Emergency stop control device and operation power equipment

Abstract

The utility model discloses an emergency stop control device and operation power equipment, and relates to the technical field of medical treatment. The emergency stop control device comprises a current sampling module, a main control module and a motor driving module, and the current sampling module is used for collecting current flowing through a motor, obtaining a current sampling signal and outputting the current sampling signal; the main control module is respectively connected with the current sampling module and the motor driving module; the main control module is used for receiving the current sampling signal, determining the real-time position of the operation terminal according to the received current sampling signal, and outputting a corresponding control signal according to the real-time position of the operation terminal; and the motor driving module is used for receiving the control signal and outputting a current signal / stopping outputting the current signal to the motor according to the received control signal. The utility model aims to improve the accuracy of the operation power equipment, and further improve the accuracy and safety of the operation.

Description

Technical Field

[0001] This utility model relates to the field of medical technology, and in particular to an emergency stop control device and surgical power equipment. Background Technology

[0002] In modern surgery, powered surgical devices are widely used to perform various complex procedures, such as drilling and sawing. However, existing powered surgical devices (such as bone drills) still have many shortcomings in terms of functionality and safety. Relying solely on manual operation to control the start and stop of the drill bit may result in the drill bit penetrating the bone and causing injury to the patient due to improper operation by the surgeon, affecting the surgical outcome and posing a significant medical safety hazard. Utility Model Content

[0003] The main purpose of this invention is to provide an emergency stop control device and a surgical power equipment, which aims to improve the precision of the surgical power equipment, thereby improving the accuracy and safety of the surgery.

[0004] To achieve the above objectives, this utility model proposes an emergency stop control device for use in surgical power equipment. The power equipment includes a main unit, a motor, and an operating terminal driven by the motor. The device is characterized in that the emergency stop control device is located on the main unit and is used to control the motor to operate the operating terminal, or to control the motor to stop the operating terminal. The emergency stop control device includes:

[0005] The current sampling module is used to collect the current flowing through the motor, acquire the current sampling signal, and output it.

[0006] The main control module is electrically connected to the current sampling module and is used to receive the current sampling signal and determine the real-time position of the operation terminal based on the received current sampling signal, and output a corresponding control signal based on the real-time position of the operation terminal.

[0007] A motor drive module, wherein the controlled end of the motor drive module is connected to the main control module, is used to receive the control signal and output a current signal to the motor / stop outputting a current signal according to the received control signal.

[0008] In one embodiment, the current sampling module includes one or more combinations of a Hall sensor, a current transformer, and a shunt.

[0009] In one embodiment, the main control module is further configured to receive a trigger signal and, upon receiving the trigger signal, output a start control signal to the motor drive module, wherein the motor drive module outputs a current signal to the motor according to the received start control signal; and when the current flowing through the motor reaches or exceeds a preset current threshold, determine that the operating terminal is in a penetration state, the main control module outputs a stop control signal, and the motor drive module stops outputting the current signal to the motor according to the received stop control signal.

[0010] In one embodiment, the main control module includes:

[0011] A filtering circuit is electrically connected to the output terminal of the current sampling module, and is used to receive the current sampling signal and filter the received current sampling signal to obtain a filtered signal.

[0012] An analog-to-digital converter circuit is electrically connected to the output terminal of the filter circuit, and is used to receive the filtered signal and perform analog-to-digital conversion on the received filtered signal to obtain a digital signal;

[0013] A control circuit, electrically connected to the output of the analog-to-digital converter circuit, is used to receive the digital signal and output a corresponding control signal to the motor drive module according to the received digital signal, so that the motor drive module outputs a current signal to the motor / stops outputting a current signal according to the received control signal, so that the motor drives the operating terminal to move / stop moving.

[0014] In one embodiment, the emergency stop control device further includes a main control board and a drive board, the main control board and the drive board being electrically connected; the main control module, the current sampling module and the motor drive module are disposed on the drive board.

[0015] In one embodiment, the emergency stop control device further includes a button panel, wherein the button panel, the main control board, and the drive board are electrically connected in sequence; wherein,

[0016] The button panel includes a trigger module, which generates a trigger signal when triggered and sends it to the main control module.

[0017] In one embodiment, the keypad includes:

[0018] The first control module is electrically connected to the output terminal of the trigger module and is used to output a corresponding first control signal according to the trigger signal.

[0019] The main control board includes a second control module, which is electrically connected to the first control module. The second control module processes the received first control signal and outputs a corresponding second control signal to the main control module of the drive board. The main control module controls the motor drive module to run / stop according to the second control signal, so that the motor drives the operation terminal to run / stop.

[0020] In one embodiment, the trigger module is a button, the button is provided with a magnetic component, and the first control module includes:

[0021] A magnetic induction sensor, electrically connected to the button, is used to detect the magnetic field strength and output a corresponding magnetic induction signal when the button is pressed.

