CN109567894A - Vertebra bone drill control system - Google Patents
Vertebra bone drill control system Download PDFInfo
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- CN109567894A CN109567894A CN201811312268.3A CN201811312268A CN109567894A CN 109567894 A CN109567894 A CN 109567894A CN 201811312268 A CN201811312268 A CN 201811312268A CN 109567894 A CN109567894 A CN 109567894A
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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
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
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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
- A61B17/1662—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans for particular parts of the body
- A61B17/1671—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans for particular parts of the body for the spine
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- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Animal Behavior & Ethology (AREA)
- Engineering & Computer Science (AREA)
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- Dentistry (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Surgical Instruments (AREA)
Abstract
The invention belongs to surgical instruments fields to provide vertebra bone drill control system for the precision deficiency problem of manual control vertebra bone drill drilling depth in the prior art, including acquisition module, memory module, control module and the vertebra bone drill to drill for vertebra；Acquisition module is for acquiring practical feeding distance information, practical axial force information and actual current information；Memory module is used for gauged distance information, standard axial direction force information and normalized current information；Contrast module is compared for comparing to practical feeding distance information with gauged distance information, to practical axial force information and standard axial direction force information, is compared to actual current information and normalized current information, when any of the above-described is equal, contrast module sends interrupting information to control module；Control module is used to receive the interrupting information of contrast module transmission, and controls vertebra bone drill place circuit and disconnect.
Description
Technical field
The invention belongs to surgical instruments fields, and in particular to vertebra bone drill control system.
Background technique
Vertebra Minimally Invasive Surgery is a kind of surgical operation, is mainly characterized by comprising: to avoid big notch under certain medical-risk, adopt
With miniature incision or puncture channel, with special instrument and device, under image instrument monitoring or under airmanship guidance, from
Normal anatomical structure reaches lesion, using various miniature manually or electrically instruments and equipment, completes under the conditions of visual
Entire surgical procedure, to reach than traditional or the spinal operation notch of standard is small, tissue trauma is small, bleeding is few, manipulation accuracy
For the purpose of high, effect affirmative, postoperative function restore fast.
Current spinal operation drilling instrument, is primarily referred to as vertebra bone drill.Vertebra bone drill is divided into two kinds, and one kind is tradition
Hand feed formula, another kind is visually lower abrasive drilling.Hand feed formula needs doctor oneself to drill by hand, and doctor oneself sees
Bone drill depth is examined, stops drilling when reaching the position estimated；The knack and experience of this method heavy dependence doctor itself,
It is excessively high for beginner's difficulty, it is unfavorable for the rapid culture of doctor.Visually lower abrasive drilling, sweeps patient body using X-ray
It retouches, to obtain drill bit position, doctor needs through x-ray scanning as a result, judging whether bit depth reaches requirement, then
Drill bit is controlled to stop.
Therefore, both spinal operations all can not judge whether the drilling depth has reached requirement with drilling instrument,
That is the use of these equipment must all rely on doctor's masterful technique and experience.This characteristic constrains vertebral column minimally invasive hand
The application of art says that difficulty is excessively high to beginner, and doctor is observing the drilling equipment in use, great effort must be spent
Its drilling depth increases the operating pressure of clinician.And in boring procedure, large-scale use X-ray is assisted, greatly
The risk of medical worker is increased greatly.
For above situation, the domestic brill in backbone clinical use utilizes auto-feed not yet and is judged by sensor
Whether drill the research of aspect, therefore auto-feed provided by the invention and can voluntarily judge that the operation drilled is flat with drilling into bone
Platform has comparable development prospect.
Summary of the invention
Vertebra bone drill control system of the invention solves and needs the drilling of manual control vertebra bone drill deep in the prior art
Degree problem.
Base case of the invention are as follows: vertebra bone drill control system, including acquisition module, memory module, control module and
Vertebra bone drill for vertebra drilling；
The acquisition module is for acquiring practical feeding distance information, practical axial force information and actual current information；
The memory module is for storing distance range information, axial force range information and current range information；
The contrast module is used to compare, to practical axial force practical feeding distance information and distance range information
Information is compared with axial force range information, is compared to actual current information and current range information, when practical feeding
Information belongs to urgent range information, and practical axial direction force information belongs to axial force range information or actual current information belongs to electric current model
When enclosing information, contrast module sends interrupting information to control module；
The control module is used to receive the interrupting information of contrast module transmission, and it is disconnected to control vertebra bone drill place circuit
It opens.
