilling. Compared with the existing scheme that simply relies on manual operation to control the start and stop of the drill bit, it reduces the risk of the drill bit penetrating the bone and causing harm to the human body due to improper operation of the doctor during surgery, thereby ensuring the accuracy and safety of the surgery.

[0084] It can be understood that sliding window processing is a data processing technique that is often used in signal processing to analyze data sequences that change over time. It works by moving a fixed-length window on the signal and processing or analyzing the data within the window. As the window moves forward along the signal point by point or segment by segment, different parts of the signal can be continuously extracted for analysis, so that the characteristics of the signal changing over time can be obtained.

[0085] To this end, in one embodiment of the present invention, the current signal is intercepted sequentially according to the preset length to obtain a plurality of pre-processed signals, specifically comprising:

[0086] The current signal within the preset time length is intercepted in sequence according to the preset length to obtain a plurality of preprocessed signals of equal length.

[0087] In this embodiment, the control device performs sliding window processing on the collected original current signal (current signal within a preset time length) to obtain pre-processed signals of the same length, wherein the length of each pre-processed signal is N. N is set in advance by the R&D personnel. For example, N takes a value of 1, and through sliding window processing, the current signal can be divided into a plurality of pre-processed signals of equal length for subsequent signal processing steps, such as filtering, envelope spectrum calculation, negative entropy calculation, etc. The purpose of obtaining pre-processed signals of the same length is to ensure the consistency of subsequent processing steps, because if the signal lengths are inconsistent, it is difficult to compare or merge them, especially when performing frequency domain analysis, the signals need to have the same length for Fourier transform and other operations.

[0088] In combination with the content of the above embodiment, when using the sliding window processing method, the window size of the sliding window is M, where M is the preset length of each interception. For example, M is 50, and the data corresponding to the current signal within the preset time length is 100. The first interception obtains the data corresponding to the first preprocessed signal as [1,50]. The second interception obtains the data corresponding to the current signal within the preset time length as [2,51]. And so on, until all 100 data are intercepted, that is, the data corresponding to the last preprocessed signal is [51,100]. In this way, multiple preprocessed signals of the same length can be intercepted; then the first preprocessed signal is subjected to signal processing, including filtering, envelope calculation, negative entropy calculation and root mean square value calculation, to obtain the characteristic characterization parameters corresponding to the first preprocessed signal. Finally, the characteristic characterization parameters are compared with the preset threshold value to determine the current working state of the electric bone drill. It is understandable that after the first preprocessing signal is processed, the next preprocessing signal is selected for signal processing to obtain the characteristic characterization parameters corresponding to the second preprocessing signal, until all preprocessing signals are selected, and the number of preprocessing signals is equal to the number of characteristic characterization parameters. Each characteristic characterization parameter should be compared with a preset threshold value to determine the current working state of the surgical power device, and according to the current working state of the surgical power device, control the drive motor to output a current signal to the surgical power device / stop outputting a current signal to the surgical power device, that is, perform drilling identification, and control the surgical power device to stop working at the moment of drilling to prevent excessive drilling, causing surgical risks and accidental injuries.

[0089] In practical applications, the sliding window can help capture the local characteristics of the current signal, ensure that the drilling event can be detected and responded to in a timely manner, effectively identify the sudden change in the drilling process, and achieve accurate control on this basis. In this way, the accuracy of the control method of the surgical power device of the present application is improved.

[0090] In one embodiment, reference Figure 2 The signal processing of the preprocessed signal to extract characteristic parameters representing the working state of the surgical power device specifically includes:

[0091] Step S310, filtering the preprocessed signal to obtain a low-frequency signal, wherein the low-frequency signal at least includes a signal trend characterization component of the low-frequency signal;

[0092] It should be noted that the current signal has low-frequency, medium-frequency and high-frequency components, among which the low-frequency component can characterize the trend of the signal, and the medium-frequency and high-frequency components belong to the details of the signal. Since the low-frequency signal is the key to identifying the penetration point, in this embodiment, the low-frequency signal is selected to represent the trend of the current signal. Optionally, the collected current signal can be output to a low-pass filter so that the low-pass filter performs filtering processing on it (it can also be processed by average sliding filtering) to eliminate the influence of high-frequency noise, thereby obtaining the signal trend characterization component.

