CN101530341A - Intelligent bone drill and control method thereof - Google Patents
Intelligent bone drill and control method thereof Download PDFInfo
- Publication number
- CN101530341A CN101530341A CN200910103642A CN200910103642A CN101530341A CN 101530341 A CN101530341 A CN 101530341A CN 200910103642 A CN200910103642 A CN 200910103642A CN 200910103642 A CN200910103642 A CN 200910103642A CN 101530341 A CN101530341 A CN 101530341A
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- drill
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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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- 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
- A61B17/1695—Trepans or craniotomes, i.e. specially adapted for drilling thin bones such as the skull
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- Orthopedic Medicine & Surgery (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Engineering & Computer Science (AREA)
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- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
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Abstract
The invention discloses an intelligent bone drill. A common bone drill motor is provided with a strain torque sensor, a revolution speed transducer or a pressure sensor; the bone drill motor is further provided with an embedded intelligent control module that receives an induced signal collected by the sensor and judges the same to control the bone drill motor. The invention further discloses a control method of the intelligent bone drill. Beneficial effects of the invention lie in that a base body of the common bone drill motor is provided with a revolution speed transducer composed of a hall sensor and a metal reading code disk, a torque sensor and a pressure sensor to measure and display revolution speed, torque and pressure of the drill realtime, which realizes judgment of whether the drill pierces the bone tissue and control of automatic stop and reversion; the bone drill motor is provided with an ultrasonic transducer that can measures drill depth of the drill accurately. The improvement can provide effective data during operation for operator and reliable protection realtime.
Description
Technical field
The present invention relates to a kind of medical apparatus and instruments, more precisely relate to a kind of intelligent bone drill and control method thereof.
Technical background
Bone drill electric drill (abbreviation bone drill) is one of orthopaedics operating theater instruments commonly used.And its security performance of existing bone drill is difficult for ensureing; mainly be presented as: pierce the degree of depth; the rotating speed of electric drill; the control of start-stop etc. is artificially controlled by the operation technique person; and the doctor selects surgical incision one side skin " comparatively safe side " often; it is exactly an important vessel and neural less or operation technique side easily; and the opposite side of skeleton has important vessel and nerve; after the rotary head high speed rotating that existing orthopaedics electricity changes passes the offside cortical bone; be not easy very much control; and injure blood vessel; nerve or muscle; this also is the problem of doctor's headache of a lot of high age and service seniority; and the doctor is for fear of this damage; usually the method that adopts is that periosteum and muscle around the two ends of fracture are peeled off from skeleton, and the reuse periosteal elevator is put into the opposite and blocks protection.The defective of said method is:
1, operating time and working strength have been increased;
2, increase the degree of injury of fracture end, peeled off the periosteum at fracture two ends, fracture end blood fortune is reduced or stopped, having caused the union of fracture difficulty, postponed or disunion, increased patient's bed rest time and financial burden;
3, the muscle terminal around the cleavage fracture has increased amount of bleeding.
After each boring, need to fathom, increased operating time and not corresponding indication and protective measure, thereby had bigger medical safety hidden danger with dip stick.
Summary of the invention
The invention provides a kind of intelligent bone drill, its scheme is: the bone drill motor be provided with in strain-type torque sensor, speed probe or the pressure transducer any one, two kinds or three kinds of senser elements; On the bone drill motor, also be provided with the induced signal of embedded intelligence control module receiving sensor spare collection and judge control bone drill motor.
Strain gauge transducer of the present invention is made of four foil gauges, and four foil gauges are arranged on the same cross section of the annular metal member on the bone drill motor body, with the angle of annular metal member axis be ± 45 °; Described speed probe is made of Hall element and metal reading code-disc; Metal is read the stiff end that code-disc is installed on the drill bit of bone drill motor, rotates with speed with drill bit, and metal reads to have on the code-disc a plurality of circular holes to be positioned on the same circumference; Hall element is installed on the front end of bone drill motor body, and the axis normal of Hall element is read code-disc in metal, and reads on the circumference that code-disc intersects at the circular hole place with metal.
Described circular hole can be that quantity is 12; Described pressure transducer places the bone drill motor internal.
