Intelligent skull drilling device and method based on force-position feedback control

Abstract

The invention relates to the technical field of skull drilling equipment, in particular to an intelligent skull drilling device and method based on force-position feedback control, and the intelligent skull drilling device based on force-position feedback control comprises a shell which is provided with an equipment cavity; the supporting assembly comprises a plurality of supporting mechanisms, an adsorption mechanism and a vibration reinforcing mechanism, and the supporting mechanisms are arranged around the shell; the drilling assembly comprises a driving mechanism, a feeding mechanism and a drill bit; and the brake assembly comprises a photoelectric detection mechanism and a brake mechanism. According to the invention, the organic combination of stable support, accurate control and active protection is realized, and the operation error and intraoperative risk are effectively reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of skull drilling equipment, in particular to an intelligent skull drilling device and method based on force-position feedback control. BACKGROUND

[0002] Skull drilling is a crucial step in neurosurgery, and its core requirement is to completely open the skull while absolutely avoiding damage to the underlying dura mater, blood vessels and brain tissue. The operation has very high requirements for precision and safety. Currently, doctors use high-speed pneumatic or electric skull drills, and drilling through the skull completely relies on the doctor's sense of touch, hearing and experience. Doctors need to judge whether the inner plate will be drilled through by changes in hand feeling (sudden reduction in resistance when drilling through the skull) and changes in sound (a "click" sound). This is a great challenge for rare cases such as abnormal skull thickness.

[0003] In order to solve the above technical problems, a drill-through self-stopping handle type skull drill with publication number "CN204636472U" realizes the technical effect that the inner and outer drill bits are automatically stopped by the action of the clutch mechanism when drilling through by setting a spring type clutch mechanism.

[0004] However, the above-mentioned self-stopping skull drill still has the following obvious defects when in use: First, the safety of the skull drill completely depends on a fixed spring pre-tightening force. If the spring pre-tightening force is not set enough, the drill bit may have completely penetrated, but the clutch may not be separated in time due to the remaining pressure, causing excessive penetration and damage to the brain tissue. Conversely, if the spring pre-tightening force is set too large, the drill bit may not have completely drilled through the skull (especially the dense inner plate) when the doctor's applied pressure cannot overcome the remaining resistance, causing the clutch to separate prematurely and the drill bit to idle. At this time, the operation cannot continue, the doctor must repeatedly try or replace the tool, which seriously interferes with the operation process and causes unnecessary damage to the skull and surrounding tissue due to repeated operations; secondly, since the pre-tightening force of the spring (in the non-fatigued state) is a fixed value, it cannot intelligently adapt to the large individual differences brought about by different patients, different ages (such as infant skull is thinner and softer than adult skull), different anatomical sites (such as the temporal squamous part of the same person is the thinnest, and the occipital part is the thickest), and different pathological states (such as osteoporosis). SUMMARY

[0005] The purpose of the present application is to provide an intelligent skull drilling device and method based on force-position feedback control to solve the problems raised in the background art.

[0006] To achieve the above-mentioned purpose, the present application provides the following technical solutions: On the one hand, an intelligent skull drilling device based on force-position feedback control is provided, comprising: A shell is provided with a device cavity; A support assembly includes support mechanisms, suction mechanisms and vibration reinforcement mechanisms, a plurality of support mechanisms are arranged around the shell, each support mechanism is provided with a suction mechanism at the bottom, the support assembly is used to support the shell, the suction mechanism is used to adsorb the shell to the skull, and the vibration reinforcement mechanism is used to reinforce the suction mechanism during use; A drilling assembly includes a driving mechanism, a feeding mechanism and a drill bit, the driving mechanism is arranged in the device cavity, the driving mechanism is used to drive the drill bit to rotate, and the feeding mechanism is used to control the feeding depth and speed of the drill bit; A brake assembly includes a photoelectric detection mechanism and a brake mechanism, the photoelectric detection mechanism is used to detect the cutting force and rotating speed of the drill bit, and the brake mechanism is used to brake the drill bit.

[0007] Preferably, the support mechanism includes a triangular support, an adjusting bolt, a ball head and a support leg, the triangular support is connected to the shell, three adjusting bolts are connected to the triangular support, one side of each adjusting bolt is provided with a ball head, and the ball head is connected with a support leg.