[0022] A first control chip is electrically connected to the magnetic induction sensor, and the first control chip is used to output a corresponding first control signal according to the magnetic induction signal.

[0023] In one embodiment, the main control board includes:

[0024] The second control module is electrically connected to the main control module and is used to receive and output the real-time position data output by the main control module.

[0025] The display module is electrically connected to the second control module; it is used to receive and display the real-time location data output by the second control module.

[0026] This utility model also proposes a surgical power device, including a main unit, a motor, an operating terminal connected to and driven by the motor, and an emergency stop control device as described in any of the above, wherein the emergency stop control device is located in the main unit.

[0027] This invention proposes an emergency stop control device for use in surgical power equipment. The power equipment includes a main unit, a motor, and an operating terminal driven by the motor. The emergency stop control device is located on the main unit and is used to control the motor to run the operating terminal, or to control the motor to stop the operating terminal. The emergency stop control device includes a current sampling module, a main control module, and a motor drive module. The current sampling module is used to collect the current flowing through the motor, obtain a current sampling signal, and output it. The main control module is electrically connected to both the current sampling module and the motor drive module. The main control module is used to receive the current sampling signal, determine the real-time position of the operating terminal based on the received current sampling signal, and output a corresponding control signal based on the real-time position of the operating terminal. The motor drive module is used to receive the control signal and output a current signal to the motor or stop outputting a current signal based on the received control signal.

[0028] In practical applications, a current sampling module collects the current flowing through the motor. The main control module processes the current sampling signal output from this module to determine the real-time position of the operating terminal. This allows the system to pinpoint the exact moment the drill bit penetrates the bone and outputs a corresponding control signal to the motor drive module. This stops the motor at the precise moment the drill bit penetrates the bone, preventing unnecessary damage. This effectively improves the precision and safety of orthopedic surgery, reduces surgical risks, increases the success rate, and enhances patient satisfaction. Attached Figure Description

[0029] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0030] Figure 1 This is a schematic diagram of a module of an embodiment of the emergency stop control device of this utility model;

[0031] Figure 2 This is a schematic diagram of another embodiment of the emergency stop control device of this utility model;

[0032] Figure 3 This is a schematic diagram of a module of another embodiment of the emergency stop control device of this utility model;

[0033] Figure 4 This is a schematic diagram of another embodiment of the emergency stop control device of this utility model;

[0034] Figure 5 This is a schematic diagram of a module of another embodiment of the emergency stop control device of this utility model;

[0035] Figure 6 This is a schematic diagram of another embodiment of the emergency stop control device of this utility model;

[0036] Figure 7 This is a detailed circuit diagram of an embodiment of the motor drive module in the emergency stop control device of this utility model;

[0037] Figure 8 This is a detailed circuit diagram of an embodiment of the analog-to-digital conversion circuit in the emergency stop control device of this utility model;

[0038] Figure 9 This is a detailed circuit diagram of an embodiment of the Hall sensor and peripheral circuit in the emergency stop control device of this utility model.

[0039] Explanation of icon numbers:

[0040] 10. Current sampling module; 20. Main control module; 30. Motor drive module; 40. Angle detection module; 50. Depth detection module; 100. First control module; 200. Second control module; 21. Filtering circuit; 22. Analog-to-digital conversion circuit; 23. Control circuit; 110. Magnetic induction sensor; 120. First control chip; 130. Display module.

[0041] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0042] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0043] Furthermore, in this utility model, descriptions involving "first," "second," etc., are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. If the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed by this utility model.

[0044] In modern surgery, powered surgical devices are widely used to perform various complex procedures, such as drilling and sawing. However, existing powered surgical devices (such as bone drills) still have many shortcomings in terms of functionality and safety. Relying solely on manual operation to control the start and stop of the drill bit may result in the drill bit penetrating the bone and causing injury to the patient due to improper operation by the surgeon, affecting the surgical outcome and posing a significant medical safety hazard.

[0045] Therefore, refer to Figure 1 This application discloses an emergency stop control device for use in surgical power equipment, the power equipment including a main unit, a motor, and an operating terminal driven by the motor; the emergency stop control device is located in the main unit and is used to control the motor to run to drive the operating terminal, or to control the motor to stop to stop the operating terminal. The emergency stop control device includes:

[0046] The current sampling module 10 is used to collect the current flowing through the motor and output the corresponding current sampling signal;

[0047] The main control module 20 is electrically connected to the current sampling module 10; it is used to receive the current sampling signal and detect the real-time position of the operation terminal according to the received current sampling signal, and output a corresponding control signal according to the real-time position of the operation terminal.

[0048] The motor drive module 30 is connected to the main control module 20 by its controlled terminal. The motor drive module 30 is used to receive the control signal and output a current signal to the motor / stop outputting the current signal according to the received control signal.