Stiff end at the drill bit of bone drill motor also is equipped with ultrasonic transducer, and hyperacoustic transmit direction is parallel with drill bit.
The invention also discloses the control method of intelligent bone drill: whether undergo mutation by torque-on-bit, drill speed or the drill bit pressure measured and judge whether drill bit penetrates skeleton; Judge and implement when drill bit has penetrated skeleton to stop boring.
Start drill bit, torque-on-bit step evolution ground is descending, drill speed step evolution ground from slow to fast or the pressure step evolution ground that is subjected to of drill bit descending, drill bit all stops brill; Start drill bit once more, torque-on-bit step evolution ground is descending, drill speed step evolution ground from slow to fast or the pressure step evolution ground that is subjected to of drill bit descending, all be judged to be and penetrate skeleton, drill bit stops boring.
When system judged that drill bit has penetrated skeleton, system sent a reverse signal to motor.
When the drill end of bone drill motor touches skeleton or steel plate startup drill bit, with the distance between ultrasonic measurement ultrasonic transducer and skeleton or the steel plate; When drill bit stops to bore, with the distance between ultrasonic measurement ultrasonic transducer and skeleton or the steel plate; The difference of twice distance is the skeleton degree of depth, selects screw length according to the skeleton degree of depth.
Useful technique effect of the present invention is: be provided with on the matrix of common bone drill motor and constitute speed probe, torque sensor and pressure transducer by Hall element and metal reading code-disc drill speed, moment of torsion and pressure are measured in real time, shown, realize whether drill bit is drilled the differentiation of osseous tissue by three kinds of parameters, and realize stopping automatically the control of boring and reversing; Ultrasonic transducer is set on the bone drill motor can accurately measures the degree of depth that pierces of drill bit.Can active data be provided in art and carry out the real-time reliable protection for the operation technique person by above-mentioned improvement.
Description of drawings
Fig. 1 is the block diagram of system;
Fig. 2 is a numerically controlled intelligent bone drill transducer arrangements sketch map;
Fig. 3 is A-A view of Fig. 2.
In the accompanying drawing: 1 ultrasonic transducer, 2 strain-type torque sensors, 3 drill bits, 4 Hall elements, 5 metal reading code-discs, 6 intelligent control modules, 7 annular metal member, 8 foil gauges.
The specific embodiment
Further specify below in conjunction with the drawings and specific embodiments:
After deliberation, the bone drill motor in operation process drill bit 3 in osseous tissue drilling and penetrate osseous tissue after, the moment of torsion that the bone drill electric machine rotational axis produces owing to the effect that is subjected to resistance exists significantly different.For the operation technique person, the sense that significantly falls through is arranged drilling moment.The sign of the moment of torsion that this sense that falls through is produced on the bone drill electric machine rotational axis is exactly a descending step of moment of torsion.
Therefore, be provided with an annular metal member 7 as shown in Figure 2 on the body of bone drill motor, be respectively arranged with four foil gauges 8 on annular metal member 7 upper edge axle ± 45 ° directions, foil gauge 8 adopts high temperature strain foil, can satisfy the autoclave sterilization requirement.Four foil gauges 8 are positioned on the same cross section of annular metal member 7, constitute strain-type torque sensor 2, and the maximum positive and negative strain on the inductive axis is formed full-bridge circuit, the then exportable voltage signal that is directly proportional with moment of torsion M with it.This connection can be eliminated the interference of axial force and bending force.The moment of torsion that drill bit produced is passed on the annular metal member 7, and intelligent monitoring module 6 is by the measurement to full-bridge circuit, can calculate the suffered change in torque of drill bit 3.
Real-time tracking is carried out in the variation of 6 pairs of drill bit 3 moments of torsion of intelligent monitoring module, implement to stop boring when detecting to send when descending step evolution sudden change takes place drill bit 3 moments of torsion to stop boring to instruct, start drill bit 3 once more, the decidable drill bit has penetrated skeleton when detecting drill bit 3 moments of torsion descending step evolution sudden change takes place, and sends to stop boring instruction and implement to stop boring.
