CN106344105A - Control method and device for operation flashing knife - Google Patents
Control method and device for operation flashing knife Download PDFInfo
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- CN106344105A CN106344105A CN201510419719.3A CN201510419719A CN106344105A CN 106344105 A CN106344105 A CN 106344105A CN 201510419719 A CN201510419719 A CN 201510419719A CN 106344105 A CN106344105 A CN 106344105A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
- A61B17/1613—Component parts
- A61B17/1626—Control means; Display units
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- Orthopedic Medicine & Surgery (AREA)
- Oral & Maxillofacial Surgery (AREA)
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- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
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Abstract
The invention discloses a control method and device for an operation flashing knife. Through a simple structure, irreversible damage big tremor and micro tremor caused for patients can be monitored in real time, and meanwhile big tremor and micro tremor are prevented.
Description
Technical field
The present invention relates to a kind of operation control method and control device of burr knife, it is related to one kind in more detail and possesses anti-quivering
The operation of dynamic the function control method of burr knife and control device.
Background technology
Operation burr knife is substantially to apply electronic or pneumatics to make cutting drilling (cutting burr) or cutting tip (cutting bit)
High-speed rotation, thus directly process the bone of human body and a kind of medical treatment drill bit in joint for goals of medicine.
This operation burr knife is for example made up of the structure similar to dental mill system, but goes up in the following areas and dentistry
Different with grinder: i.e., this burr knife makes cutting tip be rotated with tens thousand of above speed per minute, thus smart
The main processing object of close processing is the bone structure of human body, and wherein, described cutting tip can be exchanged and the shape for opposite elongate
Shape.
This operation with burr knife with instrument and machined surface carry out surface contact be processed on this point with common vertical milling
Knife (end mill) has a similar structure, but the phenomenon producing in the actual driving of operation burr knife include presenting with
The similar situation of slotting cutter and diverse situation, specific as follows.
That is, directly participate in the cutting tip of operation burr knife processing part be arranged on its end several millimeters recessed
Groove (flute) or the part being processed to compound shape, process, in this cutting tip, the vibration producing during live body osseous tissue
(chatter) it is probably the high-frequency small-scale vibration similarly reducing machined surface quality with the processing of the standard machineries such as slotting cutter
(calling micro- quivering in the following text) it is also possible to be diverse behavior with common machining, the handss to the user with burr knife for the operation
Hold position and bring direct impact, and the extensive vibration (call in the following text and quiver greatly) of the self-deformation with cutting tip.
Operation burr knife is in order that the thin axle with 2～4mm diameter enters phase by minimal cutting portion from skin
Position to deep place or roundabout dangerous position and enter operative segment, thus Precision Machining processing object is bone and joint portion
And use.Therefore, cutting tip substantially has 1:20 or its above fineness ratio, in order to realize operation burr knife itself
Miniaturization, the diameter for supporting the structure of cutting tip is also restricted.
Additionally, cutting tip is rotated with the above speed of tens thousand of circles per minute, the rotating speed of current latest fashion is
60, more than 000rpm, are rotated with the above speed of per second 1,000 circles, the generation when axle often rotates a time is once vibrated
In the case of, there is the frequency of more than 1khz, and the rotating speed of this cutting tip is the number of the rotating speed of the instruments such as common slotting cutter
Again to the rotating speed of decades of times.
It is known as this operation burr knife and its structure of cutting tip and dynamic characteristic produces and quivers greatly, quiver greatly and can lead to cut
Paring blade itself short time set and depart from Working position, purpose independently excessively machining object or the damage with user
Perienchyma, can to patient's residual irreversible damage it is therefore necessary to prevent this quiver greatly, but so far it is not yet reported that being used for
Monitor this structure quivered greatly, currently used operation also suppresses to quiver greatly in the sensation depending on user and handss with burr knife.
Content of the invention
The present invention proposes to solve foregoing problems, its objective is to provide a kind of control method of operation burr knife and
Control device, this control method and control device can be monitored in real time by fairly simple structure and leave irreversible damage to patient
Quiver greatly, and the generation quivered greatly can be prevented.
Moreover, it is an object that a kind of the operation control method of burr knife and control device, this control method and
Control device can monitor in real time be possible to quiver greatly produce simultaneously micro- quiver, and the generation quivered greatly can be prevented.
The control method of the operation burr knife of the present invention includes cutting tip and the motor being built in shell, described cutting edge
One end of piece is detachably connected to described motor, and the other end has multiple groovings, the described operation real-time control of burr knife
Method processed includes step: motor control speed setting procedure, and the rotating speed of target that set motor corresponding with the control signal of user,
And to described motor for giving the corresponding electric power of described rotating speed of target；Spin data analytical procedure, possesses from described motor
First sensor real-time reception is in the Angle Position data to the described cutting tip during described rotating speed of target speed change, and incites somebody to action
Described Angle Position data is converted into angular velocity data, and the angular velocity data after conversion is analyzed and obtains described cutting edge
The moment average angular velocity of rotation ws of piece and moment average speed fs；Vibrating data analysis step, from the one of described shell
Second sensor that side possesses receives the vibration data that described cutting tip is with respect to length direction, and by described vibration data
It is converted into frequency domain；Judge step, to the amplitude under described average speed fs in the vibration data being converted into described frequency domain
Size and amplitude size set in advance are compared；And motor control speed resets step, according to the described knot judging step
Fruit resets the rotating speed of target of described motor, and to described motor for giving the corresponding electric power of described rotating speed of target reseted.