[0049] In this embodiment, the host is the control center of the entire emergency stop control device. It is responsible for receiving various sensor signals, processing data, and outputting control commands to the motor drive module 30, causing the motor drive module 30 to output current / stop current signals to the motor, thereby driving the motor to drive the operating terminal to start / stop. The operating terminal is the component that directly performs surgical operations. It is driven by the motor to complete specific surgical actions, such as drilling and cutting. The operating terminal can be a drill bit, saw blade, clamp, etc., and the specific form depends on the actual needs of the surgery. The current sampling module 10 includes one or more combinations of Hall sensors, current transformers, and shunts. The main control module 20 can be implemented using a main controller, such as an MCU, DSP (Digital Signal Processor), FPGA (Field Programmable Gate Array), PLC, or SOC (System on Chip). The motor drive module 30 can be implemented using a bridge drive circuit.

[0050] It should be noted that, taking the bone drill as the surgical power device and the drill bit as the operating terminal as an example, the changes in the current signal during the bone drilling process can be divided into three main stages: approaching penetration (approaching penetration state), the instant of penetration (instant penetration state), and complete penetration (complete penetration 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 cutting resistance of the drill bit also decreases. However, as the drill bit is about to penetrate the bone, the contact point between the drill bit and the bone becomes increasingly concentrated, leading to local stress concentration and generating higher friction. This increases the load on the motor, causing the current to rise. Furthermore, as the drill bit approaches the other side of the bone, its rotational speed may slow down, which will further increase the current demand on the motor, resulting in a greater current near penetration. When the drill bit has just penetrated the bone, the contact point between the drill bit and the bone suddenly disappears, and the drill bit enters a low-resistance environment from a high-resistance environment. At this instant, the cutting resistance of the drill bit decreases sharply, but the inertia of the motor still exists, causing a sudden increase in the load on the motor for a short period. Since the load on the motor reaches its maximum at this instant, the current rises rapidly and reaches its peak. This is because at the moment the drill penetrates the bone, the motor needs to overcome the final high resistance while maintaining the drill's rotational speed, causing the current to reach its peak. Once the drill has completely passed through the bone, it enters the air or soft tissue, significantly reducing cutting resistance. At this point, the drill is no longer limited by the high resistance of the bone, and the motor's load decreases significantly. As the drill enters a low-resistance environment, the motor's load decreases rapidly, and the current drops accordingly. The motor operates under low load, and the current returns to normal levels or even lower. Therefore, the current signal at the moment of penetration is greater than the current signal during the steady phase of bone drilling. This application determines the current real-time position of the drill in the surgical power equipment by detecting the motor's current signal, thereby performing penetration identification and controlling the operation / stopping of the surgical power equipment.

[0051] In this embodiment, the current sampling module 10 is used to sample the current signal of the motor during the operation and output the corresponding current sampling signal to the main control module 20, so that the main control module 20 can calculate the current value based on the received current sampling signal. In this way, the motor speed can be controlled according to the change pattern of the motor current signal. For example, when the drill just breaks through, the main control module 20 will respond immediately according to the specific change in the current signal and cut off the motor power supply to achieve "stop upon drilling through".

[0052] Optionally, the main control module 20 is configured to output a start control signal to the motor drive module 30 when a trigger signal is received, so that the motor drive module 30 outputs a current signal to the motor according to the received start control signal; and to determine that the operation terminal is in a penetration instant state when the motor current reaches a preset current threshold based on the current sampling signal, and output a stop control signal so that the motor drive module 30 stops outputting a current signal to the motor according to the received stop control signal.

[0053] Specifically, surgical power equipment typically has a trigger button. When the user presses the trigger button, a corresponding trigger signal is output to the main control module 20. Upon receiving the trigger signal, the main control module 20 outputs a start control signal to the motor drive module 30, controlling the motor drive module 30 to output a current signal to the motor, thus starting the surgical power equipment. During operation, when the main control module 20 determines, based on the received current sampling signal, that the motor current value is in an upward trend (gradually increasing) and less than a preset current threshold, it indicates that the drill bit's real-time position is close to penetration. At this point, it continues to output a start control signal to the motor drive module 30 to control the motor drive module 30 to output a current signal to the motor until penetration is achieved. When the main control module 20 determines, based on the current sampling signal, that the motor current has reached the preset current threshold, it indicates that the drill bit's real-time position is at the moment of penetration. It immediately outputs a stop control signal to the motor drive module 30 to control the motor drive module 30 to stop outputting a current signal to the motor, thus stopping the motor's movement. When the current signal at the moment of drilling is determined, the motor power supply is automatically cut off, the output of the motor drive module 30 is stopped, the drilling work is terminated, and soft tissue is prevented from being damaged.

