Control system of drilling assistant device for spinal surgery based on STM32

LI Xiang-yu, TANG Qing, XU Bang-jie, YAO Jin
（School of Mechanical Engineering, Sichuan University, Chengdu 610065, China）

Abstract: Aiming at the problem of high intensity and high risk of drilling for pedicle fixation, the circuit and control system of drilling auxiliary device was designed. Difficulties that exist in the drilling operation of pedicle internal fixation were analyzed, the design scheme of the control system were given. Based on the STM32 microcontroller, a joint damping control system for drill manipulator was designed, which could quickly switch between drag state, fine adjustment state and lock state. The automatic feed control system for drilling and the auxiliary display system for drilling operation were designed. The prototype was manufactured and tested. The results show that the design of the device is reasonable and can meet the proposed design requirements. It can provide convenience and judgment basis for doctors to carry out surgical drilling, reduce labor intensity during the process of drilling, and help solve the risk of spinal surgery caused by the possible physiological flutter during drilling.
Key words: spinal drilling operation; microcontroller; magnetic clutch; damping control