In addition, drilling skeleton moment, the operation technique person can feel that drill bit 3 rotary speeies obviously increase, at this moment, also there is a step from slow to fast in the rate signal that records with Hall element 4, the measurement of adopting Hall element 4 to cooperate special metal reading code-disc 5 to realize for rate signal.
As shown in Figure 2, metal reading code-disc 5 is installed on the stiff end of drill bit 3, rotates with speed with drill bit 3.On the metal reading code-disc 5 with drill bit 3 centre of gyration coaxial arrangement 12 circular holes, Hall element 4 is installed in the front end of bone drill motor body, its axis normal is in metal reading code-disc 5, and intersect on the circumference that circle center line connecting constituted of 12 circular holes with code-disc, Hall element 4 and metal reading code-disc 5 constitute speed probes.Because Hall effect, when the circular hole on the metal reading code-disc 5 or metal during near Hall element 4, Hall element will produce different level and export.According to measuring the rotating speed that time that speed that level changes and level continue can obtain metal reading code-disc 5 is the rotating speed of drill bit 3.
The rotating speed of 6 pairs of drill bits 3 of intelligent monitoring module carries out real-time tracking, implement to stop brill when detecting to send to stop boring to instruct when drill speed generation step is from slow to fast suddenlyd change, start drill bit 3 once more, decidable drill bit 3 has penetrated skeleton when detecting drill bit 3 rotating speeds from slow to fast step sudden change takes place, and sends to stop boring instruction and implement to stop boring.
When drill bit 3 drills skeleton, the suffered pressure of drill bit also can produce step, and (pressure transducer is arranged on the bone drill motor internal, omit in the accompanying drawing), the pressure that 6 pairs of drill bits 3 of intelligent monitoring module are subjected to carries out real-time tracking, implement to stop boring when detecting to send when descending step evolution sudden change takes place pressure to stop boring to instruct, start drill bit 3 once more, decidable drill bit 3 has penetrated skeleton when detecting pressure that drill bit 3 is subjected to descending step sudden change takes place, and sends to stop boring instruction and implement to stop boring.
Variation with drill bit 3 moments of torsion, rotating speed, three kinds of parameters of pressure is used as penetrating the criterion of skeleton, penetrate skeleton as long as judge drill bit 3 according to the variation of arbitrary parameter wherein, the judgement that drill bit 3 penetrates skeleton all can be made by system, thereby has increased the reliability of system works.
As previously mentioned, should stop the rotation of drill bit when penetrating skeleton immediately in case judge drill bit 3.What traditional bone drill was taked is the method for unclamping trigger, its essence is the motor of bone drill is stopped power supply.The problem that this method exists is: it is longer one, to stop the time to need, and with operator's action direct relation is arranged; Two, still have certain inertia that its maintenance is rotated after motor is stopped power supply.Therefore, traditional bone drill stop boring unreliable.The control that stops to bore among the present invention be system send stop boring control signal after, the short reverse signal of compole when system will send to motor, the inertia that utilizes the counter-rotating of this short time to offset original forward rotation.Guarantee that motor can stop operating accurately and rapidly.
Adopt ultrasonic measuring distance technology that drill bit 3 is pierced the degree of depth and measure in real time, at drill bit 3 stiff ends of bone drill motor one ultrasonic transducer 1 is installed as shown in the figure, hyperacoustic transmit direction is parallel with drill bit 3.Intelligent control module 6 control ultrasonic transducers 1 touch on drill bit 3 tops of bone drill motor when skeleton or steel plate start drill bit 3 and send ultrasound wave, reflect when ultrasonic propagation skeleton or steel plate, and echo is back to acoustic wave transducer 1.Ultrasonic transducer 1 converts the mechanical energy of acoustic signals to the variation of electrical quantity, intelligent control module 6 is measured echo and is reached the time and send hyperacoustic time difference, and itself and the long-pending of hyperacoustic speed can be obtained ultrasonic transducer 1 to the distance between skeleton or the steel plate except that 2 again; When drill bit 3 stopped to bore, ultrasonic transducer 1 sent ultrasonic measurement once more and goes out distance between ultrasonic transducer and skeleton or the steel plate; The difference of twice distance is the skeleton degree of depth, can select the length of the screw of fixation steel plate according to the skeleton degree of depth.