[0054] In this embodiment, since Hall sensors have the advantages of non-contact measurement, fast response speed, and high accuracy, a Hall sensor is used as an example in the current sampling module 10 for explanation. (Reference) Figure 7 The motor drive module 30 includes an inverter bridge drive circuit. The inverter bridge drive circuit receives the PWM control signal output from the main control module 20, controls the high-speed switching of MOSFETs, and adjusts the output voltage, frequency, amplitude, and phase. During this process, single-phase line voltage can be sampled in real time, and the current flowing through the motor can be acquired. The acquired current signal is then processed, for example, filtered, before being output to the main control module 20. This allows the main control module 20 to adjust the PWM output based on the filtered signal, forming a closed-loop control that makes the motor run more smoothly. It can be understood that the three-phase inverter bridge drive circuit includes three phases: U, V, and W. Figure 7 This is a U-phase circuit; the other two phase circuits are connected to... Figure 7Similarly, the first input terminal PWM-UL and the second input terminal PWM-HL of the inverter bridge drive circuit are electrically connected to the output terminal of the main control module 20, respectively, and are respectively connected to the high and low side PWM control signals (pulse width modulation signals) output by the main control module 20. The signals connected to the first input terminal and the second input terminal are isolated by opto-isolation chips and then output to the driver chip U13. The driver chip is electrically connected to the gate of two high-speed switches, respectively. That is, U13 controls the working state of the high-speed switches Q1 and Q2 of the N-channel MOSFET, thereby realizing the control of the motor load current and voltage. The circuit consists of a first input terminal connected to opto-isolation chip U17, a second input terminal connected to opto-isolation chip U14, and a bootstrap circuit consisting of diode D15 and capacitor C84 electrically connected to the driver chip. Capacitor C84 stores charge, and diode D15 prevents reverse current flow. The bootstrap circuit voltage is the input voltage plus the capacitor voltage, thus boosting the voltage. Resistor R72, electrically connected to the HO pin (second output terminal) of the driver chip, and resistor R80, electrically connected to the LO pin (first output terminal) of the driver chip, are current-limiting resistors for the base of the MOSFET. PVDD is the motor power supply voltage (e.g., 48V), provided by the switching power supply. PHASEU is the output voltage of the U-phase of the drive motor. Resistors R78, R81, and C85 form a line voltage sampling circuit, where the common terminal VOLT_A of resistors R78 and R81 is the sampling point. The Hall sensor can collect the current at the sampling point and output a current sampling signal to the main control module 20. The main control module 20 then determines the real-time position of the drill bit based on the received current sampling signal, i.e., the real-time position of the drill bit, and the exact moment (or the required time) at which the drill bit penetrates the bone. It then outputs a corresponding control signal to the motor drive module 30, thereby controlling the motor to stop moving at the exact moment the drill bit penetrates the bone. For example, the main control module 20 analyzes the time and frequency domain characteristics of the current signal in real time. When a significant abrupt change in the current signal is detected, indicating that the drill bit has just penetrated the bone, a stop control signal is output to the motor drive module 30. The motor drive module 30 then controls the motor to stop moving according to the stop control signal. In other words, when the current signal at the moment of penetration is determined, the motor power is automatically cut off, the output of the motor drive module 30 is stopped, and the drilling operation is terminated to prevent damage to soft tissue.

[0055] In practical applications, the current sampling module 10 collects the current signal flowing through the motor. The main control module 20 processes the current sampling signal output from the current sampling module 10, detects the real-time position of the drill bit, and determines the instant the drill bit penetrates the bone. It then outputs a corresponding control signal to the motor drive module 30, thereby controlling the motor to stop moving at the exact moment the drill bit penetrates the bone, avoiding unnecessary damage. This effectively improves the precision and safety of orthopedic surgery, reduces surgical risks, increases the success rate of surgery, and enhances patient satisfaction.

[0056] refer to Figure 2 In one embodiment of this utility model, the main control module 20 includes:

[0057] The filter circuit 21 is electrically connected to the output terminal of the current sampling module 10; the filter circuit 21 is used to receive the current sampling signal and filter the received current sampling signal to obtain a filtered signal.

[0058] Analog-to-digital converter circuit 22, which is electrically connected to the output terminal of filter circuit 21; used to receive the filtered signal and convert the received filtered signal into a digital signal by analog-to-digital conversion;

[0059] The control circuit 23 is electrically connected to the output terminal of the analog-to-digital converter circuit 22. It is used to receive the digital signal and output a corresponding control signal to the motor drive module 30 according to the received digital signal, so that the motor drive module 30 outputs a current signal to the motor / stops outputting a current signal according to the received control signal, so that the motor drives the operating terminal to move / stop moving.

[0060] In this embodiment, the filter circuit 21 can be implemented by a low-pass filter circuit or a high-pass filter circuit composed of at least one of resistors and capacitors, the analog-to-digital conversion circuit 22 can be implemented by an analog-to-digital conversion chip, and the control circuit 23 can be implemented by the aforementioned main controller.

