Control method and control device for surgical power equipment

Abstract

The present invention discloses a control method and device for surgical power equipment, relating to the field of medical technology. The method first obtains a current signal output by a drive motor to the surgical power equipment; then, the current signal is intercepted according to a preset length to obtain a preprocessed signal; the preprocessed signal is then processed to extract characteristic parameters representing the operating state of the surgical power equipment; the characteristic parameters are compared with a preset threshold to determine the current operating state of the surgical power equipment; and finally, based on the current operating state of the surgical power equipment, the drive motor is controlled to output or stop outputting the current signal to the surgical power equipment. The present invention aims to improve the drilling recognition function of the surgical power equipment, enhance the accuracy of the surgical power equipment, and thereby improve the accuracy and safety of surgery.

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 a variety of complex operations, such as drilling and sawing. Accurately identifying the moment bone penetration occurs and immediately stopping the drill's motion is crucial for ensuring surgical safety. Traditional manual control methods rely on the surgeon's experience and feel, which carries significant uncertainty and risk, impacting surgical outcomes and posing significant medical safety risks. Summary of the Invention

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

[0004] To achieve the above objectives, the present invention provides a control method for a surgical power device, for controlling the operation or stop of the surgical power device, the control method comprising:

[0005] obtaining a 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 parameters representing the working state of the surgical power device;

[0008] Comparing the characteristic 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 signal processing is performed 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 performing signal processing on the preprocessed signal to extract characteristic parameters representing the working state of the surgical power device specifically includes:

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

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

[0014] The negative entropy of the low-frequency signal is obtained 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 pre-processed 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] Where n is a fixed value, M is a preset length, and the value range of k is [0, M-1].

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

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

[0021] Taking the natural logarithm of the 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] Where 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 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 / stopping 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 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 parameter is equal to the preset threshold, it is determined that the surgical power device is in a penetration transient state, and the drive motor stops outputting a current signal to the power device;

[0036] When the characteristic 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 truncated according to a preset length to obtain the characteristic characterization parameter.

[0043] The present invention further provides a control device for use with a surgical power device driven by a drive motor; the control device comprises:

[0044] A signal acquisition module, configured to acquire and output 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, configured to receive the current signal output by the signal acquisition module, intercept the current signal according to a preset length to obtain a preprocessed signal, and output a corresponding characteristic parameter after performing signal processing on the preprocessed 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 output a comparison result;

[0047] a main controller, electrically connected to the comparison module, configured to receive the comparison result and determine a 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 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.

[0050] The present invention further provides a computer program product, which includes a computer program. When the computer program is executed by a processor, the computer program implements the steps of any of the above-mentioned methods for controlling a surgical power device.

[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, the current signal output by the driving motor to the surgical power equipment is first obtained; then the current signal is intercepted according to a preset length to obtain a preprocessing signal; then the preprocessing signal is processed 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 the current signal to the surgical power equipment or stop outputting the 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 this application can quickly stop the movement of the drill bit at the moment the drill bit penetrates 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 following briefly introduces the drawings required for use in the embodiments or the description of the prior art. 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 any creative work.

[0055] Figure 1 This is a flow chart of an embodiment of a method for controlling a surgical power device according to the present invention;

[0056] Figure 2 This is a flow chart of another embodiment of a method for controlling a surgical power device according to the present invention;

[0057] Figure 3 This is a flow chart of another embodiment of a method for controlling a surgical power device according to the present invention;

[0058] Figure 4 This is a flow chart of another embodiment of a method for controlling a surgical power device according to 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 This is a schematic diagram of the current signal phase division of an embodiment of the 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 This is a schematic diagram of processing effect analysis of an embodiment of a control method for a surgical power device of the present invention;

[0063] Figure 9 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 purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings and in conjunction with the embodiments. DETAILED DESCRIPTION

[0067] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. 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 making any creative efforts shall fall within the scope of protection of the present invention.