[0093] In combination with the above embodiments, the control device performs sliding window processing on the collected original current signal (current signal within a preset time length) to obtain a preprocessed signal of the same length, and then outputs the preprocessed signal to a low-pass filter for filtering to obtain multiple low-frequency signals (signal trend characterization components). The signal trend characterization components of the low-frequency signal are obtained by the following steps:

[0094] Sum the preprocessed signals from n to n-M+1; get

[0095] Calculating a ratio of the sum to a preset length, and using the ratio as a signal trend characterization component of the low-frequency signal;

[0096] In this embodiment, this step is to smooth the extracted preprocessed signal. For example, M preprocessed signals can be taken from multiple preprocessed signals to be summed, and the average value of the M preprocessed signals is calculated, and the average value is used to fill the preprocessed signal.

[0097] That is, the low-frequency signal is calculated using the following formula:

[0098]

[0099] Among them, n is a constant, M is the size of the sliding window in the sliding window processing (preset length), and the value range of k is [0, M-1]; y(n) is the signal trend characterization component of the low-frequency signal, and y(n) is the filtered signal, that is, the signal output after sliding window processing and filtering processing.

[0100] Step S320, obtaining an envelope spectrum of the low-frequency signal according to a signal trend characterization component of the low-frequency signal;

[0101] In this embodiment, calculating the envelope spectrum of the low-frequency signal specifically includes:

[0102] The square of the signal trend characterization component of the low-frequency signal is used as the envelope spectrum of the low-frequency signal.

[0103] That is, the envelope spectrum is calculated using the envelope spectrum calculation formula:

[0104] SE(n)=[y(n)] 2 ;

[0105] Among them, y(n) is the signal trend characterization component of the low-frequency signal; SE(n) is the envelope spectrum of the preprocessed signal.

[0106] It should be noted that the low-pass filter effectively filters out high-frequency noise, retains the low-frequency components of the current signal, improves the signal-to-noise ratio, helps accurately identify the drilling point, improves the sensitivity of detection, and reduces misjudgment. In this way, the trend characterization components of the current signal can be effectively extracted, providing a reliable basis for drilling identification, ensuring that the electric surgical power device can stop quickly at the moment of drilling to avoid over-drilling.

[0107] Step S330: acquiring the negative entropy of the low-frequency signal according to the envelope spectrum, and amplifying the negative entropy to obtain the characteristic characterization parameter.

[0108] In this embodiment, reference Figure 3 , the step of obtaining the negative entropy of the low-frequency signal according to the envelope spectrum comprises:

[0109] Step S340, obtaining the ratio of the envelope spectrum of the current preprocessed signal to the average value of the envelope spectrum of all preprocessed signals obtained after the current signal is intercepted according to a preset length, and obtaining the ratio In this embodiment, the average value of the envelope spectrum is

[0110] Step S350, taking the natural logarithm of the ratio; obtaining

[0111] Step S360, obtaining the product of the natural logarithm and the ratio; obtaining

[0112]

[0113] Step S370, summing a plurality of products from n to N-1, and taking the ratio of the sum to the length of the preprocessed signal as the negative entropy of the low-frequency signal;

[0114] That is, the negative entropy is

[0115] Where n is a constant, SE(n) is the envelope spectrum of the preprocessed signal, Negentropy is the negative entropy, N is the length of the preprocessed signal, and n is less than N-1.

[0116] In this embodiment, according to the envelope spectrum of the filtered low-frequency signal, the negative entropy of the signal is calculated according to the calculated envelope spectrum, and then the negative entropy is amplified to obtain a characteristic characterization parameter, so as to compare the characteristic characterization parameter with a preset threshold value to determine the current working state of the surgical power device, and when the control device determines that the characteristic characterization parameter is less than the preset threshold value, it means that the drill is in a stable bone drilling process, and the drive motor is controlled to drive the drill to move; when the control device determines that a certain characteristic characterization parameter is greater than or equal to the preset threshold value, it means that the drill has drilled through, and the drive motor is controlled to drive the drill to stop moving. In this way, the sudden change in the drilling process is effectively identified, and accurate control is achieved on this basis.