[0061] It should be noted that in practical applications, the current sampling signal is affected by various noises, including electromagnetic interference (EMI), power supply noise, and environmental noise. These noises can be superimposed on the useful signal, causing signal distortion, potentially leading to incorrect control decisions, or even damaging the equipment. In this embodiment, a low-pass filter (low-pass filter circuit) can be used to remove high-frequency noise and retain the low-frequency useful signal, preserving the low-frequency components of the current signal. Furthermore, the current sampling signal output by the current sampling module 10 is an analog signal, which varies continuously in time and amplitude. Main controllers, such as microcontrollers (MCUs) and other digital processing units, can only process discrete digital signals. Therefore, an analog-to-digital converter circuit 22 can be used to convert the analog signal (filtered signal) output by the low-pass filter into a digital signal, making it processable by the control circuit 23.

[0062] In this embodiment, based on the principle of the Hall effect, a Hall sensor can convert a large current signal into a small voltage signal proportional to the current, thus facilitating its input to the analog-to-digital converter circuit 22. (See reference) Figure 8 , Figure 8 The analog-to-digital converter circuit 22 consists of an AD conversion chip and peripheral circuitry. The signal output from the Hall sensor, after processing, is output to the CURR SAMP1 signal terminal of the AD conversion circuit 22. The CURR SAMP2 signal terminal of the AD conversion circuit 22 provides a reserved channel for future expansion, increasing the flexibility and scalability of the surgical power equipment. All CH_n signal terminals of the AD conversion chip used to output digital signals are electrically connected to the main control module 20. Through intelligent algorithms, the electrical signal during drilling is determined. For example, the main control module 20 analyzes the time and frequency domain characteristics of the current signal in real time. When a significant abrupt change in the current signal is detected, indicating that the drill bit has just penetrated the bone, a stop control signal is output to the motor drive module 30. The motor drive module 30, based on the stop control signal, controls the motor to stop moving. In other words, when a current signal indicating drilling penetration is determined, the motor power is automatically cut off, the output of the motor drive module 30 is stopped, and drilling work is terminated to prevent damage to soft tissue, achieving a drill-through-stop function.

[0063] In practical applications, the current sampling module 10 monitors the current signal in real time, enabling the motor to stop immediately upon the drill penetrating the bone. This avoids soft tissue damage caused by over-drilling and reduces surgical risks. Simultaneously, the filter circuit 21 removes high-frequency noise while retaining useful low-frequency signals, improving signal accuracy. The analog-to-digital converter chip, with its high-resolution and high-speed conversion capabilities, further ensures signal accuracy and real-time performance, preventing noise and interference signals from affecting the operation of the surgical power equipment. Furthermore, the main control module 20, by analyzing the time and frequency domain characteristics of the current signal in real time, can accurately determine the real-time position of the operating terminal and the moment of drilling penetration, improving control precision and further enhancing surgical safety.

[0064] It is important to note that the accuracy of drilling depth and angle is crucial in trauma surgery. Typically, surgeons first drill the hole and then use a specialized depth gauge to measure the depth to ensure the selection of the appropriate screw length. This process is not only cumbersome and time-consuming, but also makes it difficult to guarantee measurement accuracy, affecting surgical outcomes. Furthermore, some locking screws require installation at specific angles to maintain locking force, necessitating drilling at a certain angle. Current methods use a guide to direct the drill bit, which poses significant medical safety risks.

[0065] Therefore, in one embodiment, reference is made to Figure 3 The emergency stop control device further includes:

[0066] An angle detection module 40 is electrically connected to the main control module 20.

[0067] The angle detection module 40 is used to detect the angle of the drill bit and output the corresponding angle detection signal to the main control module 20;

[0068] A depth detection module 50 is electrically connected to the main control module 20.

[0069] The depth detection module 50 is used to detect the angle of the drill bit and output the corresponding depth detection signal to the main control module 20;

[0070] The main control module 20 is used to output a corresponding control signal to the motor drive module 30 according to the received angle detection signal and / or depth detection signal, so that the motor drive module 30 outputs a current signal to the motor / stops outputting a current signal according to the received control signal, thereby driving the motor to move / stop moving the operating terminal.

[0071] In this embodiment, the angle detection module 40 includes one or more combinations of a gyroscope position sensor, an incremental encoder, a gravity sensor, and a fiber optic sensor. The depth detection module 50 includes one or more combinations of a laser sensor, an infrared sensor, and an ultrasonic sensor.

[0072] Taking a gyroscope position sensor as the angle detection module 40 and a laser sensor as the depth detection module 50 as an example, the following explanation is provided. When the drill bit starts moving, the gyroscope position sensor detects the angle of the drill bit in real time. By detecting the angular velocity and angle changes of the drill bit, it outputs the corresponding angle detection signal to the main control module 20. The laser sensor detects the depth of the drill bit in real time, i.e., the distance the drill bit has moved, and outputs the corresponding depth detection signal to the main control module 20. The main control module 20 monitors the angle of the drill bit during the operation in real time based on the received angle detection signal, and detects the depth of the drill bit based on the received depth detection signal, to determine whether the drill bit has just drilled through the bone. When the drill bit drills through, the main control module 20 will respond immediately, cutting off the motor power supply to achieve "stop upon drilling through," avoiding unnecessary damage.

