Bone drill equipment control circuit, electric control device and bone drill equipment

Abstract

The utility model discloses a bone drill equipment control circuit, an electric control device and bone drill equipment, and relates to the technical field of medical treatment. The control circuit is arranged on the host and used for controlling the motor to operate so as to drive the bone drill to operate or controlling the motor to stop so as to stop the bone drill, the control circuit comprises a pose acquisition module, a comparison module, a main control module and a motor driving module, and the pose acquisition module is used for acquiring and outputting pose data when the drill bit moves; the comparison module is connected with the pose acquisition module and is used for receiving the pose data, comparing the pose data with a preset threshold value and outputting a comparison result; the main control module is connected with the comparison module and used for receiving the comparison result and outputting a control signal according to the comparison result, and the control signal is a current signal; and the motor driving module is connected with the main control module and is used for receiving the control signal and outputting a driving signal to a motor or stopping outputting the driving signal according to the received control signal, and the driving signal is a current signal. The utility model aims to improve the accuracy of the bone drill equipment and further improve the accuracy and safety of an operation.

Description

TECHNICAL FIELD

[0001] The utility model relates to medical technology field especially relates to a bone drill equipment control circuit, electric control device and bone drill equipment. BACKGROUND

[0002] In modern surgery, surgical power devices are widely used to perform various complex operations, such as drilling, sawing, etc. However, the existing surgical power devices (such as bone drill equipment, referred to as bone drill) still have many deficiencies in function and safety. For example, in trauma surgery, the accuracy of drilling depth and angle is crucial. Usually, the doctor needs to complete drilling first, and then uses a special depth measuring tool (depth gauge) to measure the hole depth to ensure the selection of appropriate length of screw. This process is not only cumbersome to operate, but also takes a long time, and the accuracy of measurement is difficult to guarantee, which affects the surgical effect and poses a great medical safety hazard. SUMMARY

[0003] The main purpose of the utility model is to provide a bone drill equipment control circuit, electric control device and bone drill equipment, which aims to improve the accuracy of the bone drill equipment and thus improve the accuracy and safety of the surgery.

[0004] To achieve the above purpose, the utility model provides a bone drill equipment control circuit, the bone drill equipment includes host computer, motor and bone drill driven by motor;The control circuit is arranged in the host computer, which is used for controlling the motor to run to drive the bone drill to run, or controlling the motor to stop to make the bone drill stop, and the control circuit comprises:

[0005] The pose acquisition module is used for acquiring the pose data of the bone drill movement and outputting;

[0006] The comparison module is connected with the pose acquisition module, which is used for receiving the pose data and comparing with the preset threshold value electric signal, and outputting the comparison result electric signal;

[0007] The main control module is connected with the comparison module, which is used for receiving the comparison result electric signal and outputting the control signal;

[0008] The motor drive module is connected with the main control module, which is used for receiving the control signal and outputting the drive signal or stopping outputting the drive signal to the motor, and the drive signal is current signal.

[0009] In an embodiment, the pose acquisition module comprises:

[0010] The depth acquisition module is electrically connected with the main control module, which is used for acquiring the moving distance of the drill bit and outputting the corresponding distance data to the comparison module;

[0011] The comparison module compares the received distance data with preset distance data and outputs an electrical signal indicating the distance comparison result; wherein,

[0012] The main control module outputs a running control signal when it determines that the distance data is less than the preset distance data based on the distance comparison result electrical signal, and the motor drive module outputs a current signal to the motor;

[0013] And when the main control module determines that the distance data is greater than or equal to the preset distance data based on the distance comparison result electrical signal, it outputs a stop control signal, and the motor drive module stops outputting current signals to the motor.

[0014] In one embodiment, the depth acquisition module includes one or more combinations of a laser sensor, an infrared sensor, and an ultrasonic sensor.

[0015] In one embodiment, the pose acquisition module includes:

[0016] An angle acquisition module, electrically connected to the main control module, is used to acquire the angle of the drill bit and output the corresponding angle data to the comparison module;

[0017] The comparison module compares the received angle data with preset angle data and outputs an electrical signal indicating the angle comparison result; wherein,

[0018] The main control module outputs a running control signal when it determines that the angle data is less than the preset angle data based on the angle comparison result electrical signal, and the motor drive module outputs a current signal to the motor.

[0019] And when the main control module determines that the angle data is greater than or equal to the preset angle data based on the angle comparison result electrical signal, it outputs a stop control signal, and the motor drive module stops outputting current signals to the motor.

[0020] In one embodiment, the angle acquisition module includes one or more combinations of a gyroscope position sensor, an incremental encoder, a gravity sensor, and a fiber optic sensor.

[0021] In one embodiment, the bone drill control circuit further includes:

[0022] The display module is electrically connected to the pose acquisition module and is used to receive and display the pose data.

