JPH03224553A - Medical treatment drill and drill device with endoscope - Google Patents

Medical treatment drill and drill device with endoscope

Info

Publication number
JPH03224553A
JPH03224553A JP2020019A JP2001990A JPH03224553A JP H03224553 A JPH03224553 A JP H03224553A JP 2020019 A JP2020019 A JP 2020019A JP 2001990 A JP2001990 A JP 2001990A JP H03224553 A JPH03224553 A JP H03224553A
Authority
JP
Japan
Prior art keywords
drill
endoscope
medical
section
medical drill
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
JP2020019A
Other languages
Japanese (ja)
Other versions
JP2876415B2 (en
Inventor
Kimio Suzuki
公夫 鈴木
Takahiro Suzuki
貴博 鈴木
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SUZUKI ENG KK
Original Assignee
SUZUKI ENG KK
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by SUZUKI ENG KK filed Critical SUZUKI ENG KK
Priority to JP2020019A priority Critical patent/JP2876415B2/en
Publication of JPH03224553A publication Critical patent/JPH03224553A/en
Application granted granted Critical
Publication of JP2876415B2 publication Critical patent/JP2876415B2/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • 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
    • 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
    • A61B17/1615—Drill bits, i.e. rotating tools extending from a handpiece to contact the worked material
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00017—Electrical control of surgical instruments
    • A61B2017/00022—Sensing or detecting at the treatment site
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00831—Material properties
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00831—Material properties
    • A61B2017/00902—Material properties transparent or translucent
    • A61B2017/00907—Material properties transparent or translucent for light
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation

Landscapes

  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Biomedical Technology (AREA)
  • Medical Informatics (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Dentistry (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Surgical Instruments (AREA)
  • Endoscopes (AREA)

Abstract

PURPOSE:To execute cutting, while observing the part to be cut and to prevent an undesirable influence from being exerted on the human body even if wear or defect is generated by providing an optical system device part containing an endoscope which is engaged to a drill holding and rotating power part and photographs a cutting state and a control part for executing the synchronizing control of each part. CONSTITUTION:In a medical treatment drill 1c, the tip part which faces the part to be cut is formed by a transparent material 3 consisting of a sapphire, etc., and others are formed by a high strength material 4. An optical system device part 14 is constituted of an ednoscope 6 which is inserted into an inserting hole 24 of a rotation axis 20 of a drill holding and rotating power part 1 and an inserting hole 2 of a medical treatment drill 1b, etc., and in which an end part of its tip is provided in the vicinity of the tip of the medical treatment drill 1b, a monitor television 16 for reflecting an image of the endoscope 6, and a cable 14a provided between the endoscope 6 and the monitor television 16, and displays the reflected image of the endoscope 6 as it is on a screen of the monitor television 16. In such a way, since the side which faces the part to be cut is formed transparently, in the course of cutting, its cutting state can be observed by the endoscope.

Description

【発明の詳細な説明】 〔産業上の利用分野〕 本発明は、人体の所要箇所を穿設する場合等に使用され
る医療用ドリルと、その医療用ドリルを備えた内視鏡付
きドリル装置に関する。[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to a medical drill used for making holes in required parts of the human body, and a drill device equipped with an endoscope equipped with the medical drill. Regarding.

〔従来の技術〕[Conventional technology]

従来、手術等の際に人体の所要箇所を穿設する場合、ス
テンレス等の耐腐食性の切削用ドリルとそのドリルを備
えた手動式、電動式又は電動式のドリル装置が使用され
ていた。BACKGROUND ART Conventionally, when drilling a required part of a human body during a surgery or the like, a corrosion-resistant cutting drill made of stainless steel or the like and a manual, electric, or electric drill device equipped with the drill have been used.

（発明が解決しようとする課題〕 しかし、正確性を要求される人体の穿設作業においては
、切削状態を観察しながら加工する必要があり１、かつ
ドリルを迅速かつ円滑に位置決めすることが必要である
が、従来の医療用ドリルやドリル装置にはそのような要
件を満たすものがなかった。(Problem to be solved by the invention) However, in drilling work on the human body that requires precision, it is necessary to perform processing while observing the cutting state1, and it is necessary to position the drill quickly and smoothly. However, there are no conventional medical drills or drill devices that meet these requirements.

また、従来の切削用ドリルでは、切削作業中に磨耗や欠
損を生じた場合に、生体に悪影響を及ぼすおそれがある
という問題点があった。Further, conventional cutting drills have a problem in that if wear or damage occurs during cutting operations, it may have an adverse effect on living organisms.

本発明は、以上の問題点に鑑み、被削部分を観察しなが
ら切削することができ、磨耗や欠損が生じても人体に悪
影響を及ぼさない安全性のある医療用ドリルを提供する
ことを課題とすると共に、その医療用ドリルを多自由度
に所望箇所に迅速かつ円滑に位置決めし、切削状態を正
確に観察しながら安全な加工が行うことができる内視鏡
付きドリル装置を提供することを課題とする。SUMMARY OF THE INVENTION In view of the above problems, an object of the present invention is to provide a safe medical drill that can perform cutting while observing the workpiece and does not adversely affect the human body even if wear or damage occurs. In addition, it is an object of the present invention to provide a drill device with an endoscope that can quickly and smoothly position the medical drill at a desired location with multiple degrees of freedom and perform safe machining while accurately observing the cutting state. Take it as a challenge.

〔課題を解決するための手段〕[Means to solve the problem]

本発明に係わる医療用ドリルは、前記課題を解決するた
めに、少なくとも被削部分に面する側が透明に形成され
ている。In order to solve the above problems, the medical drill according to the present invention is formed so that at least the side facing the cut portion is transparent.

また、その医療用ドリルが生体材料で形成されていても
よい。Further, the medical drill may be made of biomaterial.

さらに、前記透明部分をアルミナ結晶体で形成してもよ
く、中心部に内視鏡の挿入穴を設けてもよい。Furthermore, the transparent portion may be formed of an alumina crystal, and an insertion hole for an endoscope may be provided in the center.