[0068] It should be noted that in this article, step codes such as S100 and S200 are used for the purpose of expressing the corresponding content more clearly and concisely, and do not constitute a substantial limitation on the order. 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, or bone drills) are widely used to perform a variety of complex operations, such as drilling and sawing. Accurately identifying the moment bone penetration occurs and immediately stopping the drill's motion is crucial for ensuring surgical safety. Traditional manual control methods rely on the surgeon's experience and intuition, which carries significant uncertainty and risk, impacting surgical outcomes and posing significant medical safety risks.

[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 an example to illustrate that 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 diagram of the drilling state partitioning 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 current of the drive motor. The current of the drive motor will be different under different loads. Specifically, during the smooth bone drilling process, the current / acceleration signal is also relatively stable; during the drilling process, the current signal will produce an obvious mutation effect, and then the current signal in the time domain, frequency domain and the smooth bone drilling process will produce obvious differences, such as Figure 6 As shown, Figure 6 The diagram below shows the phase division of the bone drilling signal (e.g., current signal). The unit of the cutting signal length is the number of sampling points N, and the amplitude is the current size (unit: mA). Based on 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 sudden change effect of bone drilling, such as Figure 7 As shown, Figure 7 The spectrum of the bone drilling signal (e.g., current signal) is shown in Figure 1, where the amplitude is the current (in mA) and the frequency is in Hz. Therefore, this feature can be used to identify bone penetration and control drilling stop upon penetration.

[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 parameters representing the working state of the surgical power device;

[0075] Step S400: comparing the characteristic parameter with a preset threshold 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 signal processing is performed 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 for a surgical power device of the present invention can be applied to a control device for the surgical power device. For example, the control device may include a memory for storing a computer program for the control method for the surgical power device and a processor for executing the computer program for the control method for the surgical power device. The control device may be implemented using a main controller, such as an MCU, a DSP (Digital Signal Processor), an FPGA (Field Programmable Gate Array), a PLC, or a SOC (System on Chip).

[0079] It should be noted that during the bone drill penetration process, the current signal changes can be divided into three main stages: near penetration (near penetration state), the moment of penetration (penetration moment state), and complete penetration (penetration complete state). As the drill bit approaches the other side of the bone, the contact area between the drill bit and the bone gradually decreases, and the drill bit's cutting resistance also decreases. However, as the drill bit approaches the bone, the contact points between the drill bit and the bone become increasingly concentrated, leading to localized stress concentration and higher friction. This increases the load on the drive motor, causing the current to rise. Furthermore, as the drill bit approaches the other side of the bone, the drill bit's rotation speed may slow, further increasing the current demand on the drive motor, causing the current to increase as the drill bit nears penetration. When the drill bit just penetrates the bone, the contact points between the drill bit and the bone suddenly disappear, and the drill bit moves from a high-resistance environment to a low-resistance environment. At this moment, the drill bit's cutting resistance decreases sharply, but the drive motor's inertia still exists, resulting in a sudden increase in the drive motor's load for a short period of time. Because the drive motor's load 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 rotational 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 surgical power device drill by detecting the current signal of the surgical power device, thereby performing drilling identification and controlling the operation / stop of the surgical power device. Among them, the working state of the surgical power device includes but is not limited to the near-penetration state, the penetration instant state, and the complete penetration completion state.

[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 a 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 preprocessed 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 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, and the drive motor is controlled 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. 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 based on 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 determine the changing trend of the current. When the current value output by the drive motor is determined to be in an increasing state (gradually increasing) and is less than a preset threshold value based on the characteristic characterization parameters, it indicates 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 the drill is through. When the control device determines that the current value output by the drive motor reaches the preset threshold value based on a characteristic characterization parameter, it indicates that the current working state of the drill bit is in the penetration moment state. The stop control signal is immediately output to the drive motor to stop the output current signal and control the drive motor to stop moving. That is, when it is determined to be in 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 damage to soft tissue 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 penetrates the bone, the control method of the present invention can also determine whether the drill bit has deviated by analyzing the changes in 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 of the stable phase. During the stable bone drilling phase, 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 promptly detect whether the current working state of the surgical power device drill bit has deviated and take corresponding treatment measures. For example, a surgical power device connected to a surgical navigation system also includes a depth detection sensor (such as a laser sensor) and an angle detection sensor (such as a gyroscope accelerometer). During surgery, the depth detection sensor can monitor the drilling depth in real time, allowing the user, through the surgical navigation system, to observe and control the control device to correct the deviation caused by the drive motor's vibration, ensuring the accuracy of the drive motor's travel depth. When the control device determines that the drill bit has reached the pre-set drilling depth based on the depth detection signal output by the depth detection sensor, it automatically cuts off the power to the drive motor and stops drilling. Similarly, the angle detection sensor can monitor the drilling angle in real time and output an angle detection signal to the control device, allowing the surgeon to correct the drilling 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 deviation angle based on the angle detection signal, it automatically cuts off the power to the drive motor and stops drilling. This ensures that the drill bit drills at the preset angle and depth. When the drill bit reaches the preset depth or angle, the control device also immediately controls the drive motor to stop moving, preventing damage to soft tissue and ensuring the safety and accuracy of the surgery.