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

[0024] A first control circuit is configured to receive the comparison result electrical signal and output a corresponding operation control signal or stop control signal based on the comparison result electrical signal.

[0025] The second control circuit is electrically connected to the first control circuit.

[0026] The second control circuit is used to receive the operation control signal or the stop control signal, and to process the operation control signal or the stop control signal and then output it.

[0027] The third control circuit is electrically connected to the second control circuit.

[0028] The third control circuit is used to receive the operation control signal or the stop control signal after signal processing by the second control circuit, and to adjust the motor output parameters according to the operation control signal or the stop control signal, and output the corresponding control signal to the motor drive module to control the motor drive module to output a drive signal to the motor or stop outputting a drive signal.

[0029] This utility model also proposes an electronic control device, which includes the bone drill equipment control circuit described in any of the above claims, as well as a keypad, a main control board, and a drive board; the keypad, the main control board, and the drive board are electrically connected in sequence.

[0030] The pose acquisition module and the motor drive module are mounted on the drive board, and the comparison module and the main control module are mounted on the main control board.

[0031] In one embodiment, the main control board is communicatively connected to the driver board and the keypad board via connectors.

[0032] This utility model also proposes a bone drill device, which includes a main unit, a motor connected to the main unit, a bone drill connected to and driven by the motor, and an electrical control device as described in any of the above, wherein the electrical control device is located inside the main unit.

[0033] This invention proposes a control circuit for a bone drill device. The bone drill device includes a main unit, a motor, and a bone drill driven by the motor. The control circuit is located on the main unit and is used to control the motor to run and drive the bone drill, or to control the motor to stop and stop the bone drill. The control circuit includes a pose acquisition module, a comparison module, a main control module, and a motor drive module. The pose acquisition module is used to acquire and output the pose data of the drill bit during movement. The comparison module is connected to the pose acquisition module and is used to receive the pose data and compare it with a preset threshold electrical signal, and output a comparison result electrical signal. The main control module is connected to the comparison module and is used to receive the comparison result electrical signal and output a control signal. The motor drive module is connected to the main control module and is used to receive the control signal and output a drive signal to the motor / stop outputting the drive signal. The drive signal is a current signal.

[0034] In practical applications, the pose acquisition module detects the pose data of the bone drill in real time, including but not limited to depth and angle. For example, the pose data includes distance pose data representing the depth of the bone drill and angle pose data representing the angle of the bone drill. The comparison module receives the pose data output by the pose acquisition module and compares it with a preset threshold electrical signal, outputting the corresponding comparison result electrical signal. The main control module outputs a control signal to the motor drive module based on the comparison result electrical signal, controlling the motor drive module to output drive signals to the motor / stop output drive signals, thereby dynamically adjusting the motor's motion parameters to ensure precise control of the drilling process. This ensures that when the drill bit reaches the preset depth or angle, the main control module immediately controls the motor to stop moving, achieving "stop upon drilling" and avoiding unnecessary damage. This effectively improves the accuracy and safety of orthopedic surgery, reduces surgical risks, increases surgical success rates, and enhances patient satisfaction. Attached Figure Description

[0035] 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.

[0036] Figure 1 This is a schematic diagram of a module of an embodiment of the control circuit for the bone drill equipment of this utility model;

[0037] Figure 2 This is a schematic diagram of another embodiment of the control circuit for the bone drill equipment of this utility model;

[0038] Figure 3 This is a schematic diagram of a module of another embodiment of the control circuit for the bone drill equipment of this utility model;

[0039] Figure 4 This is a schematic diagram of a module of an embodiment of the electronic control device of this utility model;

[0040] Figure 5 This is a circuit diagram of an embodiment of the communication interface of the main control board in the electronic control device of this utility model;

[0041] Figure 6 This is a circuit diagram of an embodiment of the RS485 communication circuit of this utility model.

[0042] Explanation of icon numbers:

[0043] 10. Pose acquisition module; 20. Main control module; 30. Comparison module; 40. Motor drive module; 50. Display module; 11. Depth acquisition module; 12. Angle acquisition module; 21. First control circuit; 22. Second control circuit; 23. Third control circuit.

[0044] 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

[0045] 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.

[0046] 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. When 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.

[0047] In modern surgery, surgical power devices are widely used to perform various complex procedures, such as drilling and sawing. However, existing surgical power devices (such as bone drills) still have many shortcomings in terms of functionality and safety. They offer no safety warnings or protections regarding whether the hole has been drilled through or whether it will damage the soft tissue on the opposite side. In most cases, judgment must be made based on the surgeon's experience, which is not very safe. For example, in trauma surgery, the accuracy of drilling depth and angle is crucial. Typically, the surgeon needs to drill first and then use a specialized depth gauge to measure the hole depth to ensure the selection of a screw of the appropriate length. This process is not only cumbersome and time-consuming, but also makes it difficult to guarantee the accuracy of the measurement, affecting the surgical outcome. Furthermore, some locking screws need to be installed at a specific angle to maintain locking force, requiring drilling at a certain angle. Current solutions use a guide to guide the drill bit during drilling, which poses significant medical safety risks.

