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

Abstract

The 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, wherein the intelligent skull drilling device based on force-position feedback control comprises a shell which is provided with an equipment cavity; a supporting assembly which comprises supporting mechanisms, adsorption mechanisms and vibration reinforcing mechanisms, a plurality of groups of the supporting mechanisms are arranged around the shell; a drilling assembly which comprises a driving mechanism, a feeding mechanism and a drill bit; and a braking assembly which comprises a photoelectric detection mechanism and a braking mechanism. The application realizes the organic combination of stable support, accurate control and active protection, and effectively reduces operation errors and intraoperative risks.

Description

Technical Field

[0001] This invention relates to the field of skull drilling equipment technology, specifically to an intelligent skull drilling device and method based on force-position feedback control. Background Technology

[0002] Craniostomy is a crucial step in neurosurgery, its core requirement being to completely open the skull while absolutely avoiding damage to the underlying dura mater, blood vessels, and brain tissue. This procedure demands extremely high precision and safety. Currently, surgeons use high-speed pneumatic or electric craniotomy drills, and penetrating the skull relies entirely on the surgeon's feel, hearing, and experience. Surgeons need to judge whether they are about to penetrate the inner skull by changes in feel (a sudden decrease in resistance to the drill as it penetrates the skull) and changes in sound (a "click" sound). This poses a significant challenge for rare cases (such as those with abnormal skull thickness).

[0003] To solve the above-mentioned technical problems, a self-stopping handle-type skull drill with the publication number "CN204636472U" achieves the technical effect of automatically stopping the inner and outer drill bits when drilling through by setting a spring-type clutch mechanism.

[0004] However, the aforementioned self-stopping cranial drill still has the following significant drawbacks in its use: First, the safety of this cranial drill relies entirely on a fixed spring preload. If this spring preload is insufficient, the drill bit may have completely penetrated the skull, but the clutch may not disengage in time due to remaining pressure, resulting in over-penetration and damage to brain tissue. Conversely, if the spring preload is too high, the pressure applied by the surgeon may be insufficient to overcome the remaining resistance before the drill bit has completely penetrated the skull (especially the dense inner plate), causing the clutch to disengage prematurely and the drill bit to spin freely. At this point, the surgery cannot continue, and the surgeon must repeatedly try or change tools, severely disrupting the surgical procedure and causing unnecessary damage to the skull and surrounding tissues due to repeated operations. Second, because the spring preload (in a non-fatigued state) is a fixed value, it cannot intelligently adapt to the significant individual differences brought about by different patients, different ages (e.g., the skulls of infants are thinner and softer than those of adults), different anatomical locations (e.g., the temporal squamous region is the thinnest and the occipital region is the thickest in the same person), and different pathological conditions (e.g., osteoporosis). Summary of the Invention

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

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] On the one hand, an intelligent skull drilling device based on force-position feedback control is provided, comprising:

[0008] The housing has a device cavity;

[0009] 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;

[0010] 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;

[0011] 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.

[0012] Preferably, 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.

[0013] Preferably, 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.

[0014] Preferably, 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, 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.

[0015] Preferably, 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.

[0016] Preferably, 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.

[0017] Preferably, 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.

[0018] Preferably, the braking mechanism includes an electromagnetic brake, which is disposed inside the shaft housing and is used to perform emergency braking on the spindle.

[0019] Preferably, a control panel is provided on one side of the outer casing, and the control panel is provided with several human-computer interaction buttons.

[0020] On the other hand, a method of use is provided for employing the above-described intelligent cranial drilling device based on force-position feedback control, comprising the following steps:

[0021] A. Start the drive mechanism of the drilling assembly, and the drive mechanism will cause the drill bit to start rotating;

[0022] 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;

[0023] 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.

[0024] 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.

[0025] E. After receiving the instruction from the control system, the braking mechanism quickly brakes the drill bit, stopping its rotation and feed.

[0026] 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.