Additionally, in described spin data analytical procedure, described Angle Position data being carried out by differential and obtains angle with respect to the time
Speed data, and using fast fourier transform, described angular velocity data is converted into frequency domain and obtains angular velocity data
Power spectrum.
Additionally, in described vibrating data analysis step, described vibration data is converted into frequency domain using fast fourier transform
To obtain the power spectrum to vibration data.
Additionally, described vibrating data analysis step further includes filtration step, this filtration step in order to only extract with respect to
Centered on described average speed, the vibration data of prescribed bandwidth, filters to the vibration data being converted into described frequency domain.
Additionally, reseting in step in described motor control speed, when the amplitude of the power spectrum under described average speed fs is big
Little equal to or more than amplitude size set in advance when, reset the target speed of described motor.
Additionally, further including auxiliary judgment step, this auxiliary judgment step is in the angular velocity data being converted into described frequency domain
The integral multiple of described average speed fs under angular velocity size and angular velocity size set in advance be compared.
Additionally, further including auxiliary variable speed step, when angular velocity size under the integral multiple of described average speed fs etc.
In or more than angular velocity size set in advance when, change described motor speed.
Additionally, described first sensor includes at least one Hall element.
Additionally, described second sensor includes single-axis acceleration sensors, described vibration data is to pass from described individual axis acceleration
The acceleration information that sensor obtains.
Additionally, described single-axis acceleration sensors include MEMS (mems) type acceleration transducer.
In addition, the control device of the operation burr knife of the present invention includes cutting tip and the motor being built in shell, described
One end of cutting tip is detachably connected to described motor, and the other end has multiple groovings, described operation burr knife
Control device includes: motor controling part, and the rotating speed of target that set motor corresponding with the control signal of user, and to described electricity
Machine is for giving the corresponding electric power of described rotating speed of target；Spin data analysis portion, the first sensor possessing from described motor is real
When receive in the Angle Position data to the described cutting tip during described rotating speed of target speed change, and by described Angle Position number
According to being converted into angular velocity data, and the moment that the angular velocity data after conversion is analyzed and obtains described cutting tip is average
Angular velocity of rotation ws and moment average speed fs；Vibrating data analysis portion, second possessing from the side of described shell
Sensor receives the vibration data that described cutting tip is with respect to length direction, and described vibration data is converted into frequency domain；And
Judging part, to the amplitude size under described average speed fs in the vibration data being converted into described frequency domain and presetting
Amplitude size be compared, described motor controling part turns according to the target that the comparative result of described judging part resets described motor
Speed, and to described motor for giving the corresponding electric power of described rotating speed of target reseted.
Additionally, described spin data analysis portion carried out differential and obtains angular velocity data to described Angle Position data with respect to the time,
And using fast fourier transform, described angular velocity data is converted into the power spectrum that frequency domain obtains angular velocity data.
Additionally, described vibrating data analysis portion using fast fourier transform by described vibration data be converted into frequency domain obtain right
The power spectrum of vibration data.
Additionally, described vibrating data analysis portion is in order to only extract with respect to prescribed bandwidth centered on described average speed
Vibration data, is set to the vibration data being converted into described frequency domain is filtered.
Additionally, described motor controling part is set to be equal to or big when the amplitude size of the power spectrum under described average speed fs
When amplitude size set in advance, reset the speed of described motor.
Additionally, described judging part is set in the angular velocity data being converted into described frequency domain relatively described average speed fs
Integral multiple under angular velocity size and angular velocity size set in advance.
Additionally, described motor controling part be set to when the angular velocity size under the integral multiple of described average speed fs be equal to or
During more than angular velocity size set in advance, change the speed of described motor.
Additionally, described first sensor includes at least one Hall element.
Additionally, described second sensor includes single-axis acceleration sensors, described vibration data senses from described individual axis acceleration
Device obtains.
Additionally, described single-axis acceleration sensors include mems type acceleration transducer.
The control method of operation burr knife of the present invention and control device have can by fairly simple structure monitor in real time to
Patient stay irreversible damage quiver greatly and micro- quiver, and prevent from quivering greatly and micro- effect quivered simultaneously.
Additionally, the control method of operation burr knife of the present invention and control device have and can monitor in real time and be possible to and quiver greatly
Produce together micro- quiver, and suppress to quiver greatly and micro- effect quivered simultaneously.
Brief description
Fig. 1 is the rotor shaft direction sectional view of the operation burr knife of the present invention.
(a) of Fig. 2 is the schematic diagram of the operation burr knife of the present invention possessing control device, (b) and (c) of Fig. 2
Be for illustrate to quiver greatly and micro- Fig. 2 quivering in (a) partial enlarged drawing.