[0008] Preferably, the suction mechanism includes a suction cup and a pressure release switch, the support leg is connected with a suction cup, and the pressure release switch is arranged on the support leg, and the pressure inside the suction cup is released by pressing the pressure release switch.

[0009] Preferably, the vibration reinforcement mechanism includes a reinforcement cylinder, a reinforcement piston, a patch type pressure sensor, a metal sheet, an electromagnetic block and a return spring, the reinforcement cylinder is connected to the support leg, the reinforcement piston is movably connected to the reinforcement cylinder, the metal sheet is arranged on one side of the reinforcement piston, the return spring is used to drive the reinforcement piston to reset, the patch type pressure sensor is arranged inside the support leg, the electromagnetic block is arranged in the reinforcement cylinder, and when the patch type pressure sensor detects that the pressure change range exceeds the set value, the electromagnetic block is electrified and attracts the metal sheet.

[0010] Preferably, the driving mechanism includes a shaft shell, a main shaft, a rotor structure and a stator structure, the shaft shell is arranged in the device cavity, the main shaft is connected with the rotor structure, the stator structure is arranged inside the shaft shell, the rotor structure and the stator structure cooperate to provide power for the main shaft, the main shaft is connected to the shaft shell through a bearing, and one side of the main shaft is connected with the drill bit.

[0011] Preferably, the feeding mechanism comprises a stepper motor, a screw rod, a nut and a moving block, the stepper motor is arranged in the device cavity, the stepper motor is used to drive the screw rod to rotate, the nut and the screw rod are matched with each other, the nut is connected to the moving block, and the moving block is connected to the shaft shell.

[0012] Preferably, the photoelectric detection mechanism comprises an optical encoder and a force sensor, the optical encoder is arranged in the shaft shell, the optical encoder is used to collect motion data of the main shaft, and the force sensor is arranged on one side of the shaft shell and is used to monitor force received by the drill bit in real time.

[0013] Preferably, the braking mechanism comprises an electromagnetic brake, the electromagnetic brake is arranged in the shaft shell, and the electromagnetic brake is used to brake the main shaft in an emergency.

[0014] Preferably, one side of the shell is provided with a control panel, and the control panel is provided with a plurality of human-computer interaction buttons.

[0015] In another aspect, a use method is provided for using the intelligent skull drilling device based on force-position feedback control, and the use method comprises the following steps. A, starting the driving mechanism of the drilling assembly, and driving the driving mechanism to start rotating the drill bit; B, starting the feeding mechanism, and controlling the drill bit to feed towards the skull according to a pre-set feeding depth and speed, and starting drilling operation; C, in the drilling process, the photoelectric detection mechanism continuously detects the cutting force and rotating speed of the drill bit in real time, and feeds the detection data to the control system; D, the control system compares and analyzes the feedback data with pre-set force-position feedback parameters, if the cutting force or rotating speed is within a normal range, drilling operation continues; if the cutting force exceeds a set threshold value, the control system immediately sends an instruction to the braking mechanism; E, after receiving the instruction from the control system, the braking mechanism rapidly brakes the drill bit to stop rotation and feeding of the drill bit; F, when the drill bit reaches the pre-set feeding depth, the feeding mechanism stops working, and the driving mechanism stops rotating, and drilling operation is completed.

[0016] Compared with the prior art, the application has the beneficial effects that: the application realizes stable fitting and fixing through the cooperation of the multiple sets of supporting mechanisms around the shell and the bottom adsorbing mechanism, and further strengthens the adsorbing reliability in combination with the vibration reinforcing mechanism, effectively avoiding the displacement of the device in the drilling process; the collaborative design of the driving and feeding mechanisms can accurately adjust the rotation of the drill bit and the feeding depth and speed under the force-position feedback control, ensuring the drilling precision; at the same time, the photoelectric detection mechanism monitors the chip force and rotation speed in real time, and the linkage brake mechanism quickly responds to the abnormality and brakes the drill bit in time, significantly improving the surgical safety, and the stable support, accurate control and active protection are organically combined, effectively reducing the operation error and intraoperative risk. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 is a three-dimensional structure schematic diagram of the application; Figure 2 is a device cavity internal structure schematic diagram of the application; Figure 3 is a control circuit assembly and shaft shell position structure schematic diagram of the application; Figure 4 is a shaft shell and stepping motor position structure schematic diagram of the application; Figure 5 is a shaft shell internal structure schematic diagram of the application; Figure 6 is a support foot internal structure schematic diagram of the application; Figure 7 is a drill bit and reinforcing air cylinder position structure schematic diagram of the application; Figure 8 is a reinforcing air cylinder internal structure schematic diagram of the application; Figure 9 is a reinforcing piston, metal sheet and return spring position structure schematic diagram of the application; Figure 10 is a control strategy flow chart of the application.