また、本発明に係わる内視鏡付きドリル装置は、前記医
療用ドリルと、その医療用ドリルを保持すると共に回転
駆動するドリル保持回転動力部と、前記医療用ドリルを
その軸線方向に沿って往復動させる送り装置部と、前記
ドリル保持回転動力部および送り装置郡全体を多自由度
方向に移動位置決めする多自由度マニピュレータ部と、
前記ドリル保持回転動力部に係合し切削状態を撮影する
内視鏡を含む光学系装置部と、前記各部を同期制御する
制御部とを備えて構成されている。そして、前記内視鏡
への振動を制御する画像伝送法可変装置を備えて構成し
てもよい。Further, the drill device with an endoscope according to the present invention includes the medical drill, a drill holding rotational power section that holds the medical drill and rotationally drives the medical drill, and a drill reciprocating power section that reciprocates the medical drill along its axial direction. a multi-degree-of-freedom manipulator unit that moves and positions the drill holding rotary power unit and the entire feed device group in multiple-degree-of-freedom directions;
It is configured to include an optical system device section including an endoscope that engages with the drill holding rotary power section and photographs the cutting state, and a control section that synchronously controls each of the sections. The apparatus may also include an image transmission method variable device that controls vibrations to the endoscope.

〔作用〕[Effect]

本発明の医療用ドリルは少なくとも被削材に面する所が
透明に形成されるため、内視鏡により切削状態を写し出
すことができる。生体材料で形成されている場合には、
腐食されに（く、切削作業中に磨耗や欠損しても人体に
悪影響を及ぼすことはなく安全である。透明部分がアル
ミナ結晶体で形成されている場合には、高強度であるた
め磨耗や欠損が少なく、ドリルの耐久性を高めることが
できる。Since the medical drill of the present invention is transparent at least at the part facing the workpiece, the cutting state can be visualized with an endoscope. If it is made of biomaterial,
It is not easily corroded, and even if it is worn or chipped during cutting work, it will not have any adverse effect on the human body and is safe.If the transparent part is made of alumina crystal, it has high strength and will not wear out easily. There is less damage and the durability of the drill can be increased.

一方、本発明のドリル装置は、多自由度マニピュレータ
部により人体の任意の場所に迅速、かつ円滑に位置決め
でき、ドリル保持回転動力部と送り装置部とにより、前
記ドリルを確実に保持しながら正確かつ安定性のある自
動加工が行われる。On the other hand, the drill device of the present invention can quickly and smoothly position the drill at any location on the human body using the multi-degree-of-freedom manipulator section, and the drill can be held accurately and accurately by the drill holding rotary power section and the feeding device section. And stable automatic processing is performed.

また、ドリル保持回転動力部に係合する内視鏡を含む光
学系装置部により切削状態がその都度正確に撮影でき、
安全な加工が進められる。In addition, the cutting state can be accurately photographed each time using an optical system unit including an endoscope that engages with the drill holding rotary power unit.
Safe processing can proceed.

さらに、内視鏡への振動を制御する画像伝送法可変装置
を備えたドリル装置の場合には、画像伝送法であるスタ
ティックスキャン法とダイナミックスキャン法のいずれ
にも切り替えることができる。Furthermore, in the case of a drill device equipped with an image transmission method variable device that controls vibrations to the endoscope, it is possible to switch to either the static scan method or the dynamic scan method as image transmission methods.

〔実施例〕〔Example〕

以下、本発明の医療用ドリルおよび内視鏡付きドリル装
置の実施例を図面に基づいて説明する。EMBODIMENT OF THE INVENTION Hereinafter, embodiments of a medical drill and an endoscope-equipped drill device of the present invention will be described based on the drawings.

第１図乃至第３図は医療用ドリルに関する図面であり、
第４図は前記内視鏡付きドリル装置の全体構造を説明す
る構成図であり、第５図乃至第１１図は前記内視鏡付ド
リル装置の各部の構造を説明するための図面である。1 to 3 are drawings regarding a medical drill,
FIG. 4 is a block diagram illustrating the overall structure of the drill device with an endoscope, and FIGS. 5 to 11 are diagrams illustrating the structure of each part of the drill device with an endoscope.

まず、本発明の医療用ドリルの構成について説明する。First, the configuration of the medical drill of the present invention will be explained.

第１図（ａ）は全体が透明体から形成されている医療用
ドリルｌａを示すものである。その材料としては、例え
ばサファイヤのようなアルミナ結晶体（アルミナ単結晶
体、添加物を加えたアルミナ多結晶体）が用いられる。FIG. 1(a) shows a medical drill la made entirely of a transparent body. As the material, for example, an alumina crystal such as sapphire (alumina single crystal, alumina polycrystal with additives added) is used.

これ等の材料は金属切削用の調性のドリルはどの強度は
ないが、骨材等を切削するには十分な高強度を有するも
のである。従って、摩耗や折損等の不具合は生じにくい
。Although these materials do not have the strength of a tonal drill for metal cutting, they have high enough strength to cut aggregates and the like. Therefore, defects such as wear and breakage are less likely to occur.

たとえ磨耗しても人体に対しては安全である。Even if it wears out, it is safe for the human body.

第１図（ｂ）は前記の材料からなるドリルのほぼ中央に
内視鏡が挿入される挿入穴２を穿設した医療用ドリルｌ
ｂを示す、挿入穴２は先端近くまで穿設され基端側に開
口する。FIG. 1(b) shows a medical drill l made of the above-mentioned material, with an insertion hole 2 drilled approximately in the center of the drill into which an endoscope is inserted.
The insertion hole 2 shown in b is bored close to the distal end and opens toward the proximal end.

第１図（Ｃ）に示す医療用ドリルｌｃは前記の材料と他
の生体材料を組み合わせたものを示す。The medical drill lc shown in FIG. 1(C) is a combination of the above materials and other biomaterials.