[0117] Optionally, the amplifying process of the negative entropy to obtain the characteristic characterization parameter specifically includes:

[0118] Get the RMS value of the low-frequency signal;

[0119] The negative entropy of the low-frequency signal is multiplied by the root mean square value of the low-frequency signal to obtain a characteristic characterization parameter.

[0120] In this embodiment, the root mean square value of the low-frequency signal is obtained by the following steps:

[0121] Sum the signal trend characterization components of the low-frequency signals from i to N to obtain the signal sum of the low-frequency signals

[0122] Calculate the ratio of the sum of the signals to the length of the preprocessed signal to obtain the first ratio

[0123] Taking the root mean square of the first ratio as the root mean square value RMS of the low-frequency signal;

[0124] That is, the root mean square value of the low-frequency signal can be calculated using the following formula:

[0125]

[0126] Wherein, RMS is the root mean square value, N is the length of the preprocessed signal, i is a positive integer, and y(n) is the signal trend characterization component of the low-frequency signal.

[0127] It should be noted that in order to further amplify the impact of the signal mutation, the calculated negative entropy is multiplied by the root mean square value of the low-frequency signal to obtain the non-negative entropy value.

[0128] It can be understood that non-negative entropy is extremely sensitive to transient energy changes. Non-negative entropy can be used to characterize transient energy changes in current signals, that is, there will be instantaneous changes in energy before and after drilling. Non-negative entropy can effectively capture this change process, thereby achieving drilling identification. In combination with the above embodiments, the multiple pre-processed signals processed by the sliding window are multiple slice signals of equal length, and a non-negative entropy can be calculated for each slice signal. A series of slice signals will obtain multiple non-negative entropy values. Each non-negative entropy value is compared with a preset threshold value to determine the current working state of the surgical power device, and then the drive motor is controlled to output a current signal to the surgical power device to stop the surgical power device from working. Output a current signal to the surgical power device to stop the surgical power device from working.

[0129] In practical applications, by multiplying the negative entropy and the root mean square value, the mutation signal can be amplified, making the mutation point more obvious, thereby improving the contrast between the stable segment and the mutation segment of the current signal and reducing the possibility of misjudgment. In this way, it can ensure that a quick response can be made at the moment of drilling to avoid over-drilling, thereby improving the accuracy and safety of the operation.

[0130] In one embodiment, after multiplying the negative entropy of the low-frequency signal by the root mean square value of the low-frequency signal, the method further includes:

[0131] The product of the negative entropy of the low-frequency signal and the root mean square value is truncated according to a preset length to obtain a characteristic characterization parameter.

[0132] In combination with the above-mentioned embodiments, the collected original current signal is subjected to sliding window processing to obtain preprocessed signals of the same length, wherein the length of each signal is N. Then, a low-pass filter is used to filter the preprocessed signal after the sliding window processing (it can also be processed by average sliding filtering), eliminate the influence of high-frequency noise, obtain the signal trend characterization component, obtain the low-frequency signal corresponding to the preprocessed signal, calculate the envelope spectrum of the low-frequency signal, and calculate the negative entropy of multiple low-frequency signals based on the calculated envelope spectrum. In addition, in order to further amplify the influence of the sudden change of the signal, the calculated negative entropy is multiplied by the root mean square value RMS of the signal to reduce the possibility of misjudgment.

[0133] In this embodiment, in order to eliminate the influence of interference mutations in the index, the non-negative entropy value of the index is further smoothed to eliminate unnecessary interference and misjudgment of drilling identification. Therefore, this embodiment can also perform sliding window processing on the product (non-entropy) of the negative entropy and the root mean square value RMS of the low-frequency signal to obtain IE_SW(k)=slidingwindow(IE(k)), that is, to obtain the non-entropy after smoothing, and then compare multiple non-entropies with the preset threshold to determine the current working state of the surgical power device, and then control the surgical power device to work / stop working. Reference Figure 8 , Figure 8 The figure is a schematic diagram for analyzing the processing effect of the current signal after the current signal is processed using the control method of the present invention.