Fig. 3 be for illustrate motor changed according to user control signal control speed process curve chart.
Fig. 4 is the figure observing the cutting tip shown in (a) Fig. 2 from cutting end part side (a-a), for illustrating to stop shape
State or produce quiver greatly before state.
Fig. 5 is the figure observing the cutting tip shown in (a) Fig. 2 from cutting end part side (a-a), for illustrating to produce greatly
The state quivered.
Fig. 6 is the figure for the detailed construction of control device shown in (a) in Fig. 2 is described.
Fig. 7 and Fig. 8 is the flow chart of the control method of the operation burr knife for the present invention is described.
Fig. 9 is the curve chart representing the angular velocity data changing into frequency domain by spin data analysis portion in Fig. 6.
Figure 10 is after expression is filtered to the angular velocity data in Fig. 9 in the way of only extracting with respect to the data of prescribed bandwidth
State curve chart.
Figure 11 is the curve chart representing the vibration data changing into frequency domain by vibrating data analysis portion in Fig. 6.
Figure 12 is after expression is filtered to the vibration data in Figure 11 in the way of only extracting with respect to the data of prescribed bandwidth
State curve chart.
Figure 13 is the curve chart for the process illustrating to avoid quivering greatly according to the control method of the operation burr knife of the present invention.
Description of reference numerals
1: burr knife 10: shell 20: cannula portion
21,22,23: blade bearing 30: motor
31: drive shaft 32: the bearing of drive shaft
40: cutting tip 41: main shaft 42: cutting end part
42a, 42b, 42c, 42d: cutting slot 43: connect end
50: bonder 60: first sensor 70: second sensor
80: control device 81: motor controling part
82: spin data analysis portion 83: vibrating data analysis portion
84: judging part
Specific embodiment
Referring to the drawings, the specific embodiment for implementing the present invention is illustrated.
Different changes can be carried out to the present invention, the present invention can have various embodiments, specific embodiment shown in the drawings,
And in a specific embodiment this embodiment is described in detail.And these are not intended to limit the invention to specifically
Embodiment come proposing it can be understood as belong to being had altered in the thought of the present invention and technical scope, equivalent structure and
Alternative structure belongs to the scope of the present invention.
When the present invention is described, first, second grade term can use when various structures key element is described, but described structural element
Do not limited by described term.Described term can be used for the purpose being distinguished a structural element with other structures key element.
For example, under conditions of the interest field without departing from the present invention, first structure key element can be named as the second structural element, with
Second structural element similarly also can be named as first structure key element by this.
When mentioning certain structural element and connecting or be connected with another structural element it can be understood as this structural element and this another knot
Structure key element directly connects or connects it is understood that also having other structures key element for middle.On the contrary, when mentioning certain structural element
It can be understood as centre does not have other structures key element when directly connecting or be directly connected to another structural element.
The term that uses in this manual simply to illustrate that specific embodiment and use, be not for limiting the present invention.
In the case of not having the clearly contrary implication of expression in context relation, the statement of singulative also can comprise plural form
Statement.
The "comprising" using in this manual or the implication of " possessing " be used to specify exist feature described in description, numeral,
Step, action, structural element, parts or a combination thereof it can be understood as do not exclude in advance other features more than one,
There is a possibility that or additional of numeral, step, action, structural element, parts or combination.
Additionally, unless defined differently, use in this manual is all including technical term and scientific terminology
Term has the implication identical implication being commonly understood by with those skilled in the art.In the word generally using
Term defined in allusion quotation etc. can be construed to the implication consistent with the implication having in the context relation of correlation technique,
In this specification not clearly defined in the case of, these terms can be not construed as preferable or very formal implication.
Additionally, following examples are clearly to illustrate and provide to have the people of average knowledge in this area,
And in order to more clearly illustrate, form and dimension of in figure key element etc. can be greatly exaggerated to show.
Fig. 1 is the rotor shaft direction sectional view of the operation burr knife 1 of the present invention.With reference to Fig. 1, the operation burr of the present invention
Knife 1 includes: constitutes the shell 10 of ectosome；Motor 30, is accommodated in the inside of described shell 10, by control (not shown)
Device receives power and drives；Cutting tip 40, receives revolving force from described motor 30 and rotates；Bonder 50, by institute
State the drive shaft 31 that cutting tip 40 is detachably connected to described motor 30；And cannula portion 20 (sheath portion),
The main shaft 41 of described cutting tip 40 can be pivotally supported, and be fixed on described shell 10 in the way of can loading and unloading.
Described shell 10 is the part of the ectosome of composition operation burr knife 1, and its external diameter is confirmed as being easy to user directly gripping,
Internally it is formed with the space for housing motor 30.The material of shell 10 is unrestricted, but in order to effectively dissipate to outside
The heat producing in electromotor 30, and in order to tackle the vibration of motor 30 and the cutting tip 40 in rear description, institute
State shell 10 to be suitable for using the light-weight metal material with some strength.
