CN111938744A - Medical drilling equipment and method for setting same - Google Patents
Medical drilling equipment and method for setting same Download PDFInfo
- Publication number
- CN111938744A CN111938744A CN202010837762.2A CN202010837762A CN111938744A CN 111938744 A CN111938744 A CN 111938744A CN 202010837762 A CN202010837762 A CN 202010837762A CN 111938744 A CN111938744 A CN 111938744A
- Authority
- CN
- China
- Prior art keywords
- drilling
- depth
- power drill
- drill
- preset
- 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.)
- Pending
Links
- 238000005553 drilling Methods 0.000 title claims abstract description 118
- 238000000034 method Methods 0.000 title claims abstract description 15
- 210000000988 bone and bone Anatomy 0.000 claims abstract description 37
- 239000007943 implant Substances 0.000 claims abstract description 24
- 230000001681 protective effect Effects 0.000 claims description 12
- 230000000149 penetrating effect Effects 0.000 claims description 4
- 210000001519 tissue Anatomy 0.000 abstract description 4
- 238000013459 approach Methods 0.000 description 4
- 210000000689 upper leg Anatomy 0.000 description 3
- 208000010392 Bone Fractures Diseases 0.000 description 2
- 210000004369 blood Anatomy 0.000 description 2
- 239000008280 blood Substances 0.000 description 2
- 239000003814 drug Substances 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- -1 tissues Substances 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000002316 cosmetic surgery Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 208000015181 infectious disease Diseases 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000000399 orthopedic effect Effects 0.000 description 1
- 230000035515 penetration Effects 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000001356 surgical procedure Methods 0.000 description 1
Images
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
- A61B17/1613—Component parts
- A61B17/1626—Control means; Display units
-
- 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
- A61B17/17—Guides or aligning means for drills, mills, pins or wires
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)
Abstract
The present application provides a medical drilling apparatus and method of use thereof. Comprises a power drill and a sensor accessory; the sensor accessory comprises a non-contact sensor unit, a processing unit, a display unit and a preset unit, and is detachably and electrically connected with the power drill. The processing unit can determine the speed and the depth of the drilling hole and the posture of the power drill relative to the implant or the bone surface based on the signals of the non-contact sensor unit and display the speed and the depth and the posture on the display unit; and the presetting unit can preset and zero the drilling depth, the attitude information of the power drill and a deviation threshold. The invention can measure and display the depth of the hole in real time, the drilling depth is controllable, the damage to the tissue caused by excessive drilling is avoided, the accuracy and efficiency of drilling are improved, the use difficulty of medical drilling equipment is reduced, and the cost is reduced by the detachable exchange of the power drill and the sensor accessory.
Description
Technical Field
The application relates to the technical field of medical instruments, in particular to medical drilling equipment and an application method thereof.
Background
The medical orthopaedics power drill is a medical instrument commonly used in orthopaedics, neurosurgery or plastic surgery and other operations, drilling holes on bones when repairing bone fractures or inserting implants or other objects, and driving screws with corresponding lengths after measuring the depth of the holes.
One existing way to obtain the depth of the drilled hole is to use a physical contact depth gauge to measure after drilling, but the surgeon often needs to repeatedly interrupt the drilling procedure to measure with the depth gauge whether the desired depth has been obtained. The method for measuring the hole depth by using the depth gauge not only has complicated steps and increased operation time, but also has low accuracy.
The prior art also has some orthopaedic power drills with a distance measuring function to measure the depth of the drilled hole while drilling in order to determine the screw length. For example, cn102131469b discloses a medical drive device with controllable and measurable depth, the movement and position of the moving shaft can be measured and displayed by sensors, such as incremental rotary encoder or absolute rotary encoder sensors, which measure the axial movement and display corresponding information on the electronics. But its sensor device is integrative with the power drill, makes the structure of power drill more complicated like this, and size and cost obviously increase, and it can only control the degree of depth that the power drill bored a hole moreover, can not control the gesture that the power drill bored a hole, and its display element is in the side of power drill simultaneously and is unfavorable for the user to look over drilling information in front of the while drilling.