被削部分に面する側である先端部が前記したサファイヤ
等からなる透明の材料３で形成され、その他は高強度材
料４で形成されている。高強度材料４は人体に悪影響を
与えない生体材料（人工骨のようなインブラント材料）
等が使用される。本実施例ではその中央に内視鏡用の挿
入穴２が穿設されているが、これがないものも採用され
る。The tip, which is the side facing the part to be cut, is made of a transparent material 3 made of the above-mentioned sapphire or the like, and the other parts are made of a high-strength material 4. High-strength material 4 is a biomaterial that does not have a negative effect on the human body (implant material such as artificial bone)
etc. are used. In this embodiment, an insertion hole 2 for an endoscope is provided in the center, but a device without this may also be used.

第１図（ｄ）に示す医療用ドリルｌｄは、透明の材料３
ａを図に示すようなりロス状態に配置したもので、その
他の部分は他の高強度材料４ａで形成されている。本実
施例も中央に挿入穴２が穿設されているが、これがない
ものも採用される。The medical drill ld shown in FIG. 1(d) is made of transparent material 3.
A is arranged in a loss state as shown in the figure, and the other parts are made of another high-strength material 4a. Although this embodiment also has an insertion hole 2 in the center, a device without this may also be used.

第１図（Ｃ）、第１図（ｄ）において透明な材料３．３
ａと他の高強度材料４．４ａとは接合により一体的に組
み合わされるものである。これ等は、第１図（ａ）、（
ｂ）に示すものに比較的高価な透明の材料の部分が少な
いため安価に形成される所にメリットが有る。Transparent material 3.3 in Figure 1(C) and Figure 1(d)
a and another high-strength material 4.4a are integrally combined by bonding. These are shown in Figure 1 (a), (
The advantage of the method shown in b) is that it can be formed at low cost since it has a small amount of relatively expensive transparent material.

生体材料を用いた医療用ドリルｌとしては、ステンレス
やチタン等の生体金属材料からなるドリル、アルミナ等
の生体無機材料からなるドリル、本体を生体金属材料４
ｂで形成し刃先を生体無機材料４Ｃで形成したドリルｌ
ｅ（第１図（ｅ））、生体金属材料４ｂの本体に生体無
機材料４ｃをコーティングしたドリルＩｆ（第１図（ｆ
））、本体を生体金属材料４ｂで形成し刃先を生体無機
材料４Ｃで形成し研磨方式で穴あけするドリルＩｇ＜第
１図（噂）等がある。Medical drills using biomaterials include drills made of biometallic materials such as stainless steel and titanium, drills made of bioinorganic materials such as alumina, and drills whose main bodies are made of biometallic materials4.
Drill l formed with b and the cutting edge made of bioinorganic material 4C
e (Fig. 1 (e)), a drill If (Fig. 1 (f)
)), there is a drill Ig < Fig. 1 (rumor), which has a main body made of a biometal material 4b, a cutting edge made of a bioinorganic material 4C, and drills by a polishing method.

内視鏡の挿入穴を有しない医療用ドリル１ａの場合には
、内視鏡６はドリル以外の装置（図示しない）に固定さ
れる。この場合、第２図（ａ）に示すように、医療用ド
リル１ａの先端面５と内視鏡６の端部７とは、光学的条
件により、平行に形成されていてもよい。そして、先端
面５の寸法ｍ２は内視鏡６の端部７の寸法ｍ、よりも長
く形成される。これは内視鏡６の全視野での撮影を可能
にするためである。内視鏡６の挿入穴２を有する医療用
ドリルｌｂの場合では、第２図（ｂ）に示すように、内
視鏡６の端部７は挿入穴２の大成まで挿入され、先端面
５に対峙して配設される。内視鏡６は実施例のようにド
リル１ｂと非接触状態にあってもよく、また、ベアリン
グ等を介して内視鏡を回転しないようにドリル１ｂに保
持してもよい、なお、医療用ドリル１ｂの先端面５と内
視鏡６の端部７とは、光学的条件により、平行に形成さ
れていてもよく、先端面５の寸法ｍ２は内視鏡６の端部
７の寸法ｍ、よりも長く形成されていてもよい。In the case of a medical drill 1a that does not have an insertion hole for an endoscope, the endoscope 6 is fixed to a device (not shown) other than the drill. In this case, as shown in FIG. 2(a), the distal end surface 5 of the medical drill 1a and the end portion 7 of the endoscope 6 may be formed in parallel depending on optical conditions. The dimension m2 of the distal end surface 5 is longer than the dimension m of the end portion 7 of the endoscope 6. This is to enable imaging in the entire field of view of the endoscope 6. In the case of the medical drill lb having the insertion hole 2 for the endoscope 6, as shown in FIG. It is placed facing the The endoscope 6 may be in a non-contact state with the drill 1b as in the embodiment, or may be held on the drill 1b via a bearing or the like so that the endoscope does not rotate. The tip surface 5 of the drill 1b and the end 7 of the endoscope 6 may be formed in parallel depending on optical conditions, and the dimension m2 of the tip surface 5 is the dimension m of the end 7 of the endoscope 6. , may be formed longer than .

医療用ドリルｌａ等の先端面５には、第３図（ハ）に示
すように、ネジリ剛性と切りくず排出性を向上させるた
めに直刃８が形成され、その刃先中心部分（−船釣には
チゼル刃部分）には、ドリル回転中心線と垂直な平面部
分５ａが形成されている。As shown in FIG. 3(c), a straight edge 8 is formed on the tip surface 5 of the medical drill la, etc., in order to improve torsional rigidity and chip evacuation. A plane portion 5a perpendicular to the drill rotation center line is formed on the chisel blade portion.

また、第３図（ａ）に示すように、医療用ドリルｌａ等
は直刃８の長い案内部９を有するものから形成されてい
る。すなわち、ガンドリルのように、案内部９を後述す
る案内手段により支持可能にし、ドリルの振れを防止し
、求心性を得るようにしている。Further, as shown in FIG. 3(a), the medical drill la etc. are formed from a drill having a straight blade 8 and a long guide portion 9. That is, like a gun drill, the guide portion 9 can be supported by a guide means, which will be described later, to prevent swinging of the drill and to obtain centripetal properties.