[0018] In the figure: 1 shell, 2 device cavity, 3 control circuit assembly, 4 drill bit, 5 triangular support, 6 adjusting bolt, 7 ball head, 8 support foot, 9 suction cup, 10 pressure relief switch, 11 reinforcing air cylinder, 12 reinforcing piston, 13 patch type pressure sensor, 14 metal sheet, 15 electromagnetic block, 16 return spring, 17 shaft shell, 18 main shaft, 19 rotor structure, 20 stator structure, 21 stepping motor, 22 lead screw, 23 nut, 24 moving block, 25 photoelectric encoder, 26 force sensor, 27 electromagnetic brake, 28 control panel. DETAILED DESCRIPTION

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] Please see Figures 1-10 The present invention provides a technical solution: An intelligent skull drilling device based on force-position feedback control, as shown in the instruction manual. Figure 1 As shown, it includes: The housing 1 has a device cavity 2 for mounting other components of this application. A control circuit assembly 3 is housed within the device cavity 2. The control circuit assembly 3 includes a drive circuit board and a control circuit board. The drive circuit board drives the stepper motor 21 and the electromagnetic brake 27. The control circuit board processes sensor signals and runs corresponding control algorithms (as per the attached specification). Figure 10 As shown in the figure, in this embodiment, the control circuit board is an ARM Cortex-M series microprocessor.

[0021] The support assembly includes a support mechanism, an adsorption mechanism, and a vibration reinforcement mechanism. Several sets of support mechanisms are arranged around the outer shell 1. Each support mechanism has an adsorption mechanism at its bottom. The support assembly is used to support the outer shell 1, the adsorption mechanism is used to adsorb the outer shell 1 onto the skull, and the vibration reinforcement mechanism is used to reinforce the adsorption mechanism during use.

[0022] The drilling assembly includes a drive mechanism, a feed mechanism, and a drill bit 4. The drive mechanism is located in the equipment cavity 2 and is used to drive the drill bit 4 to rotate. The feed mechanism is used to control the feed depth and speed of the drill bit 4.

[0023] The braking assembly includes a photoelectric detection mechanism and a braking mechanism. The photoelectric detection mechanism is used to detect the cutting force and rotational speed of the drill bit 4, and the braking mechanism is used to brake the drill bit 4.

[0024] The support mechanism includes a triangular bracket 5, adjusting bolts 6, ball heads 7, and support feet 8. The triangular bracket 5 is used to install the support feet 8. One side of the triangular bracket 5 is fixedly connected to the outer shell 1. The triangular bracket 5 is connected to three adjusting bolts 6. By rotating the adjusting bolts 6, the position of each support foot 8 can be adjusted. An adjusting knob is provided on one side of the adjusting bolt 6. The adjusting knob is used to manually adjust the position of the ball head 7, thereby adjusting the position of the support foot 8. Each adjusting bolt 6 has a ball head 7 on one side, and the ball head 7 is connected to the support foot 8. This design can adapt to skull surfaces with different curvatures, laying the foundation for precise drilling.

[0025] The adsorption mechanism includes a suction cup 9 and a pressure relief switch 10, the suction cup 9 is connected to the support foot 8 and used to adsorb the support foot 8 to the surface of the skull, the pressure relief switch 10 is arranged on the support foot 8, the pressure relief switch 10 and the reinforcing air cylinder 11 are communicated through a pipeline, the pressure relief switch 10 is a press-to-open pressure relief valve, and the internal air pressure of the suction cup 9 is released by pressing the pressure relief switch 10.