[0134] Optionally, refer to Figure 4 The step of comparing the characteristic characterization parameter with a preset threshold value to determine the current working state of the surgical power device, and controlling the drive motor to output a current signal to the surgical power device / stop outputting a current signal to the surgical power device according to the current working state of the surgical power device specifically includes:

[0135] Step S410: When the characteristic parameter is less than the preset threshold, it is determined that the surgical power device is in a near-penetration state, and the driving motor outputs a current signal to the power device;

[0136] Step S420: When the characteristic characterization parameter is equal to the preset threshold, it is determined that the surgical power device is in a penetration instant state, and the driving motor stops outputting a current signal to the power device;

[0137] Step S430: When the characteristic characterization parameter is greater than the preset threshold, it is determined that the surgical power device is in a fully penetrated state, and the drive motor stops outputting a current signal to the power device.

[0138] In this embodiment, the control device compares each characteristic characterization parameter with a preset threshold value. When the characteristic characterization parameter is greater than or equal to the preset threshold value, it is determined that the surgical power device is at or beyond the preset position, such as close to the bone or completely penetrated the bone; that is, it means that the current signal has produced an obvious mutation effect and drilled through the bone. At this time, it is necessary to control the drive motor to drive the drill to stop moving to prevent drilling through and cause medical accidents. When it is determined that all characteristic characterization parameters are less than the preset threshold value based on the comparison result of the characteristic characterization parameter with the preset threshold value, it means that the normal bone drilling process in the stable stage has not drilled through, and the surgical power device is in a state close to penetration. The drive motor outputs a current signal to the power device, that is, it can continue to execute according to the current control program.

[0139] It should be noted that the surgical power device is usually provided with a trigger button. When the user presses the trigger button, the corresponding trigger signal is output to the control device, so that when the control device receives the trigger signal, it outputs a start control signal to control the drive motor to output a current signal to the surgical power device, so that the surgical power device starts to operate. During the working process, when the control device determines that the characteristic characterization parameter is less than the preset threshold value, the output current value is in an increasing state (gradually increasing) and is less than the preset current threshold value, which means that the working state of the surgical power device is close to the penetration state. At this time, the start control signal continues to be output to control the drive motor to output a current signal to the motor until drilling through. When the control device determines that the characteristic characterization parameter reaches the preset threshold, it means that the working state of the surgical power device is in the penetration moment state. It should be noted that the characteristic characterization parameter includes a normal characteristic characterization parameter and a mutation characteristic characterization parameter. At this time, the current reaches the preset current threshold and the current value suddenly changes, that is, the characteristic characterization parameter is a mutation characteristic characterization parameter. It is necessary to immediately output a stop control signal to the drive motor to control the drive motor to stop outputting the current signal to the surgical power device. In this way, the present application realizes that when the current signal is determined to be at the moment of drilling, the motor power supply is automatically cut off, the output current signal to the surgical power device is stopped, the drilling work is terminated, and the soft tissue is prevented from being damaged. In addition, when the control device determines that the characteristic characterization parameter is greater than the preset threshold, it means that the output current value is in a decreasing state (gradually decreasing) and is less than the preset current threshold. It is also necessary to control the drive motor to stop outputting the current signal to the surgical power device to avoid further damage.

[0140] In practical applications, by comparing the characteristic characterization parameters with the preset threshold, once the characteristic characterization parameters are detected to exceed the preset threshold, the control device immediately stops the drive motor to ensure that the drill stops moving at the moment of drilling, avoiding further penetration and reducing medical risks. In this way, the doctor's workload is reduced and the safety and accuracy of the operation are improved.

[0141] It is understandable that, referring to the early fault threshold identification method in the field of mechanical fault diagnosis, for the signal in the stable stage, it conforms to the Gaussian distribution. In the stable stage, that is, before drilling, the current signal generally remains stable, so it roughly conforms to the Gaussian distribution. Therefore, its method can be transferred to form the calculation standard of the preset threshold of this application.

[0142] To this end, in one embodiment of the present invention, the preset threshold is calculated by the following steps:

[0143] Obtaining the mean and standard deviation of the characteristic characterization parameters;

[0144] The sum of the mean and P times the standard deviation is used as a preset threshold;

[0145] Where P is an integer. The specific formula is as follows:

[0146] HI m =μ m +Pσ m ;

[0147]

[0148] In this embodiment, HI m is the preset threshold, μ m is the mean, σ m is the standard deviation. The mean and standard deviation are calculated from the IE values ​​(non-negative entropy) of the sequence in the stationary phase. For example, by using 20 IE values ​​in the stationary phase, the corresponding standard deviation and mean can be obtained, and then the preset threshold can be calculated, so as to compare the characteristic characterization parameters with the preset threshold, determine the current working state of the surgical power device, and thus control the working state of the surgical power device.