次に、本発明の内視鏡付きドリル装置１０の構成につい
て説明する。内視鏡付きドリル装置１０は、第４図に示
すように、ドリル保持回転動力部１１、送り装置部１２
、送り装置部１２に連結した多自由度マニピュレータ部
１３、光学系装置部１４、これ等各部を制御する制御部
１５等とから構成される。なお、光学系装置部１４をケ
ーブル１４ａを介してモニタテレビ１６に接続している
。Next, the configuration of the endoscope-equipped drill device 10 of the present invention will be explained. As shown in FIG. 4, the endoscope-equipped drill device 10 includes a drill holding rotary power section 11 and a feed device section 12.
, a multi-degree-of-freedom manipulator section 13 connected to the feeding device section 12, an optical system device section 14, and a control section 15 for controlling these sections. Note that the optical system device section 14 is connected to a monitor television 16 via a cable 14a.

また、多自由度マニピュレータ１３の基端側とモニタテ
レビ１６はタイヤ１７上を有する移動台１８上に搭載さ
れている。Further, the base end side of the multi-degree-of-freedom manipulator 13 and the monitor television 16 are mounted on a movable table 18 having tires 17.

ドリル保持回転動力部１１は、例えば、第５図に示すよ
うに、医療用ドリル１ａ等を把持するチャック１９、チ
ャック１９に連結する回転軸２０（第７図）、回転軸２
０を駆動する駆動手段２１（第５図）、ガイド部２５、
これらを収納する本体２２等とから構成され、全体がケ
ーシング２３内に収納される。For example, as shown in FIG. 5, the drill holding rotary power section 11 includes a chuck 19 that grips a medical drill 1a, a rotating shaft 20 (FIG. 7) connected to the chuck 19, and a rotating shaft 20 that is connected to the chuck 19.
0 drive means 21 (FIG. 5), a guide section 25,
It is composed of a main body 22 and the like that house these components, and the entire body is housed within a casing 23.

第６図（ａ）、（ｂ）はドリル保持回転動力部１１のケ
ーシング２３の先端側（被削材と対峙する側）にガイド
部２５を取り付けたものを示す。ガイド部２５は医療用
ドリル１ａ等の直刃状の案内部９を保持し、医療用ドリ
ルｌａ等に直進性と求心性を与えるものである。FIGS. 6(a) and 6(b) show a drill holding rotary power section 11 with a guide section 25 attached to the tip side of the casing 23 (the side facing the workpiece). The guide portion 25 holds a straight-edge guide portion 9 for the medical drill la, etc., and provides linearity and centripetal properties to the medical drill la, etc.

ガイド部２５はケーシング２３端に着脱可能又は固着さ
れる透明材料からなるガイド部材３１を有し、そのガイ
ド部材３１には医療用ドリル１ａの案内部９を摺動可能
に支持する貫通孔３２と、ガイド部材３１により閉止さ
れたケーシング２３の内部と外部とを連通させる切粉隙
孔３３が穿設されている。チャック１９により把持され
た医療用ドリル１ａはガイド部２５により振れ防止され
て保持される。従って、医療用ドリルｌａが細長なもの
でも、ドリル振れを防止し高精度加工を行うことができ
る。なお、ガイド部２５は第６図（ａ）に示すような形
状のものからなるが、被削材の表面形状に合わせ、適宜
形状なものが採用される。また、ガイド部１５等をケー
シング２３の先端側に配置することにより、ケーシング
２３の先端に重量が集中する場合には、装置の先端部分
にアーム等の部材を取り付け、重量を分散させてもよい
。The guide part 25 has a guide member 31 made of a transparent material that is removably or fixed to the end of the casing 23, and the guide member 31 has a through hole 32 that slidably supports the guide part 9 of the medical drill 1a. A chip clearance hole 33 is bored through which the inside of the casing 23, which is closed by the guide member 31, communicates with the outside. The medical drill 1a gripped by the chuck 19 is held by the guide portion 25 while being prevented from swinging. Therefore, even if the medical drill la is long and narrow, drill runout can be prevented and high-precision machining can be performed. Although the guide portion 25 has a shape as shown in FIG. 6(a), it may have an appropriate shape depending on the surface shape of the workpiece. Furthermore, if the weight is concentrated at the tip of the casing 23 by arranging the guide portion 15 etc. on the tip side of the casing 23, a member such as an arm may be attached to the tip of the device to disperse the weight. .

ガイド部２５の近傍には、第６図（ａ）に示すように、
吸気装置３４が着脱可能に設けられる。In the vicinity of the guide portion 25, as shown in FIG. 6(a),
An intake device 34 is removably provided.

吸気装置３４はガイド部２５の内部に堆積した切りくず
等を吸引するもので、その吸引口３５はガイド部材３１
の切粉掃除孔３３と対峙する位置に配設される。医療用
ドリル１ａの切削加工によって生じた切りくずは、医療
用ドリル１ａの直刃８の刃溝に沿って上昇し、ガイド部
材３１とチャック１９との間の空間３６に堆積してしま
い、堆積を重ねることにより円滑な切削加工ができなく
なる。そこで吸気装置３４を作動し、内部に堆積した切
りくずを吸引除去する。なお、吸気装置３４の動作中の
振動が内視鏡付きドリル装置１０側に伝達されないよう
に吸気装置も弾性支持することが必要となる。The suction device 34 is for sucking chips etc. accumulated inside the guide part 25, and its suction port 35 is connected to the guide member 31.
It is arranged at a position facing the chip cleaning hole 33 of. Chips generated by the cutting process of the medical drill 1a rise along the blade groove of the straight blade 8 of the medical drill 1a and accumulate in the space 36 between the guide member 31 and the chuck 19, causing the accumulation. Overlapping them makes it impossible to cut smoothly. Then, the suction device 34 is activated to suction and remove the chips accumulated inside. Note that the suction device also needs to be elastically supported so that vibrations during operation of the suction device 34 are not transmitted to the endoscope-equipped drill device 10 side.