[0082] It is understandable that the preset duration and threshold are set in advance by R&D personnel. When the preset duration approaches zero, the current value collected is the current value at a specific moment. Since the signal processing process is rapid, typically in milliseconds, this means that the time from acquisition to processing to control is very short, almost real-time. Therefore, when the control device determines that the drill bit of the surgical power device has penetrated the bone based on the comparison result of the characteristic characterization parameter with the preset threshold and controls the drive motor to stop the drill bit, over-drilling will not occur, ensuring the safety and accuracy of the surgery.

[0083] In actual applications, by real-time acquisition and processing of the current signal output by the drive motor, 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, 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] As you can understand, sliding window processing is a data processing technique commonly used in signal processing to analyze time-varying data sequences. It works by moving a fixed-length window across the signal and processing or analyzing the data within it. 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, thereby revealing the signal's temporal characteristics.

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

[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 multiple pre-processed signals of equal length for subsequent signal processing steps, such as filtering processing, 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 operations such as Fourier transform.

[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 to determine the current working state of the electric bone drill. It is understood that after processing the first preprocessed signal, the next preprocessed signal is selected for signal processing to obtain the characteristic characterization parameters corresponding to the second preprocessed signal, and this process continues until all preprocessed signals are selected and the number of preprocessed signals equals the number of characteristic characterization parameters. Each characteristic characterization parameter should be compared with a preset threshold to determine the current operating state of the surgical power device. Based on the current operating state of the surgical power device, the drive motor is controlled to output a current signal to the surgical power device / stop outputting a current signal to the surgical power device, i.e., drilling identification is performed, and the surgical power device is controlled to stop operating at the moment of drilling to prevent excessive drilling, which could cause surgical risks and accidental injuries.

[0089] In practical applications, the sliding window can help capture the local characteristics of the current signal, ensuring timely detection and response to drilling events, effectively identifying sudden changes in the drilling process, and achieving accurate control based on this. This improves the accuracy of the control method of the surgical power device of the present application.

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

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

[0092] It should be noted that the current signal contains low-frequency, medium-frequency, and high-frequency components. The low-frequency component can represent the signal trend, while the medium-frequency and high-frequency components are the signal details. Since the low-frequency signal is key to identifying the drillthrough point, in this embodiment, the low-frequency signal is selected to represent the current signal trend. Optionally, the collected current signal can be output to a low-pass filter for filtering (or average sliding filtering) to eliminate the influence of high-frequency noise, thereby obtaining the signal trend representation 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 may be taken from multiple preprocessed signals and summed, and the average value of the M preprocessed signals may be calculated, and the average value may be used to fill the preprocessed signal.

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

[0098]

[0099] Where 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.

[0100] Step S320: acquiring 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] Where 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's important to note that the low-pass filter effectively removes high-frequency noise, retains the low-frequency components of the current signal, and improves the signal-to-noise ratio. This helps accurately identify the penetration point, increases detection sensitivity, and reduces false positives. This effectively extracts the trend-characterizing components of the current signal, providing a reliable basis for penetration identification and ensuring that the electric surgical power device stops promptly at the moment of penetration, preventing overdrilling.