[0149] It should be noted that if the value of P is too large, the preset threshold value will be too large, which may cause the control device to be less sensitive to mutation signals and may not be able to detect the mutation at the moment of drilling in time, so that after drilling is identified, the device continues to move, which may increase medical risks. If the value of P is too small, the preset threshold value will be too small, which will cause the control device to respond to small fluctuations in the signal in the stable phase, resulting in frequent false alarms and increasing the complexity of the doctor's operation. That is, the drill may be frequently stopped without actually drilling through, affecting the continuity and efficiency of the operation. Therefore, in order to balance the risks of missed reports and false alarms, it is necessary to determine the optimal P value through experimental parameter adjustment. In this embodiment, the P value is set to 6, that is, the preset threshold is equal to the sum of the mean and 6 times the standard deviation.

[0150] Through the above steps, the preset threshold can be effectively calculated, and each characteristic characterization parameter can be compared with the preset threshold to determine the current working state of the surgical power device, thereby improving the drilling recognition function of the surgical power device and further improving the safety of the operation. In addition, the selection of the P value has an important influence on the performance of the surgical power device. Selecting a suitable P value (for example, P=6) can improve the reliability and efficiency of the surgical power device while ensuring the safety and accuracy of the operation.

[0151] The present invention also provides a control device, which is applied to a surgical power device, the surgical power device is driven by a driving motor, and the control device ... Fig. 9 , the control device comprises:

[0152] The signal acquisition module 20 is used to acquire and output the current signal output by the driving motor 10 to the surgical power device;

[0153] The signal processing module 30 is electrically connected to the signal acquisition module 20, and is used to receive the current signal output by the signal acquisition module 20, and intercept the current signal according to a preset length to obtain a preprocessing signal, and output a corresponding characteristic characterization parameter after signal processing the preprocessing signal;

[0154] A comparison module 40, electrically connected to the signal processing module 30, for receiving the characteristic characterization parameter, and comparing the characteristic characterization parameter with a preset threshold value and then outputting a comparison result;

[0155] A main controller 50, electrically connected to the comparison module 40, for receiving the comparison result and determining the current working state of the surgical power device according to the comparison result;

[0156] And it is used to control the driving motor 10 to output a current signal to the surgical power device / stop outputting a current signal to the surgical power device according to the current working state of the surgical power device.

[0157] In this embodiment, the control device is a control device for surgical power equipment, which can intelligently monitor the working state of the operating terminal (such as an electric drill) and control the operating terminal to stop working when an abnormality is detected to ensure the safety and reliability of the operation. The drive motor 10 can be implemented by a DC motor, an AC motor, a servo motor, etc.; the signal acquisition module 20 can be implemented by a Hall effect sensor, a current transformer, etc.; the comparison module 40 can be implemented by a comparator, and the main controller 50 and the signal processing module 30 can both be implemented by the above-mentioned main controller 50.

[0158] Specifically, the signal acquisition module 20 can use a high-precision current sensor to connect to the power supply line of the motor to monitor the current flowing through the motor in real time to capture the instantaneous current value. The signal processing module 30 uses a microprocessor as the core processing unit. If the internal control program sets the sampling frequency to 10kHz, the signal acquisition module collects 10,000 data points per second; the signal processing module 30 stores the data collected each time in a time series. The sliding window technology can also be used to intercept the current signal, for example, a current signal (pre-processed signal) of a preset length (for example, within 100mS) obtained by continuous collection is processed and analyzed, and the corresponding characteristic characterization parameters are output, so that the comparison module 40 compares the characteristic characterization parameters with the preset threshold and outputs the comparison result, for example, when the characteristic characterization parameter is greater than the preset threshold, the first comparison result is output; when the characteristic characterization parameter is less than the preset threshold, the second comparison result is output; when the characteristic characterization parameter is equal to the preset threshold, the third comparison result is output. In this way, the main controller 50 can determine the current working state of the surgical power device according to the comparison result. That is, when the main controller 50 receives the first comparison result, it controls the drive motor 10 to stop outputting the current signal to the surgical power device, automatically cuts off the motor power supply, terminates the drilling work, and prevents damage to soft tissue. When the second comparison result is received, the drive motor 10 is controlled to output the current signal to the surgical power device so that it can perform normal bone drilling. When the third comparison result is received, the drive motor 10 is controlled to stop outputting the current signal to the surgical power device to prevent further damage caused by excessive bone drilling.