送り装置部１２はドリル保持回転動力部１１を上下動さ
せる装置であり、第５図に示すように、ドリル保持回転
動力部１１の本体２２に固定されるボールナツト部２６
に螺合するボールねじ部２７と、モータ２８と、モータ
２８の回転をボールねじ部２７に伝える歯車機構２９等
とから構成され、ケーシング２３と連結するケーシング
３０内に収納される。The feed device section 12 is a device that moves the drill holding rotary power section 11 up and down, and as shown in FIG.
It is comprised of a ball screw part 27 that is screwed into the ball screw part 27, a motor 28, a gear mechanism 29 that transmits the rotation of the motor 28 to the ball screw part 27, etc., and is housed in a casing 30 that is connected to the casing 23.

多自由度マニピュレータ１３は可撓性リンク部材からな
り、その先端部にはケーシング３０が連結し、基端側に
移動台１８に連結される。そして、ケーシング３０をｘ
、ｙ、ｚ方向の任意の位置に移動可能に支持するととも
に、医療用ドリル１等を所望の方向に自由に向けられる
ように形成されている。The multi-degree-of-freedom manipulator 13 is made of a flexible link member, and a casing 30 is connected to its distal end, and connected to a movable table 18 at its base end. And the casing 30x
, y, and z directions, and is formed so that the medical drill 1 and the like can be freely directed in a desired direction.

光学系装置部１４はドリル保持回転動力部１１の回転軸
２０の挿入孔２４および医療用ドリル１５等の挿入穴２
内に挿入され、その先端の端部７を医療用ドリル１ｂの
先端近傍に配設する内視鏡６と、内視鏡６の画像を写し
出すモニタテレビ１６と、内視鏡６とモニタテレビ１６
との間に介設されるケーブル１４ａから構成される。モ
ニタテレビ１６の画面には内視鏡６の写し出した画像が
そのまま表示される。The optical system device section 14 has an insertion hole 24 for the rotating shaft 20 of the drill holding rotary power section 11 and an insertion hole 2 for a medical drill 15 or the like.
An endoscope 6 inserted into the medical drill 1b and having its tip end 7 disposed near the tip of the medical drill 1b, a monitor television 16 that displays an image of the endoscope 6, and the endoscope 6 and the monitor television 16.
It consists of a cable 14a interposed between. The image projected by the endoscope 6 is displayed as it is on the screen of the monitor television 16.

第７図（ａ）、（ｂ）は内視鏡６の振れ防止用の内視鏡
保持手段を示す。内視鏡６は医療用ドリルｌｂ等および
回転軸６の挿入孔２４内に緩挿される。内視鏡６は医療
用ドリル１ｂ等か回転しても回転しないことが必要であ
ると共に、挿入孔２４等に接触すると振動し、正確な撮
影ができない問題点が生ずる。内視鏡保持手段はそれを
防止するものである。第７図（ａ）は回転軸２０の挿入
孔２０内にベアリング３７．３８を設け、内視鏡６を支
持するようにしたものである。また、第７図（ｂ）は回
転軸２０等とから離れた装置の固定部３９にガイドベア
リング４０を設は内視鏡６を保持するものである。FIGS. 7(a) and 7(b) show endoscope holding means for preventing the endoscope 6 from shaking. The endoscope 6 is loosely inserted into the insertion hole 24 of the medical drill lb or the like and the rotating shaft 6. It is necessary that the endoscope 6 does not rotate even when the medical drill 1b or the like rotates, and if it comes into contact with the insertion hole 24 or the like, it vibrates, causing a problem that accurate imaging cannot be performed. The endoscope holding means prevents this. In FIG. 7(a), bearings 37 and 38 are provided in the insertion hole 20 of the rotating shaft 20 to support the endoscope 6. Further, in FIG. 7(b), a guide bearing 40 is provided on a fixed part 39 of the device apart from the rotating shaft 20, etc., to hold the endoscope 6.

なお、医療用ドリル１ａのように挿入穴２のないもので
は第２図（ａ）に示すように先端から離れた位置に内視
鏡６は配設支持されるが、医療用ドリルｌａが透明のた
め切削中の状態を写し出すことが可能である。Note that in the case of a medical drill 1a without an insertion hole 2, the endoscope 6 is disposed and supported at a position away from the tip as shown in FIG. 2(a), but when the medical drill 1a is transparent, Therefore, it is possible to project the state during cutting.

光学系装置部１４において内視鏡６の画像をモニラテレ
ビ１６側に伝送する画像伝送法としてはスタティックス
キャン法およびダイナミックスキャン法が用いられる。A static scan method and a dynamic scan method are used as image transmission methods for transmitting images of the endoscope 6 to the monitor television 16 side in the optical system device section 14.

いずれの伝送方法も公知のものであるが、スタティック
スキャン法はチャート、伝送系を静止して画像評価を行
うものであり、ダイナミックスキャン法はチャート、伝
送系をランダムに動かして画像評価を行うものである。Both transmission methods are well known, but the static scan method evaluates images with the chart and transmission system stationary, and the dynamic scan method evaluates images by moving the chart and transmission system randomly. It is.

画像伝送法の操作法（スタティックスキャン法とダイナ
ミックスキャン法を切り替える方法）では、ドリル装置
自体を振動させる方法と、内視鏡だけを振動させる方法
がある。前者は内視鏡の保持方法がいかなる場合でも通
用でき、後者は内視鏡がドリル及びドリル装置の回転部
分以外の部分に保持される場合に適用される。いずれの
場合も、以下述べるように、画像伝送法可変装置を用い
て振動の制御を行い、スタティックスキャン法によると
きは振動を与えず、ダイナミックスキャン法によるとき
は適度な振動を与えることにより、両者を使い分けるこ
とができる。There are two methods for operating the image transmission method (switching between static scanning and dynamic scanning): vibrating the drill device itself and vibrating only the endoscope. The former is applicable to any method of holding the endoscope, and the latter is applicable when the endoscope is held in a part other than the rotating part of the drill or drill device. In either case, as described below, the vibration is controlled using a variable image transmission method, and when the static scan method is used, no vibration is applied, and when the dynamic scan method is used, an appropriate vibration is applied, so that both can be used properly.