[0107] Step S330: Obtain the negative entropy of the low-frequency signal according to the envelope spectrum, and amplify 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 includes:

[0109] Step S340: Obtain the ratio of the envelope spectrum of the current pre-processed signal to the average value of the envelope spectrum of all pre-processed signals obtained after the current signal is cut off according to the preset length, and obtain the ratio In this embodiment, the average value of the envelope spectrum is

[0110] Step S350: Take the natural logarithm of the ratio; and obtain

[0111] Step S360: Obtain the product of the natural logarithm and the ratio;

[0112]

[0113] Step S370: summing multiple 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, after filtering the envelope spectrum of the low-frequency signal, the signal's negative entropy is calculated based on the calculated envelope spectrum, and the negative entropy is then amplified to obtain a characteristic parameter. This characteristic parameter is then compared with a preset threshold to determine the current operating state of the surgical power device. When the control device determines that the characteristic parameter is less than the preset threshold, it indicates that the drill is drilling smoothly, and the drive motor is controlled to drive the drill. When the control device determines that a characteristic parameter is greater than or equal to the preset threshold, it indicates that the drill has penetrated the bone, and the drive motor is controlled to stop the drill. In this way, sudden changes in the drilling process are effectively identified, and accurate control is achieved based on this.

[0117] Optionally, the amplifying process of the negative entropy to obtain characteristic characterization parameters 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 influence 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 is understandable 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 realizing drilling identification. In combination with the contents of 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 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.

[0129] In practical applications, multiplying the negative entropy and the RMS value can amplify the sudden change signal, making the sudden change point more obvious. This improves the contrast between the stable and sudden change segments of the current signal and reduces the possibility of misjudgment. This ensures a quick response at the moment of drilling, avoids over-drilling, and improves surgical accuracy and safety.

[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 embodiments, the collected original current signal is subjected to sliding window processing to obtain preprocessed signals of the same length, where the length of each signal is N. The preprocessed signal after sliding window processing is then filtered using a low-pass filter (it can also be processed by average sliding filtering) to 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, to further amplify the impact of signal mutations, 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 the 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 start / stop working. Reference Figure 8 , Figure 8 This is a schematic diagram of analyzing the processing effect of the current signal after signal processing using the control method of the present invention.

[0134] Optionally, refer to Figure 4 The steps of comparing the characteristic 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 include:

[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 parameter is equal to the preset threshold, it is determined that the surgical power device is in a penetration transient state, and the drive motor stops outputting a current signal to the power device;

[0137] Step S430: When the characteristic 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 parameter with a preset threshold. When a characteristic parameter is greater than or equal to the preset threshold, the surgical power device is determined to be at or beyond a preset position, such as nearing or completely penetrating the bone. This indicates that the current signal has produced a significant mutation effect, drilling through the bone. In this case, it is necessary to control the drive motor to stop the drill bit to prevent drilling through and causing a medical accident. If, based on the comparison results of the characteristic parameters with the preset threshold, all characteristic parameters are determined to be less than the preset threshold, the bone drilling process is in a normal, stable phase and has not penetrated the bone. The surgical power device is in a near-penetration state, and the drive motor outputs a current signal to the power device, indicating that execution continues according to the current control program.

[0139] It should be noted that surgical power equipment is typically equipped with a trigger button. When the user presses the trigger button, a corresponding trigger signal is output to the control device. 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 equipment, thereby starting the surgical power equipment. During operation, when the control device determines that the characteristic parameter is less than a preset threshold, the output current value is in an increasing state (gradually increasing) and is less than the preset current threshold, indicating that the operating state of the surgical power equipment 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 the drilling is completed. 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 causing further damage.

[0140] In practical applications, the control device compares the characteristic parameters with a preset threshold. Once the characteristic parameter exceeds the preset threshold, the control device immediately stops the motor drive, ensuring that the drill bit stops moving at the moment of drilling, preventing further penetration and reducing medical risks. This reduces the doctor's workload and improves the safety and accuracy of the operation.