[0048] Therefore, refer to Figure 1 This application discloses a control circuit for a bone drill device, the bone drill device including a main unit, a motor, and a bone drill driven by the motor; the control circuit is located in the main unit and is used to control the motor to run so as to drive the bone drill, or to control the motor to stop so as to stop the bone drill. The bone drill device control circuit includes:

[0049] The pose acquisition module 10 is used to acquire and output the pose data during the movement of the bone drill.

[0050] The comparison module 30 is connected to the pose acquisition module 10 and is used to receive the pose data and compare it with a preset threshold electrical signal, and output the comparison result electrical signal.

[0051] The main control module 20 is connected to the comparison module 30 and is used to receive the comparison result electrical signal and output a control signal, which is a current signal.

[0052] The motor drive module 40 is connected to the main control module 20 and is used to receive the control signal and output a drive signal to the motor or stop outputting the drive signal. The drive signal is a current signal.

[0053] In this embodiment, the host is the control center of the entire bone drill equipment. It is responsible for receiving various sensor signals, processing data, and outputting control commands to the motor drive module 40, causing the motor drive module 40 to output drive signals to the motor / stop outputting drive signals, thereby driving the motor to drive the bone drill to run or stop. The bone drill is the component that directly performs surgical operations. It is driven by a motor to complete specific surgical actions, such as drilling and cutting. The bone drill can be a drill bit, saw blade, clamp, etc., and the specific form depends on the actual needs of the surgery. The pose acquisition module 10 can be implemented using at least one of the depth acquisition module 11 and / or the angle acquisition module 12. The pose data includes depth detection signals and angle detection signals. 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, SOC (System on Chip), etc. The comparison module 30 can be implemented using a comparator, the aforementioned main controller, etc.

[0054] Specifically, after connecting the bone drill to the surgical navigation system and ensuring normal communication, the power is turned on, the main control module 20 initializes, and the pose acquisition module 10 starts working. The doctor can start the drill bit and begin drilling using the buttons on the control panel. The pose acquisition module 10 detects the pose data of the drill bit in real time and transmits the pose data to the comparison module 30. The comparison module 30 compares the pose data with a preset threshold and outputs the corresponding comparison result to the main control module 20. The main control module 20 outputs a control signal based on the comparison result, dynamically adjusts the motor's motion parameters, and controls the motor drive module 40 to output / stop outputting drive signals to the motor to drive / stop the bone drill's movement. For example, the pose acquisition module 10 includes a depth acquisition module 11 and an angle acquisition module 12. During the operation, the depth acquisition module 11 can monitor the drilling depth in real time and output a depth detection signal to the comparison module 30. The comparison module 30 compares the depth data corresponding to the depth detection signal with the preset depth data and outputs the depth comparison result to the main control module 20. This allows the main control module 20 to control the motor drive module 40 to output a drive signal to the motor / stop outputting the drive signal according to the depth comparison result, correcting the offset caused by motor vibration and ensuring the accuracy of the motor's travel depth. A fixed drilling depth can be set. When the main control module 20 determines that the drill bit travel depth has reached the preset drilling depth according to the depth comparison result, it automatically cuts off the motor power and stops drilling. Similarly, the angle acquisition module 12 can monitor the drilling angle in real time and output an angle detection signal to the comparison module 30. The comparison module 30 compares the angle data corresponding to the angle detection signal with preset angle data and outputs the angle comparison result to the main control module 20. This allows the main control module 20 to control the motor drive module 40 to work based on the angle comparison result, correcting the drilling posture in real time and ensuring that the drilling angle remains constant. A fixed offset angle can also be set. When the main control module 20 determines that the drilling angle is greater than the offset angle based on the angle comparison result, it automatically cuts off the motor power and stops drilling. This ensures that the drill bit drills at the preset angle and depth. When the drill bit reaches the preset depth or angle, the main control module 20 immediately controls the motor to stop moving to prevent damage to soft tissue. It is understood that the main control module 20 and the comparison module 30 can be integrated into the same integrated chip to reduce wiring area.

[0055] It should be noted that in this embodiment, the main control module 20 may include a current sampling circuit and a control circuit. The current sampling circuit is used to sample the electrical signal of the motor during the operation and output the corresponding current sampling signal to the control circuit, so that the control circuit 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's electrical signal. For example, when the drill just breaks through, the control circuit will respond immediately according to the specific change in the electrical signal and cut off the motor power supply, realizing "stop upon drilling through".

