Pedal control system for medical equipment and medical planing equipment
By using electromagnetic sensors and magnets in the foot pedal assembly to generate analog signals to control the speed of the handle motor, the problems of jitter and nonlinearity in traditional foot pedal control are solved, and multi-level or stepless speed change drive is realized, improving control accuracy and flexibility.
Patent Information
- Application Number
- CN202423291215.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-31
- Publication Date
- 2026-02-17
- Estimated Expiration
- 2034-12-31
AI Technical Summary
Traditional foot-operated medical devices suffer from jitter and nonlinearity in drive control, making it impossible to achieve multi-level or stepless speed control.
The foot pedal assembly, which uses electromagnetic sensors and magnets, senses the magnetic field strength by changing the pedaling force, generates an analog signal, and transmits it to the motor driver via a microcontroller to achieve multi-level or stepless speed control of the handle motor.
It achieves stable multi-stage or stepless speed control of the handle motor, improving the accuracy and flexibility of control and adapting to the speed requirements of different pedal depths.
Smart Images
Figure CN223927228U_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of medical device technology, and in particular to a foot pedal control system for medical devices and a medical planing device. Background Technology
[0002] With the development of medical equipment technology, medical equipment that uses foot pedal control for starting has emerged, such as foot pedal medical planing equipment.
[0003] However, traditional technology uses on or off signals as the control logic for pedal systems. That is, the drive is activated when the pedal is pressed down and deactivated when the pedal is released. However, in actual use, the pedaling force may cause significant vibration. Therefore, not only is it necessary to add extra vibration elimination time to increase the accuracy of signal control, but traditional drive control is also non-linear and cannot achieve multi-level drive control for speed. Utility Model Content
[0004] Therefore, it is necessary to provide a foot pedal control system for medical devices and a medical planing device that can realize multi-level drive control of the speed of the handle motor, in order to address the above-mentioned technical problems.
[0005] In a first aspect, a foot pedal control system for a medical device is provided. The system includes: a foot pedal assembly, a microcontroller, and a motor driver, wherein the foot pedal assembly, the microcontroller, and the motor driver are electrically connected; wherein...
[0006] The pedal assembly includes an electromagnetic sensor and a magnet. Under the action of pedaling force, the pedal assembly changes its opening and closing height. The magnetic field strength of the magnet changes with the opening and closing height. The electromagnetic sensor senses the magnetic field strength of the magnet at the current opening and closing height and generates an analog signal corresponding to the current opening and closing height; and
[0007] The microcontroller receives analog signals and transmits them to the motor driver, which then drives the handle motor of the surgical instrument according to the analog signals.
[0008] In some embodiments, the foot pedal assembly includes a base plate and a pedal, one end of which is connected by a hinge and the pedal is openable and closeable relative to the base plate.
[0009] In some embodiments, the electromagnetic sensor is disposed on the substrate, and the magnet is disposed on the pedal.
[0010] In some embodiments, the electromagnetic sensor is embedded in the center of the substrate, and the magnet is embedded in the center of the pedal.
[0011] In some embodiments, the electromagnetic sensor is disposed on the pedal, and the magnet is disposed on the substrate.
[0012] In some embodiments, the electromagnetic sensor is embedded in the center of the pedal, and the magnet is embedded in the center of the substrate.
[0013] In some embodiments, the electromagnetic sensor includes a Hall sensor.
[0014] In some embodiments, the magnet includes a magnet.
[0015] In some embodiments, the motor driver includes a plurality of drive ports, each drive port of the motor driver being electrically connected to a respective gear switch of the handle motor; wherein,
[0016] The microcontroller transmits analog signals corresponding to different opening and closing heights to different drive ports to drive different gear switches.
[0017] In a second aspect, a medical planing device is provided, including a foot pedal assembly, a main unit, a handle motor assembly, and a planing instrument. The foot pedal assembly includes an electromagnetic sensor and a magnet, the main unit includes a microcontroller, and the handle motor assembly includes a motor driver and a handle motor.
[0018] The electromagnetic sensor communicates with the host computer via a first connection device, and the host computer communicates with the motor driver via a second connection device; the handle motor assembly communicates with the planing instrument via a third connection device.
[0019] Under the action of pedaling force, the foot pedal assembly produces a change in opening and closing height. The magnetic field strength of the magnet changes with the opening and closing height. The electromagnetic sensor senses the magnetic field strength of the magnet at the current opening and closing height and generates an analog signal corresponding to the current opening and closing height. The microcontroller receives the analog signal and transmits it to the motor driver. The motor driver drives the handle motor of the planer according to the analog signal.