Described motor 30 is the part producing rotary driving force, is suitable for adopting high power motor that is small-sized and being capable of high-speed rotation
30, to coordinate the purposes of operation burr knife 1.The inside of shell 10 can possess the drive shaft 31 for supporting motor 30
The bearing 32 of drive shaft.
Described cutting tip 40 has main shaft 41, this main shaft 41 have diameter and the 1:20 of 2～4mm about fineness ratio,
Reach surgical object to be suitable for reach from the skin of patient with respect to part or the roundabout dangerous position of deep place.Leading
The cutting end part 42 that directly operative segment is applied with cutting force is integrally possessed on one end of axle 41, on the other end of main shaft 41
Integrally possesses the connection end 43 being connected with the drive shaft 31 of described motor 30.Shape according to operative segment and operation purpose,
Cutting end part 42 can have different shapes, typically is provided with multiple cutting slots.
Described bonder 50 is to connect the drive shaft 31 of the connection end 43 of described cutting tip 40 and described motor 30 each other
The part connecing, it is set to will be equivalent to the cutting tip 40 of consumptive material and is readily able to releasably be connected to the driving of motor 30
Axle 31.
Described sleeve pipe portion 20 is the structure of the main shaft 41 coating described cutting tip 40, and the purpose in described sleeve pipe portion 20 is anti-
Only the tissue of patient is damaged by the main shaft 41 of high-speed rotation.The inside in described sleeve pipe portion 20 be formed with along its length for
House the space of described main shaft 41, and in order to pivotally support the main shaft 41 of the cutting tip 40 of high-speed rotation,
Can possess blade bearing 21,22,23 on internal multiple positions.Although figure 1 illustrates have three blade bearings 21,22,
23 inside being arranged on cannula portion 20, but the invention is not limited in this structure, can possess the blade bearing of multiple numbers.
In addition, the operation burr knife 1 shown in Fig. 1 can further include to be arranged on inside or outside motor 30 thus being used for
The first sensor (not shown) of Angle Position data obtaining in real time motor 30 and the side that is arranged on described shell 10 thus
For the second sensor 70 of the real-time length direction vibration data obtaining cutting tip 40, with regard to including these the first sensings
Device and the detailed construction of second sensor, to illustrate later with reference to the accompanying drawing after Fig. 2.
(a) of Fig. 2 is the schematic diagram of the operation burr knife 1 of the present invention possessing control device 80, (b) of Fig. 2 and
(c) of Fig. 2 is its partial enlarged drawing, and Fig. 3 is for illustrating that motor 30 carries out the mistake of speed change according to the control signal of user
The curve chart of journey.
As it was previously stated, the operation burr knife 1 of the present invention includes for preventing the structure quivered greatly, this quivers greatly is due to relatively
The high-speed rotation of high-caliber path length tens thousand of more than rpm when per minute and produce, and stay irreversible to surgical object patient
Damage.
That is, as shown in figure 3, in general the user of operation burr knife 1 in order to be processed to surgical object, by target
Control speed to rise at a high speed from low speed, or be reduced to low speed from high speed and operated.
Now, if assuming, motor 30 produces to this target control speed and during the speed speed change of target control speed
The probability quivered greatly is higher, then as Fig. 2 (b) shown in, the form of expression quivered greatly for cutting tip 40 main shaft 41 in institute
Stating short time set under control speed is the state with regulation curvature, now, cutting end part 42 side of cutting tip 40 from
Pivot axle (x-x) is quivered to the y direction of (b) in Fig. 2 with respect to micro- shown in (c) in rotating shaft x producing ratio Fig. 2
Carry out moment rotation in the state of bigger displacement ay.
For example, from cutting end part 42 side (a-a direction (a) of Fig. 2) observe have multiple cutting slot 42a, 42b,
During the cutting tip 40 of 42c, 42d, as shown in figure 4, the cutting end part 42 of cutting tip 40 in halted state or produces big
In the state of before quivering, with its center, almost the state without departing from its rotating shaft x0 is rotated.
However, when generation as shown in Figure 5 is quivered greatly, the cutting end part 42 of cutting tip 40 can be in the state of producing vibration
Rotated, wherein this vibration has certain displacement (substantially in x0 with its center from its rotating shaft x0 for cutting end part 42
Width between x1～x4) state deformation vibration.Now, independently produce with the intention of user certain with described
Displacement or the corresponding processing of vibratory output (ay of (a) of Fig. 2), cause expendable damage to surgical object.
Produce if so and quiver greatly, then, as shown in (b) of Fig. 2, the center of the cutting end part 42 of cutting tip 40 is from its rotating shaft
Produce certain conjugating and vibrated along the direction vertical with rotating shaft, now with this vertical vibration, can produce
Vibration ax on length direction x direction for the cutting tip 40.
Therefore, by detect cutting tip 40 length direction vibratory output, can vertical vibration amount described in indirect detection, this
Invention proposes as the length direction vibratory output monitoring and predicting the cutting tip 40 producing benchmark quivering greatly.
In addition, inventor finds to produce the cutting on the described frequency quivered greatly and the cutting end part 42 being arranged on cutting tip 40
The quantity of groove is independently actual speed with cutting tip 40 or the consistent frequency of moment average speed fs.