第８図と第９図は内視鏡６のみを振動させる場合の画像
伝送法可変装置の配置図であり、第１Ｏ図と第１１図は
画像伝送法可変装置の詳細図である。8 and 9 are layout diagrams of the variable image transmission method device when only the endoscope 6 is vibrated, and FIGS. 10 and 11 are detailed views of the variable image transmission method device.

第８図と第９図において、５０は垂直方向固定装置、５
１は金属バネ５１ａとダンパ５１ｂとからなり垂直方向
の振動を絶縁する振動絶縁装置、５２はバネ定数制御装
置、５３は画像伝送法可変装置である。画像伝送法可変
装置５３は、第１Ｏ図、第１１図に示すように、外ケー
シング５４、中ケーシング５５、金属バネ５６ａとダン
パ５６ｂからなる防振部５６、内視鏡保護リング５７、
上蓋５８、バネ定数可変部５９からなる。なお、第８図
は上１ｉ［５８を離脱している状態を示す。そして、ド
リルの切削等により発生する振動を垂直方向に対しては
振動絶縁装置５１によって絶縁し、水平方向に対しては
画像伝送法可変装置５３によって振動の絶縁度を変化さ
せる。振動の絶縁度を変化させるにはバネ定数制御装置
５２を操作して、金属バネ５６ａのバネ定数を調整する
ことにより行う。8 and 9, 50 is a vertical fixing device;
Reference numeral 1 designates a vibration isolating device comprising a metal spring 51a and a damper 51b for insulating vibrations in the vertical direction, 52 a spring constant control device, and 53 a variable image transmission method device. As shown in FIGS. 1O and 11, the image transmission method variable device 53 includes an outer casing 54, an inner casing 55, a vibration isolation section 56 consisting of a metal spring 56a and a damper 56b, an endoscope protection ring 57,
It consists of an upper lid 58 and a spring constant variable section 59. Note that FIG. 8 shows a state in which the upper 1i [58] is removed. Then, vibrations generated by cutting with a drill or the like are insulated in the vertical direction by a vibration isolating device 51, and the degree of vibration insulation is changed in the horizontal direction by an image transmission method variable device 53. The degree of vibration insulation is changed by operating the spring constant control device 52 to adjust the spring constant of the metal spring 56a.

なお、ドリル装置１０にはあらゆる防振法が用いられて
いるため、前記振動源では不十分の場合があるので、第
９図に示すように、内視鏡６を適度に振動させるために
、公知の加振装置６０を設けてもよい、また、前記述べ
た振動絶縁制御構造を多重に構成して、振動を加振装置
６０だけで行うようにしてもよい。Note that since the drill device 10 uses various vibration isolation methods, the vibration source described above may not be sufficient. Therefore, as shown in FIG. 9, in order to appropriately vibrate the endoscope 6, A known vibration device 60 may be provided, or the vibration isolation control structure described above may be configured in multiple layers so that vibration is performed only by the vibration device 60.

ドリル装置ｌＯ自体を振動させる場合には、振動の制御
は送り装置部１２と多自由度マニピュレータ１３との間
に前記画像伝送法可変装置５３を配置して行うのが望ま
しい。更に、ダイナミックスキャン法で画像伝送する場
合、内視鏡６による観察位置の切削中心からのずれを確
認できる方が便利なため、リミットスイッチのような位
置検出スイッチなどを用いた位置検出センサを備えるこ
とが望ましい。When the drill device IO itself is to be vibrated, it is desirable to control the vibration by disposing the image transmission method variable device 53 between the feed device section 12 and the multi-degree-of-freedom manipulator 13. Furthermore, when transmitting images using the dynamic scanning method, it is convenient to be able to check the deviation of the observation position from the cutting center using the endoscope 6, so a position detection sensor using a position detection switch such as a limit switch is provided. This is desirable.

制御部１５はドリル保持回転動力部１１の駆動機構２１
や送り装置部１２のモータ２８や、場合により光学系装
置部の光学機構および多自由度マニピュレータ１３に電
気的機構が付設されている場合には該電気的機構にそれ
ぞれ連結し、それ等の同期制御を行うもので、回路のコ
ントロール盤等が付設される。The control unit 15 is a drive mechanism 21 of the drill holding rotary power unit 11.
If an electrical mechanism is attached to the motor 28 of the feed device section 12, or in some cases the optical mechanism of the optical system section and the multi-degree-of-freedom manipulator 13, it is connected to the electrical mechanism and synchronized. It is used for control purposes, and is equipped with a circuit control panel, etc.

以上の構造の内視鏡付きドリル装置１０により人体の骨
材等の加工を行う場合には、移動台をまず人体の近傍ま
で移動し、制御部１５又は手動により多自由度マニピュ
レータ１３を動かし、医療用ドリル１ａ等を被削材と対
応する位置に位置決めする。次に、制御部１５によりド
リル保持回転動力部１１および送り装置部１２を同期制
御しながら切削加工を行う。加工状態は内視鏡６を介し
て、モニタテレビ１６に写し出されるため、モニタテレ
ビ１６を見ながら骨材等の穿設作業ができ、より正確な
穿設を行うことができる。When processing human body aggregates or the like using the endoscope-equipped drill device 10 having the above structure, the moving table is first moved to the vicinity of the human body, and the multi-degree-of-freedom manipulator 13 is moved by the control unit 15 or manually. A medical drill 1a or the like is positioned at a position corresponding to the workpiece. Next, cutting is performed while the control section 15 synchronously controls the drill holding rotary power section 11 and the feeding device section 12. Since the machining state is displayed on the monitor television 16 via the endoscope 6, drilling work for aggregate etc. can be performed while viewing the monitor television 16, and more accurate drilling can be performed.

〔発明の効果〕〔Effect of the invention〕

本発明によれば、次のような効果が上げられる。 According to the present invention, the following effects can be achieved.

（１）医療用ドリルは、少なくとも被削部分に面する側
が透明に形成されているので、内視鏡により切削中にそ
の切削状態を観察することが可能である。(1) Since at least the side facing the cut portion of the medical drill is transparent, it is possible to observe the cutting state with an endoscope during cutting.