The principle of base case and have the beneficial effect that the vertebra bone drill control system of this programme includes adopting at work
Collect module, memory module, control module and vertebra bone drill.
Practical feeding distance information, practical axial force information and actual current are acquired by acquisition module respectively in this system
Information；Then feeding distance information and urgent range information are compared by contrast module, practical axial force information and axis
Monologue is carried out to power range information, actual current information is compared with current range information, any one in three of the above
As a result occur information go out range can by control module control vertebra bone drill stop working.
Therefore, vertebrae driller is automatically stopped by control module realization, realizes to creep into using vertebrae and goes
When work, the stopping of vertebra bone drill is not necessarily to manual control, reduces the operating pressure of doctor.Also, control module control in this programme
It is common by feeding distance information, practical axial force information and actual current information, three factors that vertebra bone drill processed, which is automatically stopped,
What is determined compares the comparison for only considering single factor, and vertebra bone drill halt system provided by this programme is more accurate.
It further, further include input module and obfuscation module；
The input module is for inputting gauged distance information, standard axial direction force information and normalized current information；
The obfuscation module is used to obtain distance range information by the Fuzzy processing to gauged distance information, by right
The Fuzzy processing of standard axial direction force information obtains axial force range information, and by the blurring to normalized current information at
Reason obtains current range information.
Input gauged distance information, standard axial direction force information and normalized current information in this programme are by obscuring mould
What block was treated, blurring by gauged distance information, standard value axial direction force information and normalized current information signified scope into
One step expands, and in the presence of allowing momentum, improves the practicability of this programme.
It further, further include alarm module；
The acquisition module is also used to acquire the practical momentum information after motor stops；
The memory module also with storage momentum range information；
The contrast module is also used to compare practical momentum information with momentum range information, when practical momentum information
When being not belonging to storage momentum range information, contrast module sends a warning message to control module；
After the control module is also used to receive the warning information of contrast module transmission, control alarm module is alerted.
Vertebra bone drill control system in this programme, is detected for momentum, is convenient for when carrying out preliminary experiment
Judge the working condition of vertebra bone drill, guarantee screens obtained vertebra bone drill by preliminary experiment being capable of normal use.
It further, further include input module；The input module is for inputting momentum range information.
In the present solution, the input of momentum range information changes momentum model convenient for user according to different bone bed situations
It encloses, so that the scope of application of the vertebra bone drill control system in this programme is wider.
Further, the gauged distance information is come by maximum safe feeding distance variation, the maximum safety feed away from
It dashes forward obtained by thickness from small joints in lumbar spine is calculated by MATLAB software.
In the present solution, calculating the trouble by MATLAB software using the factors such as the age of patient, physical condition in case
Person's small joints in lumbar spine is dashed forward thickness, and extrapolates the safe feeding distance of maximum of this vertebra drilling.And gauged distance information is doctor
For shield personnel according to maximum safe feeding distance, the drilling reached in conjunction with required by this selected vertebra bone drill of experience is deep
Spend distance.Further, the momentum range information is 0~1mm.
Momentum refers to drill bit interruption to the vertical component distance between workpiece (herein referring to vertebrae) bottom.To guarantee safety
Property, drill bit is when drilling vertebrae, it should which strict control drill bit drills the overshoot of moment, avoids bit damage human vertebra refreshing
Through.
Detailed description of the invention
Fig. 1 is the module diagram of vertebra bone drill control system embodiment of the present invention；
Fig. 2 is the logical schematic of vertebra bone drill control system embodiment of the present invention.
Specific embodiment
Below by the further details of explanation of specific embodiment:
Embodiment is substantially as shown in Fig. 1:
(1) foundation of baseline values
1. calculating maximum safe feeding distance
Using M equipment/software of hospital, the prominent thickness a of small joints in lumbar spine is measured, this bone drill is calculated according to reality
The safe feeding distance b of maximum of work.Such as, the vertebra bone drill operation which needs to carry out, it is only necessary to penetrate 1/3 vertebra thickness
, then b=a*1/3.