[0056] In practical applications, the pose acquisition module 10 detects the pose data of the drill bit in real time, including depth and angle data. The comparison module 30 receives the pose data, compares it with the corresponding preset threshold, and outputs the comparison result. This allows the main control module 20 to dynamically adjust the motor's motion parameters based on the comparison result, ensuring precise control of the drilling process. When the drill bit reaches the preset depth or angle, the main control module 20 immediately controls the motor to stop, achieving "stop upon drilling" and 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.

[0057] refer to Figure 2 In one embodiment of this utility model, the pose acquisition module 10 includes:

[0058] The depth acquisition module 11 is electrically connected to the main control module 20 and is used to acquire the movement distance of the drill bit and output the corresponding distance data to the comparison module 30.

[0059] The comparison module 30 compares the received distance data with preset distance data and outputs a distance comparison result electrical signal; wherein,

[0060] The main control module 20 outputs a running control signal when it determines that the distance data is less than the preset distance data based on the distance comparison result electrical signal, and the motor drive module 40 outputs a current signal to the motor.

[0061] And when the distance data is determined to be greater than or equal to the preset distance data based on the distance comparison result electrical signal, a stop control signal is output, and the motor drive module 40 stops outputting current signals to the motor.

[0062] In this embodiment, the depth acquisition module 11 includes one or more combinations of laser sensors, infrared sensors, and ultrasonic sensors.

[0063] Specifically, when the bone drill begins to move, the depth acquisition module 11 detects the drill bit's movement distance in real time and outputs the corresponding distance data. For example, a laser sensor calculates the drill bit's movement distance, i.e., the drilling depth, by emitting a laser beam and receiving the reflected laser signal. A compensation algorithm corrects for the offset caused by motor vibration, ensuring the accuracy of the motor's drilling depth. It is understood that the bone drill device may also include a user input interface. The main control module 20 is electrically connected to the output of the user input interface. Thus, the user can set preset distance data, such as a drilling depth threshold and a drilling offset angle threshold, through the user input interface. The comparison module 30 compares the distance data output by the depth acquisition module 11 with the preset distance data and outputs a distance comparison result electrical signal to the main control module 20. When the main control module 20 determines, based on the distance comparison result electrical signal, that the drill bit's drilling depth is less than the drilling depth threshold, it outputs a running control signal to the motor drive module 40, controlling the motor drive module 40 to output a current signal to the motor, driving the motor to run and thus moving the bone drill. When the main control module 20 determines, based on the distance comparison result electrical signal, that the drill bit's travel depth is equal to or greater than the drilling depth threshold, it outputs a stop control signal to the motor drive module 40. This controls the motor drive module 40 to stop outputting current signals to the motor, thus stopping the bone drill's movement. The main control module 20 may also include a communication interface for connecting to an external terminal. Users can send a setting signal corresponding to the drilling depth threshold to the main control module 20 via an external terminal (such as a mobile phone, computer, or external surgical navigation system). This allows the main control module 20 to control the motor to stop the drill bit's movement when it determines, based on the distance detection signal, that the drill bit's travel depth is equal to or close to the drilling depth threshold.

[0064] It should be noted that in this embodiment, the control circuit may further include a prompting component, which is electrically connected to the main control module 20. The main control module 20 controls the prompting component to operate based on the comparison result electrical signal. The prompting component can be implemented using a buzzer, indicator light, etc. For example, when the main control module 20 determines that the drill bit's travel depth is equal to or greater than the drilling depth threshold based on the distance comparison result electrical signal, it controls the motor drive module 40 to stop outputting a drive signal to the motor, driving the bone drill to stop moving, and simultaneously controls the prompting component to issue an alarm. To reduce surgical risks and improve surgical accuracy, the user (doctor) can set the depth error allowable range through a user input component or an external terminal and output the corresponding setting signal to the main control module 20. It should be noted that the depth error allowable range is the depth threshold of the safe range. When the main control module 20 determines that the drill bit's travel depth has reached the depth error allowable range based on the distance comparison result, it controls the prompting component to operate, prompting the user to make corrections through indicator light displays, buzzer alarms, and other prompting methods. Based on the doctor's feedback, the main control module 20 can further control the motor movement to improve drilling accuracy and safety.

[0065] In practical applications, the main control module 20 detects whether the drill bit has just penetrated the bone by receiving the changing patterns of the distance comparison results output by the comparison module 30. When the drill bit penetrates, the main control module 20 responds immediately by cutting off the motor power, achieving "stop upon penetration" to avoid unnecessary damage. Furthermore, the user can set the allowable depth error range through a user input interface or external terminal and output the corresponding setting signal to the main control module 20. When the main control module 20 determines that the drill bit's travel depth has reached the allowable depth error range based on the distance comparison results, the control prompt component activates, prompting the user to make corrections through indicator lights, buzzer alarms, etc., further improving drilling accuracy. The main control module 20 can also exchange data with an external surgical navigation system through a communication interface, displaying the drill bit's depth information in real time and providing intuitive visual feedback to help doctors better understand the surgical progress. This reduces errors caused by human factors, improves the success rate of surgery, makes the surgical process safer, more precise, and more efficient, and ultimately enhances patient satisfaction.