[0073] It should be noted that users can set the drilling offset angle threshold and drilling depth threshold through the user input interface, or store the drilling offset angle threshold and drilling depth threshold in advance in the memory of the main control module 20. When the main control module 20 determines that the drill bit travel angle is equal to or close to the drilling offset angle threshold based on the angle detection signal, and / or determines that the drill bit travel depth is equal to or close to the drilling depth threshold based on the distance detection signal, it immediately outputs the corresponding control signal, causing the motor drive module 30 to drive the motor to stop the drill bit. It is understood that the surgical power device may also include a prompting component (such as a display screen), electrically connected to the main control module 20. When the main control module 20 determines that the drill bit travel angle is equal to or close to the drilling offset angle threshold based on the angle detection signal, and / or determines that the drill bit travel depth is equal to or close to the drilling depth threshold based on the distance detection signal, while controlling the motor drive module 30 to drive the motor to stop the drill bit, it can also control the prompting component to issue an alarm. The user (doctor) can set the allowable range of angle error and depth error through the user input interface or external terminal. When the main control module 20 determines that the drill bit's travel angle has reached the allowable range of angle error based on the angle detection signal, and / or determines that the drill bit's travel depth has reached the allowable range of depth error based on the depth detection signal, the control prompt component will work to prompt the doctor through indicator lights, buzzer alarms, and other prompts, indicating that the drill bit is about to deviate and needs to be corrected in time, and the travel posture will be corrected in real time. Based on the doctor's feedback, the main control module 20 can further control the motor movement to improve the accuracy and safety of drilling.

[0074] By setting up the angle detection module 40 and the depth detection module 50, real-time monitoring and precise control of the drill bit angle and depth are achieved, simplifying the surgical procedure, shortening the surgical time, and significantly improving the safety and accuracy of the surgery.

[0075] In one embodiment, reference Figure 4 The emergency stop control device also includes a main control board and a drive board. The main control board is electrically connected to the drive board. The main control module 20, the current sampling module 10 and the motor drive module 30 are all located on the drive board.

[0076] Optionally, the emergency stop control device further includes a button panel, wherein the button panel, the main control board, and the drive board are electrically connected in sequence; wherein,

[0077] The keypad includes a trigger module, which generates a trigger signal when triggered and sends it to the main control module 20.

[0078] In this embodiment, the button board, main control board, and driver board can all be implemented using printed circuit boards (PCBs), flexible printed circuit boards (FPCs), etc. The trigger module can be implemented using virtual buttons or physical buttons. The main control board, button board, and driver board are all equipped with communication interfaces. These are connected in a pluggable manner via communication interfaces and connectors, ensuring the system's flexibility and maintainability. The main control board is the core of the surgical power equipment, primarily responsible for transmission and control. In addition to communication interfaces for communication with the button board and driver board, the main control board also has peripheral interfaces such as Ethernet, Bluetooth, TFCard, and USB. Ethernet can be used for data transmission and program downloading; the USB interface is used for system programming, printing, and debugging; the Bluetooth / WIFI interface is used for wireless communication; and the TFCard is used for program downloading, etc.

[0079] Optionally, the keypad includes:

[0080] The first control module 100 is electrically connected to the output terminal of the trigger module and is used to output a corresponding first control signal according to the trigger signal.

[0081] The main control board includes a second control module, which is electrically connected to the first control module 100. The second control module processes the received first control signal and outputs a corresponding second control signal to the main control module 20 of the drive board. The main control module 20 controls the motor drive module 30 to run / stop according to the second control signal, so that the motor drives the operation terminal to run / stop.

[0082] In this embodiment, both the first control module 100 and the second control module 200 can be implemented using the aforementioned main controller.

[0083] Among them, reference Figure 5 The trigger module is a button, and the button is provided with a magnetic component. The first control module 100 includes:

[0084] A magnetic induction sensor 110 is electrically connected to the button and is used to detect the magnetic field strength and output a corresponding magnetic induction signal when the button is pressed.

[0085] The first control chip 120 is electrically connected to the magnetic induction sensor 110, and the first control chip 120 is used to output a corresponding first control signal according to the magnetic induction signal.

[0086] In this embodiment, the magnetic induction sensor 110 can be implemented using a Hall sensor, and the first control chip 120 can be implemented using the aforementioned main controller.

[0087] Specifically, taking the first control chip 120 as an MCU, the second control module 200 as a SOC, and the main control module 20 as an FPGA as an example, the user operating device is equipped with mechanical buttons. These buttons have magnetic components (such as magnets), and a linear Hall sensor is located on the button panel. Different degrees of button pressing result in different magnetic flux sensed by the Hall sensor, which outputs different magnitudes of analog voltage (the first control signal) to the MCU. After signal processing by the SOC, the corresponding second control signal is output to the FPGA. The FPGA controls the motor drive module 30 to output different magnitudes of current / voltage according to the second control signal to achieve the bone drilling function. Simultaneously, the current sampling module 10 collects the current flowing through the motor. The FPGA receives this and controls the motor to run / stop according to the current sampling signal, thus achieving the effect of stopping immediately after drilling.