Accordingly, as monitoring that quivers greatly produce and avoid the means of generation of quivering greatly, the operation burr knife 1 of the present invention in advance
Control device 80 include as shown in Figure 6: set and reset the rotating speed of motor 30 motor controling part 81, obtain cutting edge
The spin data analysis portion 82 of moment average speed fs of piece 40, the length direction vibration data of acquisition cutting tip 40
Vibrating data analysis portion 83 and the amplitude size relatively under average speed fs of described moment and amplitude set in advance
The judging part 84 of size.
The acting as, according to the use being inputted by the input equipment (not shown) of pedal or pushbutton type of motor controling part 81
Family control signal, sets the rotating speed of target of motor 30 or resets described rotating speed of target, and to described motor 30 for giving institute
The corresponding electric power of rotating speed of target stated rotating speed of target or reset.Although it is not shown, described motor controling part 81 with for described
The external power electrical connection of motor 30 supply electric power.
Acting as of spin data analysis portion 82, to during described rotating speed of target speed change, is had from described motor 30
Standby first sensor 60 obtains the Angle Position data of described cutting tip 40 in real time, and described Angle Position data is converted into
Angular velocity data, and the angular velocity data after conversion is analyzed and obtains the moment average anglec of rotation of described cutting tip 40
Speed ws and moment average speed fs.
In more detail, described spin data analysis portion 82 is arranged with respect to the time to by specific time interval, for example, press
The Angle Position data of motor 30 rotor that the time interval less than a second obtains in real time carries out differential and obtains turning of motor 30
The angular velocity data of son, and using fast fourier transform, described angular velocity data is converted into frequency domain, and the angle speed by conversion
Degrees of data is delivered to the judging part 84 in rear description in the form of the power spectral amplitude with respect to each frequency, and is temporarily stored in judging part
84 or be stored in the data store 85 in rear description.
Stored moment average speed fs becomes in judging part 84 described later quivers greatly and micro- for judging whether to produce
The reference frequency quivered.
First sensor 60 configures inside or outside described motor 30, and its effect is the corner of the rotor of detection motor 30
Put, and the Angle Position detecting is delivered to described spin data analysis portion.
As long as described first sensor 60 can detect the Angle Position of the rotor of motor 30, it is used for the present invention without restriction,
Preferably use at least one Hall element (hall sensor).
Vibrating data analysis portion 83 act as, and the second sensor 70 receiving the side being arranged at described shell 10 is detected
Acceleration information be cutting tip 40 length direction vibration data, and described acceleration information is converted into frequency domain.More
Specifically, vibrating data analysis portion 83 is set to utilize fast fourier transform, the acceleration that will transmit from second sensor 70
Degrees of data is converted into frequency domain to obtain the power spectrum to acceleration information.
The power spectrum to acceleration information being obtained is passed to the judging part 84 in rear description, and is temporarily stored in judging part 84
Or it is stored in the data store 85 in rear description.
Now, in order to reduce the capacity of stored acceleration information, described vibrating data analysis portion 83 may be configured as to described
The vibration data being converted into frequency domain is filtered, thus only extracting with respect to centered on average speed fs of described moment
The vibration data of prescribed bandwidth.
For example, can be covered by way of there is prescribed bandwidth centered on described moment average frequency fs window (window) and
Carry out filtering to extract data of interest and to be stored.Described prescribed bandwidth can for described a × fs to b × fs (for example, a=0.9,
B=1.1).Detailed construction with regard to data filtering to be described later herein with reference to Fig. 9 to Figure 12.
In addition, second sensor 70 is to be produced and transmitted by the short time set of cutting tip 40 as described above for detection
To the device of the length direction vibratory impulse data of shell 10, more specific is device for detecting acceleration information.
As long as the second sensor of the present invention 70 is for detecting the length direction producing because of the short time set of cutting tip 40
Acceleration impacts the sensor of data, then can use without restriction, but in order to perform the operation with the miniaturization of burr knife 1 itself and
Expense is thrifty, is preferably arranged to single-axis acceleration sensors, can use mems type acceleration transducer.
Judging part 84 is set to big to the amplitude under described average speed fs in the vibration data being converted into described frequency domain
Amplitude size that is little and presetting and be stored in data store 85 is compared, the judged result of described judging part 84
It is passed to described motor controling part 81.
Here, the big I of amplitude set in advance is to be divided into after the minimum amplitude size quivered greatly is multiplied by the safety coefficient of regulation
Numerical value, can be divided into the minimum amplitude quivered greatly and safety coefficient is set to user and considers that degree of safety can be adjusted in advance and set
Data store 85 is stored after fixed.
In addition, when the judged result of described judging part 84, the amplitude size under described average speed fs is equal to or more than
During amplitude size set in advance, described motor controling part 81 resets the rotating speed of target of described motor 30, and to described motor
30 for giving the corresponding electric power of described rotating speed of target after reseting, thus being set to instantaneously automatically avoid to cutting tip 40
Produce the high speed section of the probability quivered greatly.