[0066] refer to Figure 2 In one embodiment of this utility model, the pose acquisition module 10 includes:

[0067] Angle acquisition module 12 is electrically connected to the main control module 20 and is used to acquire the angle of the drill bit and output the corresponding angle data to the comparison module 30.

[0068] The comparison module 30 compares the received angle data with preset angle data and outputs an electrical signal indicating the angle comparison result; wherein,

[0069] When the main control module 20 determines that the angle data is less than the preset angle data based on the angle comparison result electrical signal, it outputs a running control signal, and the motor drive module 40 outputs a current signal to the motor.

[0070] And when the main control module 20 determines that the angle data is greater than or equal to the preset angle data based on the angle comparison result electrical signal, it outputs a stop control signal, and the motor drive module 40 stops outputting current signals to the motor.

[0071] In this embodiment, the angle acquisition module 12 includes one or more combinations of a gyroscope position sensor, an incremental encoder, a gravity sensor, and an optical fiber sensor.

[0072] Specifically, taking the angle acquisition module 12 as an example of a gyroscope position sensor, the following explanation is provided. When the bone drill starts moving, the gyroscope position sensor detects the angle of the bone drill in real time. By detecting the angular velocity and angle changes of the drill bit, it outputs the corresponding angle data to the comparison module 30. The comparison module 30 compares the angle data with preset angle data and outputs an angle comparison result electrical signal to the main control module 20. The main control module 20 monitors the angle of the drill travel during the operation in real time based on the received angle comparison result electrical signal and controls the motor drive module 40 to output a drive signal to the motor / stop outputting the drive signal, thereby driving the bone drill to move / stop moving. In conjunction with the above embodiment, the user can set a drill offset angle threshold through the user input interface. When the main control module 20 determines, based on the angle comparison result electrical signal, that the drill travel angle is less than the drill offset angle threshold, it outputs a running control signal to the motor drive module 40, controlling the motor drive module 40 to output a current signal to the motor, driving the motor to run and thus moving the bone drill. The main control module 20 may also include a communication interface for accessing external terminals. Users can send a second setting signal corresponding to a drilling offset angle threshold to the main control module 20 via an external terminal (such as a mobile phone, computer, or external surgical navigation system). When the main control module 20 determines that the bone drill's travel angle is equal to or greater than the drilling offset angle threshold based on the angle comparison result, it outputs a running control signal to the motor drive module 49, controlling the motor drive module 40 to stop outputting current signals to the motor. Furthermore, in conjunction with the above embodiments, when the main control module 20 determines that the drill bit's travel angle is equal to or greater than the drilling offset angle threshold based on the angle detection signal, it controls the motor drive module 40 to stop outputting drive signals to the motor and simultaneously controls the alarm component to provide a reminder. To reduce surgical risks and improve surgical accuracy, users (doctors) can set the allowable angle error range through a user input component or an external terminal and output the corresponding second setting signal to the main control module 20. It should be noted that the allowable angle error range is the critical value of the offset angle within the safe range. 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 comparison results, it controls the prompting component to work and prompts the user to make corrections through indicator lights, buzzer alarms, and other means. It corrects the travel posture in real time. Based on the doctor's feedback, the main control module 20 can further control the motor movement to improve the drilling accuracy and safety.

[0073] In practical applications, the angle acquisition module 12 (e.g., a gyroscope position sensor) monitors the drill bit angle in real time and outputs the corresponding angle data to the comparison module 30. The main control module 20 dynamically adjusts the motor's motion parameters based on the angle comparison result output by the comparison module 30, ensuring precise control of the drilling process. When the drill bit angle reaches a preset offset angle threshold, the main control module 20 immediately stops the motor to prevent damage to the soft tissue on the opposite side. Furthermore, the user can set the allowable angle error range through a user input interface or external terminal. When the main control module 20 determines that the drill bit's travel angle has reached the allowable angle error range based on the angle detection signal, it activates the prompting component, alerting the user through indicator lights, buzzer alarms, etc., to further improve surgical safety. This reduces errors caused by human factors, increases the success rate of the surgery, and makes the surgical process safer, more precise, and more efficient, thereby improving patient satisfaction.

[0074] In one embodiment, reference Figure 3 The control circuit of the bone drill equipment also includes:

[0075] The display module 50 is electrically connected to the pose acquisition module 10 and is used to receive and display the pose data.