[0159] It should be noted that the signal processing module 30 , the comparison module 40 , and the main controller 50 may be integrated into the same integrated chip to reduce the wiring area.

[0160] In actual applications, by real-time acquisition and processing of the current signal output by the drive motor 10, combined with high-sensitivity mutation detection and rapid response mechanism, the control method of the surgical power equipment of the present application can quickly stop the movement of the drill bit at the moment the drill bit penetrates the bone, effectively avoiding over-drilling. Compared with the existing solution that relies solely on manual operation to control the start and stop of the drill bit, the risk of the drill bit penetrating the bone and causing harm to the human body due to improper operation of the doctor during surgery is reduced, thereby ensuring the accuracy and safety of the operation.

[0161] The present invention also proposes a storage medium, which is a computer-readable storage medium. A computer program is stored on the computer-readable storage medium. When the computer program is executed by a processor, the steps of the control method of the surgical power device described above are implemented.

[0162] It is worth noting that since the storage medium of the present invention is based on the control method of the above-mentioned surgical power equipment, the embodiments of the storage medium of the present invention include all technical solutions of all embodiments of the control method of the above-mentioned surgical power equipment, and the technical effects achieved are also exactly the same, which will not be repeated here.

[0163] The present invention also proposes a computer program product, which includes a computer program. When the computer program is executed by a processor, the steps of the control method of the surgical power device described above are implemented.

[0164] It is worth noting that since the computer program product of the present invention is based on the above-mentioned control method of the surgical power device, the embodiments of the computer program product of the present invention include all technical solutions of all embodiments of the above-mentioned control method of the surgical power device, and the technical effects achieved are also exactly the same, which will not be repeated here.

[0165] The present invention also provides a surgical power device, comprising the control device described above.

[0166] It is worth noting that since the surgical power equipment of the present invention is based on the above-mentioned control device, the embodiments of the surgical power equipment of the present invention include all technical solutions of all embodiments of the above-mentioned control device, and the technical effects achieved are also exactly the same, which will not be repeated here.

[0167] The above descriptions are only optional embodiments of the present invention, and are not intended to limit the patent scope of the present invention. All equivalent structural changes made using the contents of the present invention's specification and drawings, or direct / indirect applications in other related technical fields, under the inventive concept of the present invention are included in the patent protection scope of the present invention.

Claims

1. A method for controlling a surgical power device, for controlling the operation or stop of the surgical power device, characterized in that: The control method comprises: Acquire the current signal output by the driving motor to the surgical power device; intercepting the current signal according to a preset length to obtain a preprocessed signal; Performing signal processing on the preprocessed signal to extract characteristic characterization parameters characterizing the working state of the surgical power device; Compare the characteristic characterization parameter with a preset threshold value to determine the current working state of the surgical power device, wherein the working state includes a near-penetration state, a penetration instant state, and a complete penetration state; According to the current working state of the surgical power device, the driving motor is controlled to output a current signal to the surgical power device or stop outputting a current signal to the surgical power device; wherein, If the drive motor does not stop outputting current signals to the surgical power device, the current signal is intercepted according to a preset length to obtain the next preprocessing signal and perform signal processing to extract the next characteristic characterization parameter characterizing the working state of the surgical power device, until all current signals are intercepted or the drive motor stops outputting current signals to the surgical power device.

2. The control method according to claim 1, characterized in that: The signal processing of the preprocessed signal to extract characteristic parameters representing the working state of the surgical power device specifically includes: Performing filtering processing on the preprocessed signal to obtain a low-frequency signal, wherein the low-frequency signal at least includes a signal trend characterization component of the low-frequency signal; Acquire the envelope spectrum of the low-frequency signal according to the signal trend characterization component of the low-frequency signal; The negative entropy of the low-frequency signal is acquired according to the envelope spectrum, and the negative entropy is amplified to obtain the characteristic characterization parameter.