2. establishing fuzzy database
According to the experience of outstanding doctor, for electric drill feed speed, bore error value, bore angle etc. under different situations,
Fuzzy data is established, and the data are stored.
Note: different situations here refer to that all ages and classes, different living environments, the different type of different sclerotin are performed the operation.
In fuzzy database, the storage of data is with " age-living environment-sclerotin-type of surgery-electric drill feed speed-brill
The tables of data of hole error amount-bore angle etc. " is template.
3. establishing standard database
On self-stop skull drill theoretical research foundation, test out in drilling the bone processes under different situations electric current with
The curve of time change, thus by the storage of these data into standard database；
Gauged distance information and standard axial direction force information are also stored in standard database；Wherein gauged distance information is doctor
For shield personnel according to maximum safe feeding distance, the drilling reached in conjunction with required by this selected vertebra bone drill of experience is deep
Spend distance；Standard axial direction force information refers to when being drilled using electric drill to corresponding sclerotin, axial force caused by electric drill torsion.
Here electric drill feed speed, bore error value, bore angle are on the basis of fuzzy database.
(2) step and principle
1. operating procedure
S1, using input module, by gauged distance information, standard axial direction force information and normalized current information, specifically: it is defeated
Entering module includes input unit, matching unit；
S1-1 inputs " age-living environment-sclerotin judgement-type of surgery " this phase of the patient from input unit
The information of mutual correlation；
S1-2, according to the information that input module inputs, matching unit searches corresponding information from standard database, thus
Obtain electric drill feed speed v, bore error value d, bore angle μ, then matching unit is by electric drill feed speed v, bore error
Value d, bore angle μ are sent respectively to the execution database of memory module, are stored.
S1-3, from input unit, the maximum safe feeding distance b of input, matching module combines " age-living environment-bone
Matter judgement-type of surgery " recalls the speed of service of the bone drill from fuzzy database, to obtain, which drills continuous
Time t, then matching module according to continuous time t from " current-vs-time " image in standard database, to obtain, electric drill
When running continuous time t, the immediate current I of electric drill, using immediate current I as normalized current information.
S1-4, standard axial force are set as f.
S1-5, gauged distance are set as b.
Gauged distance information b, standard axial direction force information f and normalized current information I are sent to memory module by S1-6.
S2 is acquired practical feeding distance information, practical axial force information and actual current information in acquisition module,
Specifically: acquisition module includes infrared distance sensor, axial force transducer and digital electronic ammeter, infrared distance measuring sensor
Transmitting terminal is fixed on the bottom of drill bit, and the receiving end of infrared distance measuring sensor is fixed on the fuselage connecting with drill bit；
S2-1, the drill bit dropping distance that infrared distance measuring sensor is measured are c=m-n；C refers to that drill bit descending depth, m refer to
The current distance that infrared distance measuring is measured, n refer to that infrared distance measuring sensor is measured in the case where drill bit does not start
Initial distance.
S2-2, axial force transducer are detected to obtain w to the current axial force of electric drill；
S2-3, digital electronic ammeter detect the electric current of circuit where electric drill, obtain actual current i；
S2-4, acquisition module is using c, w, i as practical feeding distance information, practical axial force information and actual current
Information, and transmit these information to contrast module.
S3 after contrast module receives c, w and i, recalls b, f and I from memory module；
S3-1, contrast module compare c and b, and as c=b, contrast module sends interrupting information to control module；
S3-2, contrast module compare w and f, and as w=f, contrast module sends interrupting information to control module；
S3-3, contrast module compare i and I, and as i=I, contrast module sends interrupting information to control module.
S4, after control module receives interrupting information, circuit where control vertebra bone drill is disconnected, i.e. vertebra bone drill stops automatically
Only.
2. principle is explained
Practical feeding distance information, practical axial force information and actual current are acquired by acquisition module respectively in this system
Information；Then practical feeding distance information c and gauged distance information b are compared by contrast module, practical axial force is believed
Breath w and standard axial direction force information f is compared, and actual current information i is compared with normalized current information I, in three of the above
Any one result occur it is identical can by control module control vertebra bone drill stop working.