Detailed content with regard to avoiding the high speed section of the probability that described generation is quivered greatly is entered later herein with reference to Figure 13
Row description.
In addition, the control device 80 of the present invention may be alternatively provided as executing further being used for preventing foregoing cutting tip
40 micro- function of quivering.
That is, in order to prevent the micro- generation quivered shown in (c) in Fig. 2, described judging part 84 can be further arranged to conversion
Under the integral multiple (for example, 2 × fs, 3 × fs etc.) of moment average speed fs described in the angular velocity data for described frequency domain
Angular velocity size and angular velocity size set in advance be compared, and be set to, according to described judged result, work as institute
When stating angular velocity size under the integral multiple of moment average speed fs and being equal to or more than angular velocity size set in advance, institute
State motor controling part 81 change described motor 30 speed such that it is able to with prevent the structure identical mode quivered greatly
Prevent micro- quivering further.
Fig. 7 is the flow chart of the control method being monitored in real time according to the present invention for explanation and avoiding quivering greatly.
With reference to Fig. 7, the control method of the operation burr knife of the present invention executes as follows.
First, as user for the speed change of rotating speed of target by the input equipment of aforementioned pedal or pushbutton type to motor control
During portion's input control signal processed, speed setting procedure is controlled by motor controling part actuating motor, sets and user in this step
The rotating speed of target of the corresponding motor of control signal, and to described motor for giving the corresponding electric power of described rotating speed of target.
Next, spin data analytical procedure is executed by spin data analysis portion, possess from described motor in this step
First sensor real-time reception is in the Angle Position data to the described cutting tip during described rotating speed of target speed change, and incites somebody to action
Described Angle Position data is converted into angular velocity data, and the angular velocity data after conversion is analyzed and obtains described cutting edge
The moment average angular velocity of rotation ws of piece and moment average speed fs.
Specifically, in described spin data analytical procedure, by by specific time interval, such as pressing less than one second
The Angle Position data of the rotor that time interval obtains in real time, carries out, with respect to the time, the angle speed that differential to obtain rotor
Degrees of data, and using fast fourier transform, described angular velocity data is converted into frequency domain.
It is converted into one of angular velocity data of described frequency domain, it is average in moment that this data visualization acts on analysis shown in Fig. 9
The integral multiple of speed fs, before that is, whether amplitude (amplitude spectrum) size wr2, wr3 under 2 × fs or 3 × fs etc. belongs to
State micro- analysis object amplitude quivering.The main purpose of spin data analytical procedure is to obtain moment average speed fs, closes
The information of the amplitude size under the integral multiple of average speed fs of described moment is then in real-time monitoring as described later and keep away
Exempt to use in micro- step quivered.
The angular velocity data of Fig. 9 is temporarily stored in judging part as described above or is stored in data store, but in order to limit
Its memory capacity, can be filtered by the form of regulation.That is, the data due to being concerned in whole angular velocity datas is
Amplitude size (wr1, wr2, wr3 etc.) under the integral multiple of moment average frequency fs and moment average frequency fs, therefore such as
Shown in Figure 10, window (window) can be covered by way of there is prescribed bandwidth centered on these frequencies and be filtered,
Thus only extracting data of interest and being stored.Described prescribed bandwidth can for described a × fs to b × fs (for example, a=0.9,
B=1.1).
Next, vibrating data analysis step is executed by vibrating data analysis portion, from being arranged on shell side in this step
Second sensor receives the vibration data with respect to cutter blade length direction, and described vibration data is converted into frequency domain.
Specifically in described vibrating data analysis step, utilize fast fourier transform, will transmit from second sensor as shaking
The acceleration information of dynamic data is converted into frequency domain.
It is converted into one of angular velocity data of described frequency domain, the amplitude under moment average speed fs (shakes shown in Figure 11
Width compose) size ax be for analysing whether to belong to the aforementioned analysis object amplitude size quivered greatly.
In addition, for the capacity reducing the angular velocity data after described conversion, can be with the filter type for angular velocity data
Similar mode executes the filtration step that the vibration data being converted into described frequency domain is filtered, thus only extract with respect to
The vibration data of prescribed bandwidth centered on described moment average speed.
Similar to FIG. 10ly, can be as shown in figure 12, by there is prescribed bandwidth centered on described moment average frequency fs
Mode cover window and filtered, thus only extracting data of interest and being stored.Described prescribed bandwidth equally can set
It is set to a × fs to b × fs (for example, a=0.9, b=1.1) naturally it is also possible to be arranged differently than bandwidth with Figure 10.
Shown in Figure 12 in addition to filtering the vibration data under a × fs to b × fs bandwidth centered on moment average frequency fs,
Also filter the vibration data under prescribed bandwidth centered on the integral multiple of moment average frequency fs (2 × fs, 3 × fs), but also may be used
As needed, only filter and extract the vibration data under a × fs to b × fs bandwidth centered on moment average frequency fs, and this
Plant structure and also would naturally fall within the scope of the present invention.
Next, execution is to the power spectrum being converted under moment average speed fs described in the vibration data of described frequency domain
The judgement step that amplitude size and amplitude size set in advance are compared.