（２）医療用ドリルは、生体材料で形成されているため
、腐食されにくく、たとえ摩耗や切損を生じても、人体
に悪影響を及ぼすことはなく安全である。(2) Since medical drills are made of biomaterials, they are resistant to corrosion, and even if they are worn out or cut, they will not have any negative impact on the human body and are safe.

（３）透明部分をアルミナ結晶体で形成されている場合
には、高強度であるため磨耗や欠損が少なく、ドリルの
耐久性を高めることができる。(3) When the transparent part is made of alumina crystal, it has high strength, so there is less wear and tear, and the durability of the drill can be increased.

（４）ドリル装置は、多自由度マニピュレータにより、
所望の加工位置に医療用ドリルを迅速に、かつ高精度に
位置決めすることができる。(4) The drill device uses a multi-degree-of-freedom manipulator to
A medical drill can be quickly and accurately positioned at a desired processing position.

（５）ドリル装置は、ドリル保持回転動力部と送り装置
部およびこれ等を制御する制御部により、安定した自動
加工が行われる。(5) The drill device performs stable automatic machining using the drill holding rotary power section, the feeding device section, and the control section that controls them.

（６）内視鏡を有する光学系装置部により切削状態を観
察しながら加工でき、正確な、かつ安全な穿設作業が行
われる。(6) Machining can be performed while observing the cutting state using an optical system device section having an endoscope, and accurate and safe drilling work can be performed.

（７）内視鏡への振動を制御する画像伝送法可変装置を
備えたドリル装置の場合には、画像伝送法であるスタテ
ィックスキャン法とダイナミックスキャン法のいずれに
も切り替えることができる。(7) Image transmission method for controlling vibration to the endoscope In the case of a drill device equipped with a variable device, the image transmission method can be switched to either a static scan method or a dynamic scan method.

【図面の簡単な説明】[Brief explanation of drawings]

第１図（ａ）乃至（ｇ）は本発明の医療用ドリルの各種
の実施例を示す平面図、第２図（ａ）。 （ｂ）は医療用ドリルの先端部の形成を示す拡大平面図
、第３図（ａ）は医療用ドリルの直刃の案内部を示す一
拡大一部平面図、第３図（ｂ）は第３図（ａ）の■矢視
の正面図、第４図は内視鏡付のドリル装置の全体構造を
示す構成図、第５図はドリル保持回転動力部と送り装置
部との詳細を示す側面図、第６図（ａ）はドリル保持回
転動力部に付設されたガイド部を示す一部軸断面図、第
６図（ｂ）は第６図（ａ）の■矢視の正面図、第７図（
ａ）、（ｂ）は内視鏡の保持手段を示す一部軸断面図、
第８図は内視鏡を振動させる場合の画像伝送法可変装置
の配置図であり、第９図は要部−部切欠断面図、第１０
図は画像伝送法可変装置の側断面図、第１１図は第１０
図のＡ矢視図である。 Ｉａ、　　ｌｂ、　　ｌｃ、　　ｌｄ、　　ｌｅ、　　
Ｉｆ、　　Ｉｇ・・・医療用ドリル、 ２・・・挿入穴、３．３ａ・・・透明な材料、４．４ａ
・・・高強度材料、 ４ｂ・・・生体金属材料 ４Ｃ・・・生体無機材料 ５・・・平面部、　　　　　６・・・内視鏡、７・・・
端部、　　　　　　訃・・直刃、９・・・案内部、ＩＯ
・・・内視鏡付きドリル装置、１１・・・ドリル保持回
転動力部、 １２・・・送り装置部、１３・・・多自由度マニピュレ
ータ部、　　　　　　　１４・・・光学系装置部、１５
・・・制御部、　　　　１７・・・タイヤ、１８・・・
移動台、　　　　１９・・・チャック、２０・・・回転
軸、　　　２１・・・駆動手段、２２・・・本体、　　
　　　２３．３０・・・ケーシング、２４・・・挿入孔
、　　　２５・・・ガイド部、２６・・・ポールナツト
部、 ２７・・・ポールねし部、 ２８・・・モータ、　　　２９・・・歯車機構、３１・
・・ガイド部材、　３２・・・貫通孔、３３・・・切粉
掃除孔、　３４・・・吸気装置、３５・・・吸引口、　
　　３６・・・空間、３７．３８・・・ベアリング、 ３９・・・固定部、 ４０・・・ガイ ドベアリング、 ５３・・・画像伝送法可変装置。 梼弐禾肚 第１ 図（ｅ） 第　１　図（９ン 第１図（ｆン 第２図（ａ） −６ 第４図 第５図 ８ （−１−一ノ1(a) to 1(g) are plan views showing various embodiments of the medical drill of the present invention, and FIG. 2(a). (b) is an enlarged plan view showing the formation of the tip of the medical drill, FIG. 3(a) is an enlarged partial plan view showing the guide portion of the straight blade of the medical drill, and FIG. 3(b) is Fig. 3(a) is a front view as viewed from the ■ arrow, Fig. 4 is a configuration diagram showing the overall structure of the drill device with an endoscope, and Fig. 5 shows details of the drill holding rotary power section and the feeding device section. FIG. 6(a) is a partial axial sectional view showing the guide section attached to the drill holding rotary power section, and FIG. 6(b) is a front view as viewed from the ■ arrow in FIG. 6(a). , Figure 7 (
a) and (b) are partial axial cross-sectional views showing the holding means of the endoscope;
Fig. 8 is a layout diagram of the image transmission method variable device when vibrating the endoscope, Fig. 9 is a cutaway sectional view of main parts, Fig. 10 is
The figure is a side sectional view of the image transmission method variable device, and Figure 11 is the 10th
It is a view taken along arrow A in the figure. Ia, lb, lc, ld, le,
If, Ig...Medical drill, 2...Insertion hole, 3.3a...Transparent material, 4.4a
...High strength material, 4b... Biometallic material 4C... Bioinorganic material 5... Flat part, 6... Endoscope, 7...
End, butt...straight blade, 9...guide, IO
...Drill device with endoscope, 11...Drill holding rotary power section, 12...Feeding device section, 13...Multi-degree-of-freedom manipulator section, 14...Optical system device section, 15
...Control unit, 17...Tire, 18...
Moving table, 19... Chuck, 20... Rotating shaft, 21... Drive means, 22... Main body,
23.30... Casing, 24... Insertion hole, 25... Guide part, 26... Pole nut part, 27... Pole thread part, 28... Motor, 29... Gear mechanism , 31・
...Guide member, 32...Through hole, 33...Chip cleaning hole, 34...Suction device, 35...Suction port,
36... Space, 37.38... Bearing, 39... Fixed part, 40... Guide bearing, 53... Image transmission method variable device. Figure 1 (e) Figure 1 (9 Figure 1 (f) Figure 2 (a) -6 Figure 4 Figure 5 Figure 8 (-1-1)