Therefore, vertebrae driller is automatically stopped by control module realization, realizes to creep into using vertebrae and goes
When work, the stopping of vertebra bone drill is not necessarily to manual control, reduces the operating pressure of doctor.Also, control module control in this programme
It is by feeding distance information c, practical axial direction force information w and actual current information i that vertebra bone drill processed, which is automatically stopped, and three factors are total
The comparison of single factor is only considered compared with decision, vertebra bone drill control system provided by this programme is more accurate.
(3) relevant explanation
1. control module uses uPSD single-chip microcontroller, the stepper motor dependency structure of control module control is as shown in Figure 1；Vertebra
Bone drill control system is to control equipment by vertebra bone drill to realize: wherein control module has corresponded to uPSD single-chip microcontroller as control
Molding block, feeding module include stepper motor driver and stepper motor, and Drill module includes DC motor driver and direct current
Electric drill；Feeding module is the displacement moved down for controlling entire Drill module in this programme, passes through the drive of stepper motor
Dynamic device changes Drill module then by the cooperation between screw rod and attaching nut to control the rotational strength of stepper motor
Displacement, and DC motor driver will drive D.C. electric drill change torsion and drill.
2. the sclerotin due to skeleton every aspect is different, electric drill just needs to change the torsion of electric drill to continue to pierce
Power judges the distance that pierces of electric drill by comparing the torsion of electric drill in this programme, and then judges whether electric drill has drilled through；And
The torsion variation of electric drill can extremely can be found out by observing the variation of electric drill current difference.Therefore pass through current strength in this programme
Judge whether electric drill has arrived at displacement of targets amount, this method is feasible.
(4) corresponding to expand
During aforesaid operations, gauged distance information b, standard axial force f and normalized current information I are dotted models
It encloses, however during existing, for drill bit when being drilled, there is the presence of momentum and error always.So existing to combine
There is reality, so that the practical ranges of above scheme are wider, in the present solution, further expanding critical field.
In the present solution, the range information of momentum setting is 0~1mm, and error is set as ± z, then after corresponding expansion, mark
Quasi- range information b becomes distance range information X, wherein X ∈ (b+m-z, b+m+z), m ∈ (0mm, 1mm)；Standard axial direction force information
F becomes axial force range information F, and wherein the corresponding axial force of 0~1mm of momentum is k ∈ (0, j), F ∈ (f+k-z, f+k+z)；Mark
Quasi- current information becomes current range information M, wherein the corresponding curent change of 0~1mm of momentum be l ∈ (0, m), M ∈ (I+m-z,
I+m+z)。
So accordingly, in S1, following variation is made:
Supplement: S1-7: by gauged distance information b according to momentum and error, it is converted into distance range information X；
S1-8: by standard axial direction force information f according to momentum and error, it is converted into axial force range information F；
S1-9: by normalized current information I according to momentum and error, it is converted into current range information M；
S1-10: by distance range information X, axial force range information F and current range information M, it is sent to memory module.
Following variation is made in S3:
S3-1, contrast module compare c and X, c are judged whether in distance range information X, if so, comparison mould
Block sends interrupting information to control module；
S3-2, contrast module compare w and F, w are judged whether in axial force range information F, if so, comparison
Module sends interrupting information to control module；
S3-3, contrast module compare i and M, i are judged whether in current range information M, if so, comparison mould
Block sends interrupting information to control module.
What has been described above is only an embodiment of the present invention, and the common sense such as well known specific structure and characteristic are not made herein in scheme
Excessive description, technical field that the present invention belongs to is all before one skilled in the art know the applying date or priority date
Ordinary technical knowledge can know the prior art all in the field, and have using routine experiment hand before the date
The ability of section, one skilled in the art can improve and be implemented in conjunction with self-ability under the enlightenment that the application provides
This programme, some typical known features or known method should not become one skilled in the art and implement the application
Obstacle.It should be pointed out that for those skilled in the art, without departing from the structure of the invention, can also make
Several modifications and improvements out, these also should be considered as protection scope of the present invention, these all will not influence the effect that the present invention is implemented
Fruit and patent practicability.The scope of protection required by this application should be based on the content of the claims, the tool in specification
The records such as body embodiment can be used for explaining the content of claim.