3. The control method according to claim 2, characterized in that: The signal trend characterization component of the low-frequency signal is obtained by the following steps: Sum the preprocessed signals from n to n-M+1; Calculating a ratio of the sum of the preprocessed signals to a preset length, and using the ratio as a signal trend characterization component of the low-frequency signal; Among them, n is a constant, M is a preset length, and the value range of k is [0, M-1].

4. The control method according to claim 2, characterized in that: The step of acquiring the negative entropy of the low-frequency signal according to the envelope spectrum comprises: Obtaining a ratio of the envelope spectrum of the current preprocessed signal to an average value of the envelope spectrum of all preprocessed signals obtained after the current signal is cut according to a preset length; Taking the natural logarithm of said ratio; Obtaining the product of the natural logarithm and the ratio; Summing a plurality of products from n to N-1, and taking the ratio of the sum to the length of the preprocessed signal as the negative entropy of the low-frequency signal; Wherein, n is a constant value, N is the length of the preprocessed signal, and n is less than N-1.

5. The control method according to claim 2, characterized in that: The amplifying process of the negative entropy to obtain the characteristic characterization parameter specifically includes: Get the RMS value of the low-frequency signal; The negative entropy of the low-frequency signal is multiplied by the root mean square value of the low-frequency signal to obtain the characteristic characterization parameter.

6. The control method according to claim 5, characterized in that: The root mean square value of the low frequency signal is obtained by the following steps: Sum the signal trend characterization components of the low-frequency signals from i to N to obtain the signal sum of the low-frequency signals; Calculating a ratio of the signal sum to the length of the preprocessed signal to obtain a first ratio; Taking the root mean square of the first ratio as the root mean square value of the low-frequency signal; Wherein, i is a positive integer, n is a constant, and N is the length of the preprocessed signal.

7. The control method according to claim 1, characterized in that: The step of comparing the characteristic characterization parameter with a preset threshold value to determine the current working state of the surgical power device, and controlling the drive motor to output a current signal to the surgical power device / stop outputting a current signal to the surgical power device according to the current working state of the surgical power device comprises: When the characteristic characterization parameter is less than the preset threshold, it is determined that the surgical power device is in a near-penetration state, and the drive motor outputs a current signal to the power device; When the characteristic characterization parameter is equal to the preset threshold value, it is determined that the surgical power device is in a penetration instant state, and the drive motor stops outputting a current signal to the power device; When the characteristic characterization parameter is greater than the preset threshold, it is determined that the surgical power device is in a fully penetrated state, and the drive motor stops outputting a current signal to the power device.

8. The control method according to claim 1, characterized in that: The preset threshold is calculated by the following steps: Obtaining the mean and standard deviation of the characteristic characterization parameters; The sum of the mean and P times the standard deviation is used as a preset threshold; Wherein, P is an integer.

9. The control method according to claim 5, characterized in that: After multiplying the negative entropy of the low-frequency signal by the root mean square value of the low-frequency signal, the method further includes: The product of the negative entropy of the low-frequency signal and the root mean square value is intercepted according to a preset length to obtain the characteristic characterization parameter.

10. A control device, applied to a surgical power device, wherein the surgical power device is driven by a drive motor; characterized in that: The control device comprises: A signal acquisition module, used for acquiring and outputting the current signal output by the driving motor to the surgical power device; A signal processing module, electrically connected to the signal acquisition module, for receiving the current signal output by the signal acquisition module, intercepting the current signal according to a preset length, obtaining a preprocessing signal, and outputting a corresponding characteristic characterization parameter after performing signal processing on the preprocessing signal; A comparison module, electrically connected to the signal processing module, configured to receive the characteristic characterization parameter, compare the characteristic characterization parameter with a preset threshold value, and then output a comparison result; a main controller, electrically connected to the comparison module, configured to receive the comparison result and determine the current working state of the surgical power device according to the comparison result; And it is used to control the driving motor to output a current signal to the surgical power device or stop outputting a current signal to the surgical power device according to the current working state of the surgical power device.

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