[0076] In this embodiment, the display module 50 can be implemented by 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.

[0077] Specifically, taking the display module 50 as an example of an LCD screen plus an LCD screen driver module, and in conjunction with the above embodiment, when a user performs surgery using a bone drill, the angle acquisition module 12 detects the angle of the drill bit in real time and outputs the corresponding angle data to the comparison module 30. The depth acquisition module 11 detects the moving distance of the drill bit in real time and outputs the corresponding distance data to the comparison module 30. The main control module 20 receives the angle data and / or depth data output by the comparison module 30, processes the angle data and / or depth data as signals, and outputs them to the display screen driver module to enable the driver module to work and display the corresponding values ​​on the LCD screen. That is, the doctor can observe the angle and depth displayed on the screen and correct the drill bit's posture in real time to ensure that the drilling angle remains unchanged and the motor's travel depth is accurate. It can be understood that in this embodiment, the display module 50 not only displays the depth and angle information of the drill bit, but can also display other operating states to help the doctor understand the surgical progress in real time and make corresponding adjustments. The following are the main operating states that display module 50 can display: the current drilling depth of the drill bit and the preset drilling depth threshold, the error range between the current depth and the preset depth, the current drilling angle of the drill bit, the preset drilling angle threshold, the error range between the current angle and the preset angle, the current motor speed, and the current power output. It also displays the working modules of the bone drill equipment, such as whether it is in manual control mode or calibration mode.

[0078] The display module 50 effectively improves the precision and safety of orthopedic surgery, reduces surgical risks, and increases the success rate of the bone drill device control circuit of this invention. The display module 50 allows doctors to monitor the drill bit's status in real time, further enhancing the controllability and safety of the surgery.

[0079] In another embodiment, reference Figure 4 The main control module 20 includes:

[0080] The first control circuit 21 is used to receive the comparison result electrical signal and output a corresponding operation control signal or stop control signal according to the comparison result electrical signal.

[0081] The second control circuit 22 is electrically connected to the first control circuit 21;

[0082] The second control circuit 22 is used to receive the operation control signal or the stop control signal, and to process the operation control signal or the stop control signal and then output it.

[0083] The third control circuit 23 is electrically connected to the second control circuit 22;

[0084] The third control circuit 23 is used to receive the operation control signal or the stop control signal after signal processing by the second control circuit 22, and to adjust the motor output parameters according to the operation control signal or the stop control signal, and output the corresponding control signal to control the motor drive module 40, so as to control the motor drive module 40 to output a drive signal to the motor or stop outputting a drive signal.

[0085] In this embodiment, the first control circuit 21, the second control circuit 22, and the third control circuit 23 can all be implemented using the aforementioned main controller.

[0086] Specifically, taking the first control circuit 21 as an MCU, the second control circuit 22 as a SOC, and the third control circuit 23 as an FPGA as an example, the pose acquisition module 10 can communicate with the first control circuit 21 via serial communication. The first control circuit 21 is used to receive the pose data output by the pose acquisition module 10. The MCU integrates an analog-to-digital converter circuit, and the comparison module 30 and the second control circuit 22 can be integrated in the same integrated chip, i.e., the SOC integrates a comparator. When the analog-to-digital converter circuit inside the MCU converts the analog signals (pose data) output by the gyroscope position sensor and the laser sensor into digital quantities, and outputs the corresponding run control signal / stop control signal to the second control circuit 22 after signal processing, the comparator in the SOC compares the pose data with a preset threshold and outputs the corresponding comparison result to the FPGA. The third control circuit 23 adjusts the motor output parameters according to the comparison result and outputs a control signal to the motor drive module 40, controlling the motor drive module 40 to output a drive signal to the motor / stop output the drive signal, thereby determining the pose of the bone drill and controlling it to stop moving at the moment of bone drill penetration.

[0087] It should be noted that the bone drill equipment can also be equipped with mechanical buttons (button modules) and linear Hall sensors. By pressing the mechanical buttons to different degrees, the linear Hall sensors can sense different magnetic flux and output analog voltages of different magnitudes. After conversion and calculation by the internal analog-to-digital converter circuit of the MCU, the corresponding operation control signal / stop control signal is output to the second control circuit 22 (SOC). The SOC controls the third control circuit 23 (FPGA) to output different currents and voltages according to the received operation control signal / stop control signal, thereby adjusting the motion parameters of the motor and controlling the motor to drive the drill bit to move or stop, thus achieving precise control of the motor.

[0088] Through the coordinated operation of multi-level control circuits, high-precision control of the drill bit's movement is achieved. Particularly in the drill-through-stop function, the FPGA's rapid response ensures the drill bit stops quickly upon contact with the target boundary, mitigating tissue damage caused by over-drilling. Furthermore, the combined design of MCU, SOC, and FPGA not only enhances the bone drill's processing power but also increases its flexibility and scalability. For example, the system's control strategy can be altered by updating the MCU's software logic, or more signal processing functions can be added to the SOC. Simultaneously, the button 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's speed and force according to actual needs, increasing the surgical success rate.