Claims (6)
1. vertebra bone drill control system, it is characterised in that: including acquisition module, memory module, control module and be used for vertebra brill
The vertebra bone drill in hole；
The acquisition module is for acquiring practical feeding distance information, practical axial force information and actual current information；
The memory module is for storing distance range information, axial force range information and current range information；
The contrast module is used to compare practical feeding distance information and distance range information, to practical axial force information
It is compared with axial force range information, actual current information and current range information is compared, when reality feeds information
Belong to urgent range information, practical axial direction force information belongs to axial force range information or actual current information belongs to current range letter
When breath, contrast module sends interrupting information to control module；
The control module is used to receive the interrupting information of contrast module transmission, and controls vertebra bone drill place circuit and disconnect.
2. vertebra bone drill control system according to claim 1, it is characterised in that: further include input module and fuzzy mould
Block；
The input module is for inputting gauged distance information, standard axial direction force information and normalized current information；
The obfuscation module is used to obtain distance range information by the Fuzzy processing to gauged distance information, by standard
The Fuzzy processing of axial force information obtains axial force range information, and is obtained by the Fuzzy processing to normalized current information
To current range information.
3. vertebra bone drill control system according to claim 1, it is characterised in that: further include alarm module；
The acquisition module is also used to acquire the practical momentum information after motor stops；
The memory module also with storage momentum range information；
The contrast module is also used to compare practical momentum information with momentum range information, when practical momentum information does not belong to
When storing momentum range information, contrast module sends a warning message to control module；
After the control module is also used to receive the warning information of contrast module transmission, control alarm module is alerted.
4. vertebra bone drill control system according to claim 3, it is characterised in that: further include input module；The input
Module is for inputting momentum range information.
5. vertebra bone drill control system according to claim 2, it is characterised in that: the gauged distance information is pacified by maximum
Full feeding distance variation, the safe feeding distance of maximum calculate small joints in lumbar spine by MATLAB software and dash forward obtained by thickness.
6. vertebra bone drill control system according to claim 3, it is characterised in that: the momentum range information be 0~
1mm。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811312268.3A CN109567894A (en) | 2018-11-06 | 2018-11-06 | Vertebra bone drill control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811312268.3A CN109567894A (en) | 2018-11-06 | 2018-11-06 | Vertebra bone drill control system |
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| CN109567894A true CN109567894A (en) | 2019-04-05 |
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ID=65921468
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| CN201811312268.3A Pending CN109567894A (en) | 2018-11-06 | 2018-11-06 | Vertebra bone drill control system |
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Citations (4)
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|---|---|---|---|---|
| CN102466498A (en) * | 2010-11-18 | 2012-05-23 | 常萍 | Test hardware system for full-scale bit test |
| US20160361069A1 (en) * | 2015-06-10 | 2016-12-15 | OrthoDrill Medical Ltd. | Device for modifying the operation of surgical bone tools and/or methods thereof |
| CN106725711A (en) * | 2016-12-13 | 2017-05-31 | 中国科学院深圳先进技术研究院 | Sclerotin grinding machine people, vertebral plate grinding surgery operation robot control system and method |
| CN108685602A (en) * | 2017-04-07 | 2018-10-23 | 耿伟 | Drill control method and its system |
-
2018
- 2018-11-06 CN CN201811312268.3A patent/CN109567894A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102466498A (en) * | 2010-11-18 | 2012-05-23 | 常萍 | Test hardware system for full-scale bit test |
| US20160361069A1 (en) * | 2015-06-10 | 2016-12-15 | OrthoDrill Medical Ltd. | Device for modifying the operation of surgical bone tools and/or methods thereof |
| CN106725711A (en) * | 2016-12-13 | 2017-05-31 | 中国科学院深圳先进技术研究院 | Sclerotin grinding machine people, vertebral plate grinding surgery operation robot control system and method |
| CN108685602A (en) * | 2017-04-07 | 2018-10-23 | 耿伟 | Drill control method and its system |
Non-Patent Citations (1)
| Title |
|---|
| 2009年第05期: "一种自停式颅骨钻的研究", 《中国优秀硕士学位论文全文数据库 工程科技Ⅱ辑（月刊）》 * |
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Application publication date: 20190405 |