Claims (6)

【特許請求の範囲】[Claims] （１）少なくとも被削部分に面する側が透明に形成され
ていることを特徴とする医療用ドリル。(1) A medical drill characterized in that at least the side facing the cut portion is transparent. （２）生体材料で形成されていることを特徴とする請求
項（１）記載の医療用ドリル。(2) The medical drill according to claim (1), characterized in that it is made of a biomaterial. （３）前記透明部分がアルミナ結晶体で形成されている
ことを特徴とする請求項（１）記載の医療用ドリル。(3) The medical drill according to claim (1), wherein the transparent portion is formed of an alumina crystal. （４）中心部に内視鏡の挿入穴を設けたことを特徴とす
る請求項（１）、（２）又は（３）記載の医療用ドリル
。(4) The medical drill according to claim (1), (2) or (3), characterized in that an insertion hole for an endoscope is provided in the center. （５）請求項（１）記載の医療用ドリルと、その医療用
ドリルを保持すると共に回転駆動するドリル保持回転動
力部と、前記医療用ドリルをその軸線方向に沿って往復
動させる送り装置部と、前記ドリル保持回転動力部およ
び送り装置部全体を多自由度方向に移動位置決めする多
自由度マニピュレータ部と、前記ドリル保持回転動力部
に係合し切削状態を撮影する内視鏡を含む光学系装置部
と、前記各部を同期制御する制御部とを備えたことを特
徴とする内視鏡付きドリル装置。(5) A medical drill according to claim (1), a drill holding rotary power section that holds the medical drill and rotationally drives the medical drill, and a feeding device section that reciprocates the medical drill along its axial direction. a multi-degree-of-freedom manipulator section that moves and positions the entire drill-holding rotational power section and feeder section in multiple degrees-of-freedom directions; and an optical system including an endoscope that engages with the drill-holding rotational power section and photographs the cutting state. A drill device with an endoscope, comprising a system device section and a control section that synchronously controls each of the sections. （６）前記内視鏡への振動を制御する画像伝送法可変装
置を備えたことを特徴とする請求項（５）記載の内視鏡
付きドリル装置。(6) The drill device with an endoscope according to claim 5, further comprising an image transmission method variable device that controls vibrations to the endoscope.
JP2020019A 1990-01-30 1990-01-30 Medical drill and endoscope drill device Expired - Lifetime JP2876415B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2020019A JP2876415B2 (en) 1990-01-30 1990-01-30 Medical drill and endoscope drill device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2020019A JP2876415B2 (en) 1990-01-30 1990-01-30 Medical drill and endoscope drill device

Publications (2)

Publication Number Publication Date
JPH03224553A true JPH03224553A (en) 1991-10-03
JP2876415B2 JP2876415B2 (en) 1999-03-31

Family

ID=12015387

Family Applications (1)

Application Number Title Priority Date Filing Date
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Country Link
JP (1) JP2876415B2 (en)

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07509637A (en) * 1992-08-10 1995-10-26 コンピュータ・モーション・インコーポレーテッド Automated endoscope system for optimal positioning
JP2000512171A (en) * 1996-06-04 2000-09-19 ジョセフ・エイチ・スクラー Apparatus and method for ligament reconstruction
JP2001506889A (en) * 1996-12-21 2001-05-29 ディープイ・インターナショナル・リミテッド Device for positioning and guiding surgical instruments during orthopedic surgery
JP2002306500A (en) * 2001-04-18 2002-10-22 Mamoru Mitsuishi Bone cutter
JP2016511079A (en) * 2013-03-15 2016-04-14 デピュイ・シンセス・プロダクツ・インコーポレイテッド Soft tissue displacer tool and method with inclined grooves
JP2018064669A (en) * 2016-10-17 2018-04-26 長田電機工業株式会社 Dental treatment device
RU226097U1 (en) * 2022-07-25 2024-05-21 Сюэфэн Хуан ELECTRIC SPIRAL KNIFE FOR REMOVING HUMPS ON THE NECK

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07509637A (en) * 1992-08-10 1995-10-26 コンピュータ・モーション・インコーポレーテッド Automated endoscope system for optimal positioning
JP2000512171A (en) * 1996-06-04 2000-09-19 ジョセフ・エイチ・スクラー Apparatus and method for ligament reconstruction
JP2001506889A (en) * 1996-12-21 2001-05-29 ディープイ・インターナショナル・リミテッド Device for positioning and guiding surgical instruments during orthopedic surgery
JP2002306500A (en) * 2001-04-18 2002-10-22 Mamoru Mitsuishi Bone cutter
JP2016511079A (en) * 2013-03-15 2016-04-14 デピュイ・シンセス・プロダクツ・インコーポレイテッド Soft tissue displacer tool and method with inclined grooves
US10238400B2 (en) 2013-03-15 2019-03-26 DePuy Synthes Products, Inc. Soft tissue displacer tool with inclined groove and methods
JP2018064669A (en) * 2016-10-17 2018-04-26 長田電機工業株式会社 Dental treatment device
RU226097U1 (en) * 2022-07-25 2024-05-21 Сюэфэн Хуан ELECTRIC SPIRAL KNIFE FOR REMOVING HUMPS ON THE NECK

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