[0020] The aforementioned foot pedal control system for medical devices and medical planing equipment incorporate electromagnetic sensors and magnets within the foot pedal assembly. Under the action of pedaling force, the electromagnetic sensors and magnets in the foot pedal assembly can cooperate with each other, so that when the opening and closing height of the foot pedal assembly changes, the electromagnetic sensor generates an analog signal corresponding to the current opening and closing height. This analog signal is transmitted to the motor driver via a microcontroller, thereby controlling the handle motor of the surgical instrument to rotate at a speed matched to the analog signal corresponding to the current opening and closing height. This achieves multi-level drive control of the handle motor speed based on the opening and closing height (pedaling depth) of the foot pedal. Attached Figure Description
[0021] Figure 1 This is a schematic diagram of the structure of a foot pedal control system for a medical device in some embodiments;
[0022] Figure 2This is a schematic diagram of the foot pedal assembly in some embodiments;
[0023] Figure 3 This is a schematic diagram of the structure of the medical planing device 1 in some embodiments. Detailed Implementation
[0024] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.
[0025] In some embodiments, reference Figure 1 As shown, Figure 1 The diagram shows a schematic of the structure of a foot pedal control system 10 for medical devices in some embodiments. The foot pedal control system 10 for medical devices provided in this application may include: a foot pedal assembly 100, a microcontroller 200 and a motor driver 300, which are electrically connected to each other.
[0026] The pedal assembly 100 includes an electromagnetic sensor 101 and a magnet 102. Under the action of pedaling force, the pedal assembly 100 generates a change in opening and closing height. The magnetic field strength of the magnet 102 changes with the opening and closing height. The electromagnetic sensor 101 senses the magnetic field strength of the magnet 102 at the current opening and closing height and generates an analog signal corresponding to the current opening and closing height.
[0027] The microcontroller 200 receives analog signals and transmits them to the motor driver 300;
[0028] The motor driver 300 drives the handle motor of the surgical instrument according to the analog signal.
[0029] Electrical connections can be wired connections made through cables, wires, or other connecting lines and / or communication interfaces, conversion interfaces, or wireless connections made through local area networks, Bluetooth, WIFI, etc.
[0030] In this embodiment, by setting an electromagnetic sensor 101 and a magnet 102 in the foot pedal assembly 100, the electromagnetic sensor 101 and the magnet 102 in the foot pedal assembly 100 can cooperate with each other under the action of the stepping force, so that when the foot pedal assembly 100 changes its opening and closing height, the electromagnetic sensor 101 generates an analog signal corresponding to the current opening and closing height. The analog signal is transmitted to the motor driver 300 through the microcontroller 200, thereby controlling the handle motor of the surgical instrument to rotate at a speed matched with the analog signal corresponding to the current opening and closing height, thereby realizing the drive control of the handle motor speed by the opening and closing height (stepping depth) of the foot pedal.
[0031] In some embodiments, more specifically, reference is made to Figure 2 As shown, Figure 2 A schematic diagram of the foot pedal assembly 100 in some embodiments is shown.
[0032] The foot pedal assembly 100 includes a base plate 110 and a pedal 120. One end of the base plate 110 and the pedal 120 are connected by a hinge, and the pedal 120 can open and close relative to the base plate 110. It is worth noting that the foot pedal assembly 100 of this application may include a... Figure 2 The structure shown has more or fewer components. Figure 2 The structure shown is only schematically illustrating the part of the structure related to the improvement of this application.
[0033] In this embodiment, the foot pedal assembly 100 includes a base plate 110 and a pedal 120. When no pedaling force is applied to the pedal 120, the initial distance between the open and closed ends of the base plate 110 and the pedal 120 is h. When a pedaling force is applied to the pedal 120, the pedal 120 moves towards the base plate 110 with the movable hinge end as the axis, so that the distance between the open and closed ends of the base plate 110 and the pedal 120 decreases until the distance between the open and closed ends decreases to a preset minimum distance under a preset maximum pedaling force (the preset minimum distance can be 0, or a value between less than h and greater than 0). When the pedaling force is removed from the pedal 120, the pedal 120 moves away from the base plate 110 with the movable hinge end as the axis, so that the distance between the open and closed ends of the base plate 110 and the pedal 120 increases until the distance between the open and closed ends returns to the initial distance h after the pedaling force is completely removed.
[0034] Furthermore, based on this embodiment, a motion limiting structure (not shown in the figure) for limiting the stepping force can be provided between the base plate 110 and the pedal 120, such as a spring structure, so as to better and more stably control the change in distance between the opening and closing ends of the base plate 110 and the pedal 120.
[0035] In some embodiments, such as Figure 2 As shown, the electromagnetic sensor 101 can be disposed on the substrate 110, and correspondingly, the magnet 102 can be disposed on the pedal 120. In other embodiments, the electromagnetic sensor 101 can be disposed on the pedal 120, and correspondingly, the magnet 102 can be disposed on the substrate 110.