[0088] It should be noted that the Hall sensor outputs different analog voltages based on the force of the user pressing the button. These voltages can be filtered by the filter circuit 21 before being sent to the AD conversion circuit inside the MCU to be converted into digital signals. The MCU then processes the signals to determine the real-time position of the drill bit, i.e., to analyze whether it is a current signal during the steady bone drilling phase or a current signal at the moment of drilling through, so as to achieve drilling stop immediately after drilling through and avoid excessive drilling, which would affect the surgical outcome.

[0089] refer to Figure 9 , Figure 9The main control module 20 consists of a Hall sensor and peripheral circuitry. Resistor R5 and capacitor C8 form a filter circuit 21. H1 is the Hall sensor, and the signal terminal V is used to connect to the circuit's power supply voltage of 3.3V. The Hall sensor H1 outputs a corresponding analog voltage based on the degree to which the button is pressed. This voltage is then filtered by the filter circuit 21 (resistor R5 and capacitor C8) and output to the signal terminal V_KEY. The signal terminal V_KEY is electrically connected to the MCU, allowing the analog signal output from V_KEY to undergo analog-to-digital conversion via the MCU's internal AD conversion circuit before being processed by the MCU to identify the drill bit's real-time position and perform drill penetration detection.

[0090] In addition, in this embodiment, the first control chip 120 can be used to receive real-time position detection signals (including angle detection signals and depth detection signals). That is, the analog-to-digital converter circuit 22 integrated inside the MCU converts the analog signals output by the gyroscope position sensor and the laser sensor into digital quantities to determine the real-time position of the drill bit, and outputs the corresponding first control signal to the second control module 200. After the second control module 200 processes the signal, it outputs the second control signal to the main control module 20, so that the main control module 20 controls the motor drive module 30 to drive the motor to move / stop the drill bit.

[0091] Through the coordinated operation of multi-level control circuits 23, high-precision control of the drill bit's movement is achieved. The combined design of MCU, SOC, and FPGA not only improves the processing power of the surgical power equipment but also increases its flexibility and scalability. Simultaneously, the trigger module design allows users to intuitively adjust the drill bit's operating status, improving operational convenience and safety during surgery. Surgeons can quickly adjust the drill bit's speed and force according to actual needs, increasing the success rate of surgery.

[0092] In another embodiment, reference Figure 6 The main control board includes:

[0093] The main control board includes:

[0094] The second control module 200 is electrically connected to the main control module 20 and is used to receive and output the real-time position data output by the main control module 20.

[0095] Display module 130, which is electrically connected to the second control module 200, is used to receive and display the real-time location data output by the second control module 200.

[0096] In this embodiment, the second control module 200 can be implemented using the aforementioned main controller. The display module 130 can be implemented using a display screen and a corresponding driving module, such as an LCD screen and an LCD screen driving module, an LED screen and an LED screen driving module, and an OLED screen and an OLED screen driving module, etc.

[0097] Based on the above embodiments, the main control module 20 can determine the real-time position of the operating terminal based on the current sampling signal. It then outputs the real-time position data to the second control module 200, which in turn outputs the received real-time position data to the display module 130. The display module 130 displays the data, allowing the doctor to determine whether timely correction is needed based on the real-time position displayed on the display module 130, thereby improving surgical accuracy. For example, the real-time position data includes angle and depth data. The main control module 20 can detect the drill bit's angle based on the received angle detection signal and the drill bit's depth based on the received depth detection signal, and output the angle and / or depth data to the second control module 200 respectively. The second control module 200 then outputs this data to the display module 130 for display, allowing the doctor to see the real-time position data more intuitively and make real-time corrections to the drilling posture. Based on the doctor's feedback, the main control module 20 can further control the motor movement, improving drilling accuracy and safety.

[0098] The display module 130 displays real-time position data, allowing doctors to accurately monitor the drill bit's position and angle, thereby reducing surgical errors, ensuring greater precision, and enhancing surgical safety. Furthermore, the intuitive data display reduces the need for manual adjustments by doctors, simplifying the surgical procedure and improving efficiency.

[0099] It is worth noting that since the emergency stop control device of this utility model is based on the above-mentioned emergency stop control device, the embodiments of the emergency stop control device of this utility model include all the technical solutions of all the embodiments of the above-mentioned emergency stop control device, and the technical effects achieved are exactly the same, so they will not be repeated here.

[0100] This utility model also proposes a surgical power device, which includes a main unit, a motor, an operating terminal connected to and driven by the motor, and an emergency stop control device as described in any of the above.