[0026] The vibration reinforcing mechanism includes a reinforcing air cylinder 11, a reinforcing piston 12, a patch type pressure sensor 13, a metal sheet 14, an electromagnetic block 15 and a reset spring 16, one end of the reinforcing air cylinder 11 is connected to the support foot 8, the reinforcing piston 12 is movably connected to the reinforcing air cylinder 11, the metal sheet 14 is fixedly connected to the reinforcing piston 12, the metal sheet 14 is arranged on one side of the reinforcing piston 12, the reset spring 16 is used to drive the reinforcing piston 12 to reset after the electromagnetic block 15 is powered off, the patch type pressure sensor 13 is arranged in the support foot 8, one side of the patch type pressure sensor 13 is attached to the ball head 7, the patch type pressure sensor 13 is used to detect the pressure change value between the support foot 8 and the ball head 7, the electromagnetic block 15 is arranged in the reinforcing air cylinder 11, when the patch type pressure sensor 13 detects that the pressure change range exceeds the set value (that is, it is possible that the drilling vibration amplitude is too large to affect the adsorption of the suction cup 9), the electromagnetic block 15 is powered on and attracts the metal sheet 14, at this time, the reinforcing piston 12 moves along the reinforcing air cylinder 11, and the electromagnetic force of the electromagnetic block 15 can be adjusted according to the pressure change amplitude of the patch type pressure sensor 13.

[0027] The driving mechanism includes a shaft shell 17, a main shaft 18, a rotor structure 19 and a stator structure 20, the shaft shell 17 is arranged in the equipment cavity 2, the main shaft 18 is connected with the rotor structure 19, the stator structure 20 is arranged in the shaft shell 17, and the rotor structure 19 and the stator structure 20 are matched with each other to provide power for the main shaft 18, the main shaft 18 is connected to the shaft shell 17 through a bearing, and one side of the main shaft 18 is connected with the drill bit 4.

[0028] The feeding mechanism includes a stepping motor 21, a lead screw 22, a nut 23 and a moving block 24, the stepping motor 21 is arranged in the equipment cavity 2, the stepping motor 21 is used to drive the lead screw 22 to rotate, the nut 23 and the lead screw 22 are matched with each other, the nut 23 is connected to the moving block 24, the moving block 24 is connected to the shaft shell 17, the lead screw 22 is preferably small pitch (such as 2mm), combined with high subdivision driving of the stepping motor 21, the lead screw 22 can realize ultra-low speed feeding of 0.01mm / s level, which is very important for fine grinding of the endosteal plate, and the built-in encoder of the motor provides high-precision displacement feedback, so that the system can accurately control the feeding depth of the drill bit 4.

[0029] The photoelectric detection mechanism comprises a photoelectric encoder 25 and a force sensor 26, the photoelectric encoder 25 is arranged inside the shaft shell 17, the photoelectric encoder 25 is used for monitoring the rotating speed of the main shaft 18 in real time, and a rotating speed closed loop is formed, the force sensor 26 is arranged on one side of the shaft shell 17, one end of the force sensor 26 is connected to the moving block 24, and the force sensor 26 is used for monitoring the force received by the drill bit 4 in real time, the force sensor 26 is directly integrated on the transmission path of the nut 23, so that the real axial cutting force can be measured without delay.

[0030] The brake mechanism comprises an electromagnetic brake 27, the electromagnetic brake 27 is arranged inside the shaft shell 17, the electromagnetic brake 27 is used for emergency braking of the main shaft 18, the electromagnetic brake 27 is used as a safety redundancy, and can realize mechanical locking within milliseconds after receiving a control signal, and the response speed is much faster than that of the motor.

[0031] A control panel 28 is arranged on one side of the shell 1, the control panel 28 is provided with a plurality of human-computer interaction buttons, in the embodiment, the human-computer interaction buttons comprise a fast-forward button, a start / stop button, a fast-backward button, a speed adjustment button and a display, and the main functions of the above-mentioned human-computer interaction buttons are to display real-time parameters, allow doctors to manually intervene and select modes.

[0032] Working principle: When the device works, first of all, the shell 1 is stably placed in a suitable position through the supporting mechanism of the supporting assembly, the device is adsorbed on the surface of the skull through the suction cup 9 of the adsorption mechanism, so that the drill bit 4 is perpendicular to the drilling position, at this time, the internal air pressure of the suction cup 9 can be controlled by pressing the pressure relief switch 10 to realize stable adsorption. When the device starts to work, the rotor structure 19 and the stator structure 20 of the driving mechanism cooperate with each other to provide power for the main shaft 18, the main shaft 18 drives the drill bit 4 to rotate. The stepping motor 21 of the feeding mechanism drives the lead screw 22 to rotate, the nut 23 cooperates with the lead screw 22, drives the shaft shell 17 to move through the moving block 24, and then controls the feeding depth and speed of the drill bit 4. In the drilling process, the photoelectric encoder 25 of the photoelectric detection mechanism collects the motion data of the main shaft 18, and the force sensor 26 monitors the force received by the drill bit 4 in real time. Once the force sensor 26 detects that the drill bit 4 is abnormally stressed or the data fed back by the photoelectric encoder 25 shows abnormality, the electromagnetic brake 27 of the brake mechanism will immediately brake the main shaft 18. At the same time, if the patch type pressure sensor 13 detects that the pressure change range of the adsorption mechanism exceeds the set value during the use of the device, the electromagnetic block 15 of the vibration reinforcement mechanism will be electrified to attract the metal sheet 14, drive the reinforcement piston 12 to move, reinforce the adsorption mechanism, and then the reset spring 16 drives the reinforcement piston 12 to reset. The operator can operate and set parameters of the device through the human-computer interaction buttons on the control panel 28 on one side of the shell 1.