[0089] This utility model also proposes an electronic control device, which includes the bone drill equipment control circuit described in any of the above claims, as well as a keypad, a main control board, and a drive board; the keypad, the main control board, and the drive board are electrically connected in sequence.

[0090] The pose acquisition module 10 and the motor drive module 40 are mounted on the drive board, while the comparison module 30 and the main control module 20 are mounted on the main control board.

[0091] In this embodiment, the keypad, main control board, and driver board can all be implemented using printed circuit boards (PCBs), flexible printed circuit boards (FPCs), etc.

[0092] Specifically, the pose detection module 10 can be mounted on the bone drill. For example, the angle acquisition module 12 and the depth acquisition module 11 transmit the corresponding angle detection signals and depth detection signals to the MCU on the main control board via serial communication. Figure 5 As shown, Figure 5 The diagram shows the specific circuit of the communication interface. The attitude angle module interface is used to receive angle data output by the angle acquisition module 12, and the laser ranging module interface is used to receive distance data output by the depth acquisition module 11. It should be noted that the comparison module 30 and the main control module 20 can be integrated into the same chip to reduce wiring area. For example, the MCU on the main control board has a comparator that compares the received angle data with preset angle data, and / or compares the distance data with preset distance data, and outputs a run control signal and / or a stop control signal based on the comparison result. This controls the FPGA on the driver board to output different currents and voltages, adjust the motor's motion parameters, and directly control the start and stop of the bone drill. Furthermore, the FPGA can also collect the motor's electrical signals (including current and voltage) to adjust the motor's operating state in real time. When the FPGA detects that the drill bit has just pierced the bone, it immediately responds by cutting off the motor power, achieving a "stop upon drill penetration" effect.

[0093] In this embodiment, a button module is provided on the button panel. The button module is used to output a corresponding trigger signal to the first control circuit 21 when triggered by the user, so that the first control circuit 21 outputs a corresponding first control signal to the second control circuit 22 according to the trigger signal. The second control circuit 22 processes the first control signal and outputs it to the third control circuit 23. The third control circuit 23 adjusts the parameters of the motor to achieve precise control of the motor.

[0094] Optionally, the main control board is communicatively connected to the driver board and the keypad via connectors. In this embodiment, the main control board, keypad, and driver board are all equipped with communication interfaces. These interfaces and connectors enable a pluggable and fixed connection, ensuring system flexibility and maintainability. The communication interfaces can be RS485, CAN, Ethernet, USB, etc. Different connectors can be selected based on the type of communication interface to achieve communication between the main control board, keypad, and driver board. For example, the RS485 interface can use a DB9 connector, an RJ45 connector, etc., and the Ethernet interface can use a standard Ethernet connector, etc.

[0095] It should be noted that the main control board is the core of the bone drill equipment, mainly playing a role in 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 interface, Bluetooth interface, TFCard interface, and USB interface. Among them, Ethernet can be used for data transmission and program download; USB interface is used for system programming, printing output, and debugging; Bluetooth / WIFI interface is used for wireless communication; and TFCard is used for program download, etc.

[0096] In this embodiment, due to the good stability and strong anti-interference ability of RS485 serial communication, the communication interface is implemented using an RS485 interface, that is, the main control board, the button board, and the driver board all use RS485 serial communication. Figure 6 As shown, Figure 6 This is an RS485 communication circuit. The ZK_RX (Receive) pin is the receiver, used to receive RS485 signals sent from an external source. The ZK_TX (Transmit) pin is the transmitter, used to send RS485 signals to an external source. The ZK_TRD pin is the control pin, used to receive control signals and switch the operating state of the MAX485 chip according to the control signals, enabling it to switch between transmitting and receiving.

[0097] In addition, the main functions of the drive board are to drive the motor, monitor current and voltage in real time, and control the motor's start and stop. Specifically, the drive board communicates with the main control board, receives processed operation or stop control signals, and controls the motor to drive the drill bit to move or stop based on the received signals. It can also monitor the motor's current and / or voltage in real time for precise control.

[0098] With the above configuration, the keypad features a button module, allowing users to manually adjust motor parameters, improving operational convenience and flexibility. Simultaneously, the main control board has multiple communication interfaces, facilitating data transmission, program downloading, and debugging, enhancing system maintainability and scalability. The keypad, main control board, and driver board each perform different functions, achieving a modular design that facilitates the maintenance and upgrades of the bone drill equipment. Furthermore, the control boards are connected via communication interfaces, allowing for flexible configuration and expansion according to actual needs, further enhancing the flexibility of the bone drill equipment.