[0141] It is understandable that, referring to the early fault threshold identification method in the field of mechanical fault diagnosis, the signal in the stationary phase conforms to a Gaussian distribution. During the stationary phase, i.e., before drilling through, the current signal generally remains stable, thus roughly conforming to a Gaussian distribution. Therefore, this method can be transferred to form the calculation standard for the preset threshold in 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 during the stationary phase. For example, using 20 IE values ​​during the stationary phase, the corresponding standard deviation and mean can be obtained, and then a preset threshold can be calculated. This allows the characteristic characterization parameter to be compared with the preset threshold to determine the current operating status of the surgical power device, thereby controlling the operating status of the surgical power device.

[0149] It should be noted that if the value of P is too large, resulting in a preset threshold that is too large, the control device may become less sensitive to sudden changes in the signal and may not be able to detect the sudden change at the moment of drilling in a timely manner, causing the device to continue moving after drilling is identified, which may increase medical risks. If the value of P is too small, resulting in a preset threshold that is too small, the control device may also respond to small fluctuations in the signal during the stable phase, resulting in frequent false alarms and increasing the complexity of the doctor's operation. In other words, 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 parameter can be compared with the preset threshold to determine the current operating status of the surgical power device, thereby improving the drilling recognition function of the surgical power device and further improving the safety of the surgery. In addition, the selection of the P value has a significant impact on the performance of the surgical power device. Selecting an appropriate P value (for example, P = 6) can improve the reliability and efficiency of the surgical power device while ensuring surgical safety and accuracy.

[0151] The present invention also proposes a control device, which is applied to a surgical power device, wherein the surgical power device is driven by a driving motor. Figure 9 , the control device includes:

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

[0153] a signal processing module 30 electrically connected to the signal acquisition module 20, configured to receive the current signal output by the signal acquisition module 20, intercept the current signal according to a preset length to obtain a preprocessed signal, and perform signal processing on the preprocessed signal to output corresponding characteristic parameters;

[0154] a comparison module 40 , electrically connected to the signal processing module 30 , configured to receive the characteristic characterization parameter, compare the characteristic characterization parameter with a preset threshold value, and output a comparison result;

[0155] a main controller 50 , electrically connected to the comparison module 40 , configured to receive the comparison result and determine 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 operating status of an operating terminal (such as an electric drill) and control the operating terminal to stop working when an abnormality is detected to ensure surgical safety and reliability. The drive motor 10 can be implemented using a DC motor, an AC motor, a servo motor, etc.; the signal acquisition module 20 can be implemented using a Hall effect sensor, a current transformer, etc.; the comparison module 40 can be implemented using a comparator. The main controller 50 and the signal processing module 30 can both be implemented using the above-mentioned main controller 50.

[0158] Specifically, the signal acquisition module 20 can use a high-precision current sensor connected to the motor's power supply circuit to monitor the current flowing through the motor in real time, thereby capturing instantaneous changes in current values. The signal processing module 30 uses a microprocessor as its core processing unit. If the internal control program sets the sampling frequency to 10 kHz, the signal acquisition module collects 10,000 data points per second. The signal processing module 30 stores each acquired data in a time series. A sliding window technique can also be used to intercept the current signal. For example, a continuously acquired current signal (preprocessed signal) of a preset length (e.g., within 100 mS) is processed and analyzed, and the corresponding characteristic parameter is output. This allows the comparison module 40 to compare the characteristic parameter with a preset threshold and output a comparison result. For example, when the characteristic parameter is greater than the preset threshold, a first comparison result is output; when the characteristic parameter is less than the preset threshold, a second comparison result is output; and when the characteristic parameter is equal to the preset threshold, a third comparison result is output. In this way, the main controller 50 can determine the current operating status of the surgical power device based on the comparison result. That is, when the main controller 50 receives the first comparison result, it controls the drive motor 10 to stop outputting current signals to the surgical power device, automatically cutting off the motor power supply, and terminating the drilling process to prevent damage to soft tissue. When it receives the second comparison result, it controls the drive motor 10 to output current signals to the surgical power device, allowing it to perform normal bone drilling. When it receives the third comparison result, it controls the drive motor 10 to stop outputting current signals 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 acquiring and processing the current signal output by the drive motor 10 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 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. The computer-readable storage medium stores a computer program, and 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 provides 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 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 equipment, 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 equipment, 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 merely optional embodiments of the present invention and do not limit the patent scope of the present invention. All equivalent structural transformations made using the contents of the present invention's description and drawings, or direct / indirect applications in other related technical fields within the scope of the present invention are included in the patent protection scope of the present invention.