[0027] Compared with the prior art, the beneficial effects of the present invention are as follows: The present application achieves stable fitting and fixation through multiple sets of support mechanisms surrounding the outer shell in conjunction with the bottom adsorption mechanism, and further enhances the adsorption reliability by combining the vibration reinforcement mechanism, effectively avoiding device displacement during drilling; the coordinated design of the drive and feed mechanisms can accurately adjust the drill bit rotation and feed depth and speed under force-position feedback control to ensure drilling accuracy; at the same time, the photoelectric detection mechanism monitors the cutting force and rotation speed in real time, and the linkage braking mechanism responds quickly to abnormalities and brakes the drill bit in time, significantly improving surgical safety. Overall, it achieves an organic combination of stable support, precise control and active protection, effectively reducing operational errors and intraoperative risks. Attached Figure Description

[0028] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0029] Figure 2 This is a schematic diagram of the internal structure of the device cavity of the present invention;

[0030] Figure 3 This is a schematic diagram of the control circuit assembly and shaft housing position structure of the present invention;

[0031] Figure 4 This is a schematic diagram showing the position and structure of the shaft housing and stepper motor of the present invention;

[0032] Figure 5 This is a schematic diagram of the internal structure of the shaft housing of the present invention;

[0033] Figure 6 This is a schematic diagram of the internal structure of the support foot of the present invention;

[0034] Figure 7 This is a schematic diagram showing the position and structure of the drill bit and the reinforcing cylinder of the present invention;

[0035] Figure 8 This is a schematic diagram of the internal structure of the reinforced cylinder of the present invention;

[0036] Figure 9 This is a schematic diagram showing the positions and structures of the reinforced piston, metal sheet, and return spring of the present invention.

[0037] Figure 10 This is a flowchart of the control strategy of the present invention.

[0038] In the diagram: 1. Outer shell; 2. Equipment cavity; 3. Control circuit assembly; 4. Drill bit; 5. Triangular bracket; 6. Adjusting bolt; 7. Ball head; 8. Support foot; 9. Suction cup; 10. Pressure relief switch; 11. Reinforced cylinder; 12. Reinforced piston; 13. Surface mount pressure sensor; 14. Metal sheet; 15. Electromagnetic block; 16. Return spring; 17. Shaft housing; 18. Main spindle; 19. Rotor structure; 20. Stator structure; 21. Stepper motor; 22. Lead screw; 23. Nut; 24. Moving block; 25. Photoelectric encoder; 26. Force sensor; 27. Electromagnetic brake; 28. Control panel. Detailed Implementation

[0039] 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.

[0040] Please see Figure 1-10 The present invention provides a technical solution:

[0041] An intelligent skull drilling device based on force-position feedback control, as shown in the attached instruction manual. Figure 1 As shown, it includes:

[0042] 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.

[0043] 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.

[0044] 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.

[0045] 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.

[0046] 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.

[0047] The adsorption mechanism includes a suction cup 9 and a pressure relief switch 10. The support foot 8 is connected to the suction cup 9, which is used to adsorb the support foot 8 onto the surface of the skull. The pressure relief switch 10 is located on the support foot 8 and is connected to the reinforcement cylinder 11 through a pipe. The pressure relief switch 10 is a press-to-open pressure relief valve, which is used to release the internal air pressure of the suction cup 9 by pressing the pressure relief switch 10.

[0048] The vibration reinforcement mechanism includes a reinforcement cylinder 11, a reinforcement piston 12, a patch pressure sensor 13, a metal plate 14, an electromagnetic block 15, and a return spring 16. One end of the reinforcement cylinder 11 is connected to a support foot 8. The reinforcement piston 12 is movably connected to the reinforcement cylinder 11. The metal plate 14 and the reinforcement piston 12 are fixedly connected. The metal plate 14 is located on one side of the reinforcement piston 12. The return spring 16 is used to reset the reinforcement piston 12 after the electromagnetic block 15 is de-energized. The patch pressure sensor 13 is located inside the support foot 8, and one side of the patch pressure sensor 13 is attached to the support foot 8. The ball head 7 and the patch pressure sensor 13 are used to detect the pressure change between the support foot 8 and the ball head 7. The electromagnetic block 15 is set in the reinforcement cylinder 11. When the patch pressure sensor 13 detects that the pressure change range exceeds the set value (that is, the drilling vibration amplitude is too large and may affect the adsorption of the suction cup 9), the electromagnetic block 15 will be energized and attract the metal sheet 14. At this time, the reinforcement piston 12 will move along the reinforcement cylinder 11. The control circuit assembly 3 can adjust the electromagnetic force of the electromagnetic block 15 according to the magnitude of the pressure change of the patch pressure sensor 13.