[0036] In the above embodiment, the electromagnetic sensor 101 and the magnet 102 can be arranged relative to each other, that is, respectively disposed on the substrate 110 and the pedal 120. When the distance between the opening and closing ends of the substrate 110 and the pedal 120 changes, the relative distance between the electromagnetic sensor 101 and the magnet 102 also changes accordingly. Since a magnetic field is generated around the magnet 102, the magnetic field strength is different at different distances from the magnet 102. Therefore, the magnetic field strength sensed by the electromagnetic sensor 101 changes with the change in the relative distance between it and the magnet 102. Thus, the electromagnetic sensor 101 can convert the different sensed magnetic field strengths into different analog signals. Different analog signals correspond to different current opening and closing heights (the distance between the opening and closing ends of the substrate 110 and the pedal 120).
[0037] In some embodiments, the electromagnetic sensor 101 may include, but is not limited to, a Hall sensor, a magnetoresistive sensor, an electromagnetic flowmeter, etc. Preferably, a Hall sensor may be used, which utilizes the Hall effect to measure magnetic fields and has advantages such as higher sensitivity, longer service life, and better stability.
[0038] In some embodiments, the magnet 102 may include, but is not limited to, a magnet, wherein the magnet may be a rare earth permanent magnet material such as magnetite (e.g., iron tetroxide), neodymium iron boron, samarium cobalt, or a permanent magnet material such as aluminum nickel cobalt, ferrite, etc.
[0039] In some embodiments, the electromagnetic sensor 101 is embedded in the center of the substrate 110, and the magnet 102 is embedded in the center of the pedal 120. In other embodiments, the electromagnetic sensor 101 is embedded in the center of the pedal 120, and the magnet 102 is embedded in the center of the substrate 110.
[0040] The specific placement of the electromagnetic sensor 101 and the magnet 102 can be adapted to the actual application scenario and the specific structure of the base of the foot pedal assembly 100 and the pedal 120. For example, preferably, the electromagnetic sensor 101 and the magnet 102 can be placed on the side of the base and the pedal 120 near the opening and closing end, or more preferably, the electromagnetic sensor 101 and the magnet 102 can be placed at the center of the base and the pedal 120, so that the electromagnetic sensor 101 can more accurately sense the change in the magnetic field strength of the magnet 102, thereby generating the corresponding analog signal more accurately.
[0041] The following section, based on practical applications, illustrates how a foot pedal control system 10 for medical devices achieves stable multi-level drive control or stepless speed control of the handle motor's rotational speed in actual use. The specific process of speed drive control under only one embodiment is shown below:
[0042] For multi-level drive control with multiple gears:
[0043] When the user presses down on the pedal 120 of the foot pedal assembly 100, the magnet 102 on the pedal 120 affects the magnetic field strength near the electromagnetic sensor 101. The electromagnetic sensor 101 senses the magnetic field strength of the pedal 120 at different heights and generates different analog signals. These analog signals are then transmitted to the microcontroller 200 via a connector and / or connecting cable, etc., and the microcontroller 200 receives the analog signals. Furthermore, the handle motor can have multiple speed adjustment levels (i.e., speed switches), and the motor driver 300 can include multiple drive ports. Each drive port of the motor driver 300 is electrically connected to a corresponding speed switch of the handle motor. The microcontroller 200 transmits the different analog signals corresponding to different opening and closing heights to different drive ports, thereby driving different speed switches and achieving multi-level drive control of the handle motor, that is, multi-speed control of the handle motor.
[0044] For continuously variable transmission (CVT) drive control:
[0045] First, the microcontroller 200 calibrates the analog signals generated by the electromagnetic sensor when the pedal 120 of the foot pedal assembly 100 is fully released and fully depressed. For example, the analog signal generated by the electromagnetic sensor when the pedal 120 is fully released is set as hall1, the analog signal generated by the electromagnetic sensor when the pedal 120 is fully depressed is set as hall2, and the maximum speed of the handle motor is set as speed.
[0046] When the user presses down on the pedal 120 of the foot pedal assembly 100, the magnet 102 on the pedal 120 affects the magnetic field strength near the electromagnetic sensor 101. The electromagnetic sensor 101 senses the magnetic field strength of the pedal 120 at different opening and closing heights and generates different analog signals. These analog signals are transmitted to the microcontroller 200 via a connector and / or connecting cable or other signal transmission device. The microcontroller 200 receives the analog signal and then determines the corresponding speed control strategy based on the currently received analog signal. Based on the speed control strategy, it drives the motor driver 300, thereby driving the surgical instrument handle motor to rotate at the calculated speed. Thus, the speed of the handle motor can be linearly or nearly linearly adjusted according to the depth of the pedal 120 being pressed down, achieving stepless speed control.