That is, to the moment average rotary frequency becoming as shown in FIG. 11 and 12 for analysing whether to belong to the analysis object quivering greatly
Whether amplitude size ax under rate fs is judged equal to or more than amplitude size set in advance, when judged result is described
Amplitude size is mutually the same or when ax is bigger, and execution next step is that motor control speed resets step, otherwise is judged as
The current motor control speed setting as producing the low safe speed of the probability quivered greatly, and by motor control in current setting
Control speed.
When judging that the judged result in step is, the amplitude size as comparison other is mutually the same or when ax is bigger, execution
Motor control speed resets step, resets the rotating speed of target of motor in this step by motor controling part, and supplies to described motor
The corresponding electric power of rotating speed of target reseted described in giving.
As shown in figure 13, reseting of the rotating speed of target of motor can be divided into two kinds of situations to execute.
During being at a high speed from current low speed speed change shown in such as (a) of Figure 13, when being judged as needing to reset motor
During rotating speed of target, rotating speed of target is reset to the faster speed of the rotating speed of target more current than motor by motor controling part, thus arranging
For instantaneously automatically avoiding producing the high rotated frequency domain of the probability quivered greatly.
In addition, shown in such as (b) of Figure 13 during current higher speed gear is low speed, when being judged as that needs reset
During the rotating speed of target of motor, rotating speed of target is reset to the slower speed of the rotating speed of target more current than motor by motor controling part, from
And be set to instantaneously automatically avoid producing the high rotated frequency domain of the probability quivered greatly.
Fig. 8 is the control method increasing in step shown in Fig. 7 for explanation for monitoring and avoiding micro- step quivered in real time
Flow chart.
The control method of the operation burr knife of the present invention in order to monitor and avoid micro- quiver, further include: auxiliary judgment step,
To the angular velocity size being converted under the integral multiple of average speed fs of moment in the angular velocity data of frequency domain and set in advance
Angular velocity size is compared；And auxiliary variable speed step, the angular velocity under the integral multiple of average speed fs of described moment
When size is equal to or more than angular velocity size set in advance, change the speed of described motor.
These auxiliary judgment steps and auxiliary variable speed step be set to by with the aforementioned process phase judging in step and speed change step
As process judged and speed change.
That is, can be further arranged to being converted into the whole of moment average speed fs described in the angular velocity data of described frequency domain
Angular velocity size under several times (for example, 2 × fs, 3 × fs etc.) and angular velocity size set in advance are compared, and according to
Described judged result, angular velocity size under the integral multiple of average speed fs of described moment for the described motor controling part is equal to
Or change during more than angular velocity size set in advance described motor speed such that it is able to by with prevent the knot that quivers greatly
Structure identical mode monitors further micro- quiver and prevents micro- generation quivered.
So it is possible to understand that the technical pattern of the invention described above can not change for those skilled in the art
The structure that can be implemented with other concrete forms in the case of the technological thought of the present invention and essential features.
Therefore, aforesaid embodiment should be understood to be exemplary rather than determinate in all respects, the model of the present invention
Enclose and should be defined by appending claims, and should not be defined by above-described embodiment, by implication and the model of claims
Enclose and its equivalents derive had altered or variant should be interpreted that and belongs to the scope of the present invention.
Claims (20)
1. a kind of operation real-time control method of burr knife, includes cutting tip and the motor being built in shell, described cuts
One end of paring blade is detachably connected to described motor, and the other end has multiple groovings, the described operation reality of burr knife
Period control method includes step:
Motor control speed setting procedure, and the rotating speed of target that set motor corresponding with the control signal of user, and to described electricity
Machine is for giving the corresponding electric power of described rotating speed of target；
Spin data analytical procedure, the first sensor real-time reception possessing from described motor is to described rotating speed of target speed change
During described cutting tip Angle Position data, and described Angle Position data is converted into angular velocity data, and to turning
Angular velocity data after change is analyzed and obtains moment average angular velocity of rotation (ws) of described cutting tip and moment is average
Speed (fs)；
Vibrating data analysis step, the second sensor possessing from the side of described shell receive described cutting tip with respect to
The vibration data of length direction, and described vibration data is converted into frequency domain；
Judge step, to the amplitude size under the described average speed (fs) in the vibration data being converted into described frequency domain
It is compared with amplitude size set in advance；And
Motor control speed resets step, resets the rotating speed of target of described motor according to the described result judging step, and to institute
State motor for giving the corresponding electric power of described rotating speed of target reseted.
2. the operation according to claim 1 real-time control method of burr knife, wherein,
In described spin data analytical procedure, with respect to the time, described Angle Position data is carried out by differential and obtains angular velocity number
According to, and using fast fourier transform, described angular velocity data is converted into the power spectrum that frequency domain obtains angular velocity data.
3. the operation according to claim 1 real-time control method of burr knife, wherein,
In described vibrating data analysis step, using fast fourier transform, described vibration data is converted into frequency domain and obtains
Power spectrum to vibration data.