[0033] The control strategy of each stage of each structure in this application is as follows: First stage: Drilling through outer cortical bone (high-speed and high-efficiency mode): Signal characteristics: At this stage, the drill bit 4 contacts the dense cortical bone, and the axial force F monitored by the force sensor 26 quickly rises to a high level and remains stable, while the torque τ reflected by the motor current of the spindle 18 also maintains a high level.

[0034] Control strategy: The system adopts a "constant force feeding" mode. A higher target axial force F_high (for example, 80 N) is set. The controller dynamically adjusts the speed of the stepper motor 21 through a PID algorithm, so that the measured axial force always fluctuates around the target value. In this mode, the spindle 18 remains high-speed rotation to achieve high-efficiency cutting.

[0035] Second stage: Through the cancellous bone (low-speed detection mode): Signal characteristics: When the drill bit 4 penetrates the outer cortical bone and enters the loose cancellous bone, the cutting resistance drops sharply. This is the most critical state transition signal. The axial force F and the torque τ will present a clear "valley".

[0036] Control strategy: Once the system detects that the force signal drops by more than a preset threshold (such as 50%) in a very short time (such as a few milliseconds), it immediately determines that it has entered the cancellous bone layer. The controller immediately switches to the "constant low-speed feeding" mode, reducing the feeding speed to a very low level (such as 0.01 mm / s). The goal of this stage is to smoothly and slowly pass through the cancellous bone, preparing for the upcoming contact with the thinner and harder inner plate, avoiding hitting the inner plate due to excessive speed.

[0037] Third stage: Identify and handle the inner plate of the bone (fine grinding and safe stop mode) Signal characteristics: When the drill bit 4 slowly passes through the cancellous bone and contacts the inner plate of the bone, the axial force F and the torque τ will again quickly and significantly increase.

[0038] Control strategy is as follows: (1) Identify contact: The system detects the second steep increase in force, confirming that it has contacted the inner plate.

[0039] (2) Constant force light grinding: The controller switches to the "constant force light grinding" mode, setting the target axial force to a very small value F_low (such as 10%-20% of F_high). In this mode, the drill bit 4 "grinds" the inner plate of the bone with constant and small pressure.

[0040] (3) Trigger stop: The system continuously monitors the trend of the force signal or displacement mutation. When any of the following conditions is detected, the stop sequence is immediately triggered: The rate of change criterion for the third stage of control measurement is that the axial force shows a non-linear decrease in the constant force grinding mode, indicating that the inner plate structure is about to collapse.

[0041] The displacement jump criterion for the third stage of control measurement is that a small, sudden forward displacement of the drill bit 4 (e.g. > 0.05 mm) is detected, indicating that the inner plate has been ground through and the drill bit 4 has "jumped the gun".

[0042] While embodiments of the application have been shown and described, it is to be understood that the application is not limited to the details of the embodiments described, since the scope of the application will be defined by the appended claims and equivalents thereof.

Claims

1. An intelligent skull drilling device based on force-position feedback control, characterized in that, include: The housing has a device cavity; A support assembly, comprising a support mechanism, an adsorption mechanism, and a vibration reinforcement mechanism, wherein several sets of the support mechanisms are arranged around the outer shell, and each support mechanism has an adsorption mechanism at its bottom; the support assembly is used to support the outer shell, the adsorption mechanism is used to adsorb the outer shell onto the skull, and the vibration reinforcement mechanism is used to reinforce the adsorption mechanism during use; A drilling assembly, comprising a drive mechanism, a feed mechanism, and a drill bit, wherein the drive mechanism is disposed in the equipment cavity and is used to drive the drill bit to rotate, and the feed mechanism is used to control the feed depth and speed of the drill bit; The braking assembly includes a photoelectric detection mechanism and a braking mechanism. The photoelectric detection mechanism is used to detect the cutting force and rotational speed of the drill bit, and the braking mechanism is used to brake the drill bit.