Claims

1. A control device for executing a control method for a surgical power device, wherein the control method for the surgical power device is used to control the operation or stop of the surgical power device, wherein the surgical power device is driven by a drive motor; The control device comprises: A signal acquisition module, configured to acquire and output the current signal output by the driving motor to the surgical power device; a signal processing module, electrically connected to the signal acquisition module, configured to receive the current signal output by the signal acquisition module, intercept the current signal according to a preset length to obtain a preprocessed signal, perform signal processing on the preprocessed signal, extract and output characteristic parameters representing the working state of the surgical power device; 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 output a comparison result; a main controller, electrically connected to the comparison module, configured to receive the comparison result and determine a current working state of the surgical power device according to the comparison result; and for controlling the drive motor to output a current signal to the surgical power device or to stop outputting a current signal to the surgical power device according to the current working state of the surgical power device; Wherein, if the drive motor does not stop outputting the current signal to the surgical power device, the current signal is intercepted according to a preset length to obtain the next preprocessing signal and the signal is processed to extract the next characteristic parameter representing the working state of the surgical power device, until all current signals are intercepted or the drive motor stops outputting the current signal to the surgical power device; The working states include a near-penetration state, a penetration instant state, and a complete penetration state; The processing of the pre-processed signal to extract characteristic parameters representing the working state of the surgical power device specifically includes: Performing filtering on the preprocessed signal to obtain a low-frequency signal, wherein the low-frequency signal at least includes a signal trend characterizing component of the low-frequency signal; Acquiring an envelope spectrum of the low-frequency signal according to a signal trend characterization component of the low-frequency signal; The negative entropy of the low-frequency signal is obtained according to the envelope spectrum, and the negative entropy is amplified to obtain the characteristic characterization parameter.

2. The control device according to claim 1, wherein The signal trend characterization component of the low-frequency signal is obtained by the following steps: To arrive The summation of the pre-processed signals between ; 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; in, is a fixed value, is the preset length, The value range is [0, M-1].

3. The control device according to claim 1, wherein: The acquiring the negative entropy of the low-frequency signal according to the envelope spectrum specifically includes: Obtaining a ratio of the envelope spectrum of the current preprocessed signal to an average value of envelope spectra of all preprocessed signals obtained by truncating the current signal according to a preset length; Taking the natural logarithm of the ratio; obtaining the product of the natural logarithm and the ratio; To arrive Sum up multiple products between them, and take the ratio of the sum to the length of the preprocessed signal as the negative entropy of the low-frequency signal; in, is a fixed value, is the length of the preprocessed signal, Less than .

4. The control device according to claim 1, wherein: The amplification of the negative entropy to obtain the characteristic characterization parameters 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.

5. The control device according to claim 4, wherein: The obtaining of the root mean square value of the low-frequency signal specifically includes: To arrive The signal trend characterization components of the low-frequency signals between are summed 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; in, is a positive integer, is a fixed value, is the length of the preprocessed signal.

6. The control device according to claim 1, wherein: Determining the current working state of the surgical power device according to the comparison result, and controlling the drive motor to output a current signal to the surgical power device / stop outputting the current signal to the surgical power device according to the current working state of the surgical power device specifically includes: 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 drive motor outputs a current signal to the power device; When the characteristic parameter is equal to the preset threshold, it is determined that the surgical power device is in a penetration transient state, and the drive motor stops outputting a current signal to the power device; When the characteristic 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.

7. The control device according to claim 1, wherein: 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.

8. The control device according to claim 4, wherein: The step of multiplying the negative entropy of the low-frequency signal by the root mean square value of the low-frequency signal to obtain the characteristic parameter specifically includes: multiplying the negative entropy of the low-frequency signal by the root mean square value of the low-frequency signal; 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 the characteristic characterization parameter.

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