4. the operation according to claim 1 real-time control method of burr knife, wherein,
Described vibrating data analysis step further includes filtration step, and this filtration step is in order to only extract with respect to described flat
All centered on speed, the vibration data of prescribed bandwidth, filters to the vibration data being converted into described frequency domain.
5. the operation according to claim 1 real-time control method of burr knife, wherein,
Reset in step in described motor control speed, when the amplitude size of the power spectrum under described average speed (fs)
During equal to or more than amplitude size set in advance, reset the target speed of described motor.
6. the operation according to claim 2 real-time control method of burr knife, wherein,
Further include auxiliary judgment step, this auxiliary judgment step is to described in being converted in the angular velocity data of described frequency domain
Angular velocity size under the integral multiple of average speed (fs) and angular velocity size set in advance are compared.
7. the operation according to claim 6 real-time control method of burr knife, wherein,
Further include auxiliary variable speed step, when the angular velocity size under the integral multiple of described average speed (fs) is equal to
Or during more than angular velocity size set in advance, change the speed of described motor.
8. the operation according to claim 1 real-time control method of burr knife, wherein,
Described first sensor includes at least one Hall element.
9. the operation according to claim 1 real-time control method of burr knife, wherein,
Described second sensor includes single-axis acceleration sensors,
Described vibration data is the acceleration information obtaining from described single-axis acceleration sensors.
10. the operation according to claim 9 real-time control method of burr knife, wherein,
Described single-axis acceleration sensors include mems type acceleration transducer.
A kind of 11. operations control device of burr knife, including cutting tip and the motor being built in shell, described cutting
One end of blade is detachably connected to described motor, and the other end has multiple groovings, the described operation control of burr knife
Device includes:
Motor controling part, and the rotating speed of target that set motor corresponding with the control signal of user, and to described motor for giving institute
State the corresponding electric power of rotating speed of target；
Spin data analysis portion, the first sensor real-time reception possessing from described motor is to described rotating speed of target speed change
During described cutting tip Angle Position data, and described Angle Position data is converted into angular velocity data, and to conversion
Angular velocity data afterwards is analyzed and obtains the moment average angular velocity of rotation (ws) of described cutting tip and moment averagely revolves
Turn frequency (fs)；
Vibrating data analysis portion, the second sensor possessing from the side of described shell receives described cutting tip with respect to length
The vibration data in degree direction, and described vibration data is converted into frequency domain；And
Judging part, to the amplitude size under the described average speed (fs) in the vibration data being converted into described frequency domain and
Amplitude size set in advance is compared,
Described motor controling part resets the rotating speed of target of described motor according to the comparative result of described judging part, and to described motor
For giving the corresponding electric power of described rotating speed of target reseted.
The 12. operations according to claim 11 control device of burr knife, wherein,
Described spin data analysis portion carried out differential and obtains angular velocity data to described Angle Position data with respect to the time, and
Using fast fourier transform, described angular velocity data is converted into the power spectrum that frequency domain obtains angular velocity data.
The 13. operations according to claim 11 control device of burr knife, wherein,
Described vibration data is converted into frequency domain using fast fourier transform and obtains to vibration number by described vibrating data analysis portion
According to power spectrum.
The 14. operations according to claim 11 control device of burr knife, wherein,
Described vibrating data analysis portion is in order to only extract the vibration number with respect to prescribed bandwidth centered on described average speed
According to being set to the vibration data being converted into described frequency domain is filtered.
The 15. operations according to claim 11 control device of burr knife, wherein,
Described motor controling part is set to be equal to or more than when the amplitude size of the power spectrum under described average speed (fs)
During amplitude size set in advance, reset the speed of described motor.
The 16. operations according to claim 12 control device of burr knife, wherein,
Described judging part is set to whole to the described average speed (fs) in the angular velocity data being converted into described frequency domain
Angular velocity size under several times and angular velocity size set in advance are compared.
The 17. operations according to claim 16 control device of burr knife, wherein,
Described motor controling part is set to be equal to or big when the angular velocity size under the integral multiple of described average speed (fs)
When angular velocity size set in advance, change the speed of described motor.
The 18. operations according to claim 11 control device of burr knife, wherein,
Described first sensor includes at least one Hall element.
The 19. operations according to claim 11 control device of burr knife, wherein,
Described second sensor includes single-axis acceleration sensors,
Described vibration data is the acceleration information obtaining from described single-axis acceleration sensors.
The 20. operations according to claim 19 control device of burr knife, wherein,
Described single-axis acceleration sensors include mems type acceleration transducer.
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| CN201510419719.3A CN106344105A (en) | 2015-07-16 | 2015-07-16 | Control method and device for operation flashing knife |
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| CN201510419719.3A CN106344105A (en) | 2015-07-16 | 2015-07-16 | Control method and device for operation flashing knife |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115486940A (en) * | 2022-08-31 | 2022-12-20 | 北京长木谷医疗科技有限公司 | Intelligent power control method, device and system for orthopedic surgery robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115486940A (en) * | 2022-08-31 | 2022-12-20 | 北京长木谷医疗科技有限公司 | Intelligent power control method, device and system for orthopedic surgery robot |
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