2. The intelligent skull drilling device based on force-position feedback control according to claim 1, characterized in that: The support mechanism includes a triangular bracket, adjusting bolts, ball heads, and support feet. The triangular bracket is connected to the outer shell, and the triangular bracket is connected to three adjusting bolts. Each adjusting bolt has a ball head on one side, and the ball head is connected to the support foot.

3. The intelligent skull drilling device based on force-position feedback control according to claim 2, characterized in that: The adsorption mechanism includes a suction cup and a pressure relief switch. The support foot is connected to the suction cup, and the pressure relief switch is located on the support foot. Pressing the pressure relief switch releases the internal air pressure of the suction cup.

4. The intelligent skull drilling device based on force-position feedback control according to claim 3, characterized in that: The vibration reinforcement mechanism includes a reinforcement cylinder, a reinforcement piston, a patch pressure sensor, a metal plate, an electromagnetic block, and a return spring. The reinforcement cylinder is connected to the support leg, and the reinforcement piston is movably connected to the reinforcement cylinder. The metal plate is disposed on one side of the reinforcement piston. The return spring is used to drive the reinforcement piston to return to its original position. The patch pressure sensor is disposed inside the support leg, and the electromagnetic block is disposed in the reinforcement cylinder. When the patch pressure sensor detects a pressure change range exceeding a set value, the electromagnetic block will be energized and attract the metal plate.

5. The intelligent skull drilling device based on force-position feedback control according to claim 1, characterized in that: The drive mechanism includes a shaft housing, a main shaft, a rotor structure, and a stator structure. The shaft housing is disposed in the equipment cavity. The main shaft is connected to the rotor structure. The stator structure is disposed inside the shaft housing. The rotor structure and the stator structure cooperate with each other to provide power to the main shaft. The main shaft is connected to the shaft housing through a bearing. The drill bit is connected to one side of the main shaft.

6. The intelligent skull drilling device based on force-position feedback control according to claim 5, characterized in that: The feeding mechanism includes a stepper motor, a lead screw, a nut, and a moving block. The stepper motor is disposed in the equipment cavity and is used to drive the lead screw to rotate. The nut and the lead screw cooperate with each other, the nut is connected to the moving block, and the moving block is connected to the shaft housing.

7. The intelligent skull drilling device based on force-position feedback control according to claim 5, characterized in that: The photoelectric detection mechanism includes a photoelectric encoder and a force sensor. The photoelectric encoder is disposed inside the shaft housing and is used to collect motion data of the spindle. The force sensor is disposed on one side of the shaft housing and is used to monitor the force on the drill bit in real time.

8. The intelligent skull drilling device based on force-position feedback control according to claim 5, characterized in that: The braking mechanism includes an electromagnetic brake, which is disposed inside the shaft housing and is used to apply emergency braking to the spindle.

9. The intelligent skull drilling device based on force-position feedback control according to claim 5, characterized in that: A control panel is provided on one side of the outer casing, and the control panel is provided with several human-computer interaction buttons.

10. A method of use for employing the intelligent cranial drilling device based on force-position feedback control as described in any one of claims 1 to 9, characterized in that, Includes the following steps: A. Start the drive mechanism of the drilling assembly, and the drive mechanism will cause the drill bit to start rotating; B. Start the feed mechanism and control the drill bit to feed towards the skull according to the preset feed depth and speed to begin drilling operations; C. During the drilling process, the photoelectric detection mechanism continuously monitors the cutting force and rotation speed of the drill bit in real time and feeds the detection data back to the control system. D. The control system compares and analyzes the feedback data with the preset force-position feedback parameters. If the chip force or rotation speed is within the normal range, the drilling operation continues. If the chip force exceeds the set threshold, the control system immediately sends a command to the braking mechanism. E. After receiving the instruction from the control system, the braking mechanism quickly brakes the drill bit, stopping its rotation and feed. F. When the drill bit reaches the preset feed depth, the feed mechanism stops moving, and the drive mechanism stops rotating. At this point, the drilling operation is complete.

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