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

[0100] This utility model also proposes a bone drill device, which includes a main unit, a motor connected to the main unit, a bone drill connected to and driven by the motor, and the aforementioned electrical control device, wherein the electrical control device is located inside the main unit.

[0101] In this embodiment, the host unit is the control center of the bone drill device. It is responsible for receiving various sensor signals (including pose data output by the pose acquisition module), processing the data, and outputting control commands to the motor drive module 40. This causes the motor drive module 40 to output drive signals to the motor / stop outputting drive signals, thereby driving the motor to move / stop the bone drill. The bone drill is the component that directly performs surgical operations. Driven by the motor, it completes specific surgical actions such as drilling and cutting. The bone drill 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 bone drill equipment of this utility model is based on the above-mentioned electronic control device, the embodiments of the bone drill equipment of this utility model include all the technical solutions of all the embodiments of the above-mentioned electronic 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. A bone drill apparatus control circuit, the bone drill apparatus comprising a main unit, a motor, and a bone drill driven by the motor; characterized by, The control circuit is arranged on the host, and is configured to control the motor to drive the bone drill to operate or control the motor to stop so as to stop the bone drill, and the control circuit comprises: a pose acquisition module, configured to acquire pose data of the bone drill in motion and output the pose data; a comparison module, connected to the pose acquisition module, configured to receive the pose data and compare the pose data with a preset threshold electrical signal, and output a comparison result electrical signal; a master control module, connected to the comparison module, configured to receive the comparison result electrical signal and output a control signal; a motor drive module, connected to the master control module, configured to receive the control signal and output a drive signal or stop outputting the drive signal to the motor, the drive signal being a current signal.

2. A bone drill apparatus control circuit as defined in claim 1, wherein, The pose acquisition module comprises: a depth acquisition module, electrically connected to the master control module, configured to acquire a moving distance of the drill bit and output corresponding distance data to the comparison module; the comparison module compares the received distance data with preset distance data and outputs a distance comparison result electrical signal; wherein the master control module determines to output an operation control signal when the distance data is less than the preset distance data according to the distance comparison result electrical signal, and the motor drive module outputs a current signal to the motor; and the master control module determines to output a stop control signal when the distance data is greater than or equal to the preset distance data according to the distance comparison result electrical signal, and the motor drive module stops outputting the current signal to the motor.

3. A bone drill apparatus control circuit as defined in claim 2, wherein, The depth acquisition module comprises one or more combinations of a laser sensor, an infrared sensor and an ultrasonic sensor.

4. The bone drill apparatus control circuit of claim 1, wherein, The pose acquisition module comprises: an angle acquisition module, electrically connected to the master control module, configured to acquire an angle of the drill bit and output corresponding angle data to the comparison module; the comparison module compares the received angle data with preset angle data and outputs an angle comparison result electrical signal; wherein the master control module determines to output an operation control signal when the angle data is less than the preset angle data according to the angle comparison result electrical signal, and the motor drive module outputs a current signal to the motor; and the master control module determines to output a stop control signal when the angle data is greater than or equal to the preset angle data according to the angle comparison result electrical signal, and the motor drive module stops outputting the current signal to the motor.

5. A bone drill apparatus control circuit as recited in claim 4, wherein, The angle acquisition module comprises one or more combinations of a gyroscope position sensor, an incremental encoder, a gravity sensor and an optical fiber sensor.

6. A bone drill apparatus control circuit as claimed in any one of claims 1 to 5, wherein, The control circuit further comprises: a display module, electrically connected to the pose acquisition module, configured to receive the pose data and display the pose data.

7. A bone drill apparatus control circuit as claimed in any one of claims 1 to 5, wherein, The master control module comprises: a first control circuit, configured to receive the comparison result electrical signal and output a corresponding operation control signal or a stop control signal according to the comparison result electrical signal; a second control circuit, electrically connected to the first control circuit, configured to receive the operation control signal or the stop control signal and output the operation control signal or the stop control signal after signal processing. A third control circuit is electrically connected with the second control circuit, configured to receive the operation control signal or the stop control signal processed by the second control circuit, adjust motor output parameters according to the operation control signal or the stop control signal, and output corresponding control signals to the motor drive module to control the motor drive module to output driving signals to the motor or stop outputting driving signals.

8. An electrically controlled device, characterized by The electric control device comprises the bone drill equipment control circuit according to any one of claims 1 to 7, a key board, a main control board and a drive board; the key board, the main control board and the drive board are electrically connected in sequence; The pose acquisition module and the motor drive module are arranged on the drive board, and the comparison module and the main control module are arranged on the main control board.

9. The electrically controlled device of claim 8, wherein, The main control board is in communication connection with the drive board and the key board through connectors.

10. A bone drill apparatus, characterized by, The electric control device is arranged in the main machine.

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