[0049] The drive mechanism includes a shaft housing 17, a main shaft 18, a rotor structure 19, and a stator structure 20. The shaft housing 17 is located in the equipment cavity 2. The main shaft 18 is connected to the rotor structure 19. The stator structure 20 is located inside the shaft housing 17. The rotor structure 19 and the stator structure 20 cooperate with each other to provide power to the main shaft 18. The main shaft 18 is connected to the shaft housing 17 through bearings. A drill bit 4 is connected to one side of the main shaft 18.

[0050] The feed mechanism includes a stepper motor 21, a lead screw 22, a nut 23, and a moving block 24. The stepper motor 21 is located in the equipment cavity 2 and is used to drive the lead screw 22 to rotate. The nut 23 and the lead screw 22 cooperate with each other. The nut 23 is connected to the moving block 24, and the moving block 24 is connected to the shaft housing 17. The lead screw 22 preferably has a small lead (e.g., 2mm). Combined with the high microstepping drive of the stepper motor 21, it can achieve an ultra-low speed feed of 0.01mm / s, which is crucial for fine grinding of the inner bone plate. The encoder built into the motor provides high-precision displacement feedback, enabling the system to accurately control the feed depth of the drill bit 4.

[0051] The photoelectric detection mechanism includes a photoelectric encoder 25 and a force sensor 26. The photoelectric encoder 25 is located inside the shaft housing 17 and is used to monitor the rotational speed of the spindle 18 in real time, forming a rotational speed closed loop. The force sensor 26 is located on one side of the shaft housing 17, and one end of the force sensor 26 is connected to the moving block 24. The force sensor 26 is used to monitor the force on the drill bit 4 in real time. The force sensor 26 is directly integrated into the path of the nut 23 that transmits the thrust, so that the real axial cutting force can be measured without delay.

[0052] The braking mechanism includes an electromagnetic brake 27, which is located inside the shaft housing 17. The electromagnetic brake 27 is used to brake the spindle 18 in an emergency. As a safety redundancy, the electromagnetic brake 27 can achieve mechanical locking within milliseconds after receiving a control signal. Its response speed is much faster than that achieved by simply stopping the motor.

[0053] A control panel 28 is provided on one side of the outer casing 1. The control panel 28 is provided with several human-computer interaction buttons. In this embodiment, the human-computer interaction buttons include a fast forward button, a start / stop button, a rewind button, a speed adjustment button, and a display. The main function of the human-computer interaction buttons is to display real-time parameters, allowing doctors to perform manual intervention and mode selection.

[0054] Working principle:

[0055] When the device is in operation, the outer shell 1 is first stably placed in a suitable position by the support mechanism of the support assembly. The suction cup 9 of the adsorption mechanism adsorbs the device onto the surface of the skull, making the drill bit 4 perpendicular to the drilling position. At this time, pressing the pressure release switch 10 can control the air pressure inside the suction cup 9 to achieve stable adsorption. When the device starts running, the rotor structure 19 and stator structure 20 of the drive mechanism cooperate to provide power to the spindle 18, which drives the drill bit 4 to rotate. The stepper motor 21 of the feed mechanism drives the lead screw 22 to rotate. The nut 23 cooperates with the lead screw 22, and moves the shaft housing 17 through the moving block 24, thereby controlling the feed depth and speed of the drill bit 4. During the drilling process, the photoelectric encoder 25 of the photoelectric detection mechanism collects the motion data of the spindle 18, and the force sensor 26 monitors the force on the drill bit 4 in real time. Once the force sensor 26 detects abnormal force on the drill bit 4 or the data fed back by the photoelectric encoder 25 is abnormal, the electromagnetic brake 27 of the braking mechanism will immediately apply an emergency brake to the spindle 18. Meanwhile, during the use of the device, if the patch pressure sensor 13 detects that the pressure change range at the adsorption mechanism exceeds the set value, the electromagnetic block 15 of the vibration reinforcement mechanism will be energized to attract the metal sheet 14, driving the reinforcement piston 12 to move and reinforce the adsorption mechanism. Afterwards, the return spring 16 drives the reinforcement piston 12 to return to its original position. The operator can perform various operations and parameter settings on the device through the human-machine interface buttons on the control panel 28 on one side of the housing 1.