[0101] In this embodiment, the host unit is the control center of the entire emergency stop control device. It is responsible for receiving various sensor signals (including the current sampling signal output by the current sampling module), processing data, and outputting control commands to the motor drive module 30. This causes the motor drive module 30 to output current to the motor / stop the output current signal, thereby driving the motor to start / stop the operating terminal. The operating terminal is the component that directly performs surgical operations. It is driven by a motor and completes specific surgical actions, such as drilling and cutting. The operating terminal can be a drill bit, saw blade, clamp, etc., and its specific form depends on the actual needs of the surgery.

[0102] It is worth noting that since the surgical power device of this utility model is based on the above-mentioned emergency stop control device, the embodiments of the surgical power device of this utility model include all the technical solutions of all the embodiments of the above-mentioned emergency stop control device, and the technical effects achieved are exactly the same, so they will not be repeated here.

[0103] The above description is only an optional embodiment of the present utility model and does not limit the patent scope of the present utility model. All equivalent structural transformations made under the inventive concept of the present utility model using the contents of the present utility model specification and drawings, or direct or indirect applications in other related technical fields, are included within the patent protection scope of the present utility model.

Claims

1. An emergency stop control device applied to a surgical power device, the power device comprising a motor and an operation terminal driven by the motor; characterized in that, The emergency stop control device is used for controlling the motor to drive the operation terminal to run or stopping the motor to make the operation terminal stop, and the emergency stop control device comprises: A current sampling module is configured to collect the current flowing through the motor, obtain a current sampling signal, and output the current sampling signal. A main control module is electrically connected with the current sampling module, configured to receive the current sampling signal, determine the real-time position of the operation terminal according to the received current sampling signal, and output a corresponding control signal according to the real-time position of the operation terminal. A motor driving module is connected with the main control module at a controlled end, configured to receive the control signal and output a current signal to the motor or stop outputting the current signal to the motor according to the received control signal.

2. The emergency shutdown control apparatus of claim 1, wherein The current sampling module is one or a combination of a Hall sensor, a current transformer, and a shunt.

3. The emergency shutdown control apparatus of claim 1, wherein The main control module is further configured to receive a trigger signal and output a start control signal to the motor driving module when the trigger signal is received, and the motor driving module outputs the current signal to the motor according to the received start control signal. When the current flowing through the motor reaches or exceeds a preset current threshold, it is determined that the operation terminal is in a penetration state, the main control module outputs a stop control signal, and the motor driving module stops outputting the current signal to the motor according to the received stop control signal.

4. The emergency shutdown control apparatus of claim 1, wherein The main control module comprises: A filter circuit is electrically connected with an output end of the current sampling module, configured to receive the current sampling signal and perform filtering processing on the received current sampling signal to obtain a filtered signal. An analog-to-digital conversion circuit is electrically connected with an output end of the filter circuit, configured to receive the filtered signal and perform analog-to-digital conversion on the received filtered signal to obtain a digital signal. A control circuit is electrically connected with an output end of the analog-to-digital conversion circuit, configured to receive the digital signal and output a corresponding control signal to the motor driving module according to the received digital signal, so that the motor driving module outputs the current signal to the motor or stops outputting the current signal to the motor according to the received control signal, so that the motor drives the operation terminal to move or stop moving.

5. The emergency-off control device according to any one of claims 1 to 4, wherein Further comprising a main control board and a driving board, the main control board is electrically connected with the driving board, and the main control module, the current sampling module, and the motor driving module are all arranged on the driving board.

6. The emergency shutdown control apparatus of claim 5, wherein The emergency stop control device further comprises a key board, the key board, the main control board, and the driving board are electrically connected in sequence; wherein, The key board comprises a trigger module, the trigger module is used to generate a trigger signal when triggered and send the trigger signal to the main control module.

7. The emergency shutdown control apparatus of claim 6, wherein The key board comprises: A first control module is electrically connected with an output end of the trigger module, configured to output a corresponding first control signal according to the trigger signal. The master control board comprises a second control module, which is electrically connected with the first control module, and is used for outputting corresponding second control signals to the master control module of the driving board after signal processing of the received first control signals, and the master control module controls the motor driving module to run or stop according to the second control signals, so that the motor drives the operation terminal to run or stop.

8. The emergency shutdown control apparatus of claim 7, wherein The trigger module is a key, and a magnetic component is arranged on the key. A magnetic induction sensor is electrically connected with the key, and is used for detecting a magnetic field intensity when the key is pressed and outputting a corresponding magnetic induction signal; A first control chip is electrically connected with the magnetic induction sensor, and is used for outputting a corresponding first control signal according to the magnetic induction signal.

9. The emergency shutdown control apparatus of claim 5, wherein The master control board comprises: A second control module is electrically connected with the master control module, and is used for receiving real-time position data output by the master control module and outputting the real-time position data; A display module is electrically connected with the second control module, and is used for receiving the real-time position data output by the second control module and displaying the real-time position data.

10. A surgical power device, characterized by, The emergency stop control device comprises a host, a motor, an operation terminal connected with the motor and driven by the motor, and the emergency stop control device is arranged in the host.

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