Intelligent monitoring module 6 is embedded in the bone drill motor body, intelligent monitoring module 6 has comprised microcontroller, telemetry circuit and wireless communication module, intelligent monitoring module 6 can be connected with display terminal with setting by communication, and setting and display terminal are used for the output of input that pierces basic controlling parameters such as the degree of depth, rotating speed, moment of torsion and real time data is shown.
Claims (10)
1, a kind of intelligent bone drill is characterized in that: the bone drill motor be provided with in strain-type torque sensor (2), speed probe or the pressure transducer any one, two kinds or three kinds of senser elements; On the bone drill motor, also be provided with the induced signal of embedded intelligence control module (6) receiving sensor spare collection and judge control bone drill motor.
2, intelligent bone drill according to claim 1, it is characterized in that: described strain gauge transducer (2) is made of four foil gauges (8), four foil gauges (8) are arranged on the same cross section of the annular metal member (7) on the bone drill motor body, with the angle of annular metal member (7) axis be ± 45 °.
3, intelligent bone drill according to claim 1 is characterized in that: described speed probe is made of Hall element (4) and metal reading code-disc (5); Metal is read the stiff end that code-disc (5) is installed on the drill bit (3) of bone drill motor, rotates with speed with drill bit (3), and metal reads to have on the code-disc (5) a plurality of circular holes to be positioned on the same circumference; Hall element (4) is installed on the front end of bone drill motor body, and the axis normal of Hall element (4) is read code-disc (5) in metal, and reads code-disc (5) with metal and intersect on the circumference at circular hole place.
4, intelligent bone drill according to claim 3 is characterized in that: described circular hole quantity is 12.
5, intelligent bone drill according to claim 1 is characterized in that: described pressure transducer places the bone drill motor internal.
6, intelligent bone drill according to claim 1 is characterized in that: the stiff end at the drill bit (3) of bone drill motor also is equipped with ultrasonic transducer (1), and hyperacoustic transmit direction is parallel with drill bit (3).
Whether 7, a kind of control method of intelligent bone drill as claimed in claim 1 is characterized in that: undergo mutation by torque-on-bit, drill speed or the drill bit pressure measured and judge whether drill bit penetrates skeleton; Judge and implement when drill bit has penetrated skeleton to stop boring.
8, the control method of intelligent bone drill according to claim 7 is characterized in that: start drill bit, torque-on-bit step evolution ground is descending, drill speed step evolution ground from slow to fast or the pressure step evolution ground that is subjected to of drill bit descending, drill bit all stops brill; Start drill bit once more, torque-on-bit step evolution ground is descending, drill speed step evolution ground from slow to fast or the pressure step evolution ground that is subjected to of drill bit descending, all be judged to be and penetrate skeleton, drill bit stops boring.
9, according to the control method of claim 6 or 7 described intelligent bone drills, it is characterized in that: when judging that drill bit has penetrated skeleton, system sends a reverse signal to motor.
10, the control method of intelligent bone drill according to claim 6 is characterized in that: when the drill end of bone drill motor touches skeleton or steel plate startup drill bit, with the distance between ultrasonic measurement ultrasonic transducer and skeleton or the steel plate; When drill bit stops to bore, with the distance between ultrasonic measurement ultrasonic transducer and skeleton or the steel plate; The difference of twice distance is the skeleton degree of depth, selects screw length according to the skeleton degree of depth.
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|---|---|---|---|
| CN200910103642A CN101530341A (en) | 2009-04-20 | 2009-04-20 | Intelligent bone drill and control method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN200910103642A CN101530341A (en) | 2009-04-20 | 2009-04-20 | Intelligent bone drill and control method thereof |
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| CN101530341A true CN101530341A (en) | 2009-09-16 |
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| CN102599961A (en) * | 2012-03-16 | 2012-07-25 | 南开大学 | Intelligent surgical power tool capable of sensing rigidity and structure of tissue to be cut |
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