[0047] For example, the microcontroller 200 may determine the corresponding speed control strategy in a way that includes, but is not limited to: when the received analog signal is hall3, determining the rotational speed of the handle motor according to the formula: (hall3-hall1) / (hall2-hall1)*speed. The specific settings can be configured according to actual needs.
[0048] In some embodiments, reference Figure 3 , Figure 3 A schematic diagram of the structure of a medical planing device 1 in some embodiments is shown. The medical planing device 1 may specifically include a foot pedal assembly 100, a main unit 20, a handle motor assembly 30, and a planing instrument 40. The foot pedal assembly 100 includes an electromagnetic sensor 101 and a magnet 102. The main unit 20 includes a microcontroller 200. The handle motor assembly 30 includes a motor driver 300 and a handle motor 301.
[0049] The electromagnetic sensor 101 communicates with the host 20 through the first connection device 11, and the host 20 communicates with the motor driver 300 through the second connection device 12; the handle motor assembly 30 communicates with the planing instrument 40 through the third connection device 13.
[0050] For example, the first connecting device 11, the second connecting device 12, and the third connecting device 13 may be connectors and / or connecting lines.
[0051] Under the action of the pedal force, the foot pedal assembly 100 changes its opening and closing height. The magnetic field strength of the magnet 102 changes with the opening and closing height. The electromagnetic sensor 101 senses the magnetic field strength of the magnet 102 at the current opening and closing height and generates an analog signal corresponding to the current opening and closing height. The motor driver 300 receives the analog signal and drives the handle motor 301 of the planing machine 40 according to the analog signal.
[0052] Specific limitations regarding the medical planing device 1 can be found in the above description of the foot pedal control system 10 for medical devices, and will not be repeated here. Each part of the aforementioned medical planing device 1 can be implemented wholly or partially through software, hardware, or a combination thereof. Those skilled in the art will understand that… Figure 1 and 3 The structure shown is merely a partial structural diagram related to the present application and does not constitute a limitation on the present application. The specific foot pedal control system 10 for medical devices and the medical planing device 1 may include more or fewer components than shown in the figure, or combine certain components, or have different component arrangements.
[0053] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.
Claims
1. A foot control system for a medical device, the system comprising: A foot pedal assembly, a microcontroller and a motor driver are electrically connected between each other; wherein, The foot pedal assembly comprises an electromagnetic sensor and a magnet, the foot pedal assembly generates an opening and closing height change under the action of a pedal force, the magnetic field strength of the magnet changes with the opening and closing height change, the electromagnetic sensor senses the magnetic field strength of the magnet at the current opening and closing height and generates an analog signal corresponding to the current opening and closing height; and The microcontroller receives the analog signal and transmits the analog signal to the motor driver, and the motor driver drives a handle motor of a surgical instrument according to the analog signal.
2. The system of claim 1, wherein, The foot pedal assembly comprises a base plate and a pedal, one end of the base plate and the pedal is connected through a movable hinge and the pedal can make an opening and closing movement relative to the base plate.
3. The system of claim 2, wherein, The electromagnetic sensor is arranged on the base plate and the magnet is arranged on the pedal.
4. The system of claim 3, wherein, The electromagnetic sensor is embedded in the center position of the base plate and the magnet is embedded in the center position of the pedal.
5. The system of claim 2, wherein, The electromagnetic sensor is arranged on the pedal and the magnet is arranged on the base plate.
6. The system of claim 5, wherein, The electromagnetic sensor is embedded in the center position of the pedal and the magnet is embedded in the center position of the base plate.
7. The system of claim 1, wherein, The electromagnetic sensor comprises a Hall sensor.
8. The system of claim 1, wherein, The magnet comprises a magnet.
9. The system of claim 1, wherein, The motor driver comprises a plurality of drive ports, each drive port of the motor driver is electrically connected to each gear switch of the handle motor; wherein, The microcontroller transmits the analog signals corresponding to different opening and closing heights to different drive ports to drive different gear switches.
10. A medical planing apparatus, characterized by A foot pedal assembly, a host, a handle motor assembly and a planing instrument are provided, the foot pedal assembly comprises an electromagnetic sensor and a magnet, the host comprises a microcontroller, and the handle motor assembly comprises a motor driver and a handle motor; The electromagnetic sensor and the host communicate through a first connection device, the host and the motor driver communicate through a second connection device, and the handle motor assembly and the planing instrument communicate through a third connection device; Under the action of a pedal force, the foot pedal assembly generates an opening and closing height change, the magnetic field strength of the magnet changes with the opening and closing height change, the electromagnetic sensor senses the magnetic field strength of the magnet at the current opening and closing height and generates an analog signal corresponding to the current opening and closing height; the microcontroller receives the analog signal and transmits the analog signal to the motor driver; and the motor driver drives the handle motor of the planing instrument according to the analog signal.