[0056] The control strategies for each stage of each structure in this application are as follows:

[0057] Phase 1: Drilling through the outer cortical bone (high-speed, high-efficiency mode):

[0058] Signal characteristics: During this stage, the drill bit 4 contacts the dense cortical bone, and the axial force F monitored by the force sensor 26 rapidly rises to a high level and remains stable. At the same time, the torque τ reflected by the motor current of the spindle 18 also remains at a high level.

[0059] Control Strategy: The system adopts a "constant force feed" mode. A relatively high target axial force F_high (e.g., 80N) 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 slightly around the target value. In this mode, the spindle 18 maintains high-speed rotation to achieve efficient cutting.

[0060] Phase Two: Through Cancellous Bone (Low-Speed ​​Detection Mode):

[0061] Signal characteristics: When 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 torque τ will show a clear "trough".

[0062] Control strategy: Once the system detects that the force signal drops by more than a preset threshold (e.g., 50%) within a very short time (e.g., milliseconds), it immediately determines that it has entered the cancellous bone layer. The controller then switches to the "constant low-speed feed" mode, reducing the feed speed to an extremely low level (e.g., 0.01 mm / s). The goal at this stage is to smoothly and slowly pass through the cancellous bone, preparing for the upcoming contact with the thinner and harder inner plate, and avoiding impact to the inner plate due to excessive speed.

[0063] Phase 3: Identification and treatment of the inner plate (fine grinding and safe stopping mode)

[0064] Signal characteristics: When drill bit 4 slowly passes through the cancellous bone and contacts the inner plate of the bone, the axial force F and torque τ will rise rapidly and significantly again.

[0065] The control strategy is as follows:

[0066] (1) Contact identification: The system detects a second surge in force and confirms that the inner plate has been in contact.

[0067] (2) Constant Force Light Grinding: The controller switches to the "Constant Force Light Grinding" mode and sets 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 a constant small pressure.

[0068] (3) Triggered Stop: The system continuously monitors the changing trend of the force signal or sudden displacement. When any of the following conditions are detected, the stop sequence is immediately triggered:

[0069] The rate of change criterion for the third stage of control measurement is: under constant force grinding mode, the axial force shows a nonlinear decrease, indicating that the inner plate structure is about to collapse.

[0070] The displacement mutation criterion during the third stage of control measurement is: if a small, sudden forward displacement (e.g., >0.05mm) is detected in drill bit 4, it indicates that the inner plate has been worn through and drill bit 4 has "jumped".

[0071] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

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; A braking assembly, comprising a photoelectric detection mechanism and a braking mechanism, wherein 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; 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. 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. 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, the reinforcement piston is movably connected to the reinforcement cylinder, the metal plate is disposed on one side of the reinforcement piston, and 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. The drive mechanism includes a housing, a main shaft, a rotor structure, and a stator structure; 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.

2. The intelligent skull drilling device based on force-position feedback control according to claim 1, characterized in that: The shaft housing is disposed in the equipment cavity, the main shaft is connected to a rotor structure, and a 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, and the drill bit is connected to one side of the main shaft.

3. The intelligent skull drilling device based on force-position feedback control according to claim 2, 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.

4. The intelligent skull drilling device based on force-position feedback control according to claim 2, 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.

5. The intelligent skull drilling device based on force-position feedback control according to claim 2, 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.

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