In many cases, the surgeon needs to take a radiograph to preset the proper drilling depth and direction before drilling each hole, and to take a radiograph after drilling to confirm whether the proper drilling depth and direction are obtained. For example, the fixation of the femoral intramedullary nail requires not only the depth accuracy but also the direction accuracy. This virtually increases the time and expense of the overall surgical procedure and the exposure of the surgeon, staff and patient to unnecessary radiation.
Disclosure of Invention
An object of one aspect of the present application is to provide a medical drilling apparatus, which aims to provide a medical power drill having a contactless sensor attachment detachably assembled with a main body power drill, which can perform contactless drilling depth and attitude measurement, display and control while drilling. It is an object of a further aspect of the present application to provide two methods of use for drilling using the medical drilling apparatus described above.
The purpose of the application is realized by the following technical scheme:
a medical drilling apparatus includes a power drill and a sensor attachment. The power drill comprises a drill bit, a handle, a shell and a motor in the shell, wherein an accessory connecting interface positioned on the opposite surface of the handle is arranged on the shell; a sensor attachment removably electrically connectable to the power drill via an attachment connection interface. The sensor accessory comprises a non-contact sensor unit, a processing unit, a display unit and a preset unit: the sensor accessory is detachably and electrically connected with the power drill through the accessory connecting interface and comprises a non-contact sensor unit, a processing unit, a display unit and a preset unit; the processing unit may determine the speed, depth of the drill hole and attitude of the power drill relative to the implant or bone surface based on the distance signals received from the non-contact sensor unit and display on the display unit; the preset unit can preset the drilling depth of the drill bit and/or preset the deviation threshold value of the posture of the power drill relative to the implant or the bone surface, and can zero the depth and/or posture information. The power drill or the sensor accessory is provided with a controller for controlling the power of the motor.
In the medical drilling apparatus, optionally, the non-contact sensor unit includes at least three non-contact sensors, and the three non-contact sensors are distributed in a triangular shape with respect to a center line of the sensor attachment.
In the medical drilling apparatus described above, optionally, the power drill includes a protective cap that is non-removably or removably mechanically coupled to the power drill via the attachment interface.
In the medical drilling apparatus described above, optionally, the attachment interface may be connected to both the sensor attachment and the protective cover.
In the medical drilling apparatus, optionally, the connection interface between the sensor accessory and the power drill includes at least one guide rail and an electrical terminal, and the connection interface between the protective cover and the power drill is the guide rail.
In the medical drilling device, optionally, when the drilling depth of the drill bit approaches or reaches a preset depth, and/or the posture of the power drill relative to the implant or the bone surface exceeds a preset deviation threshold, a control signal is generated, and the controller can control the motor to have a deceleration mode, a stop mode or a reverse operation mode according to the control signal.
In the medical drilling apparatus, the approaching or reaching of the preset depth is optionally: between the last 1 mm and 5 mm of the preset depth or within the last 1/10 of the processing stroke, the preset deviation threshold value of the posture of the power drill relative to the implant or the bone surface is as follows: 5 degrees.
In the medical drilling device, optionally, the sensor accessory comprises an alarm unit, and when the drilling depth of the drill bit approaches or reaches a preset depth, and or the posture of the power drill relative to the implant or the bone surface exceeds a preset deviation threshold value, an alarm message can be sent.
A method of drilling a bone using the medical drilling apparatus described above, comprising the steps of:
firstly, taking a radiograph to determine the approximate position, depth and attitude of a power drill;
the preset unit is used for zeroing the depth and posture information;
then comparing the depth and the posture information of the display unit to perform drilling and manually adjusting the drilling speed and the posture of the power drill;
and finally, the processing unit can calculate the advancing speed of the drill bit in the bone and the advancing speed after the drill bit penetrates through the bone according to the signals received by the non-contact sensor, judge the instantaneous point of the drill bit penetrating through the boundary of the second layer of bone through the speed difference, control the motor to stop drilling by the controller, and control the motor to rotate reversely at a low speed so that the power drill exits, thereby completing drilling.
A method of drilling a bone using the medical drilling apparatus described above, comprising the steps of:
presetting the known depth and the attitude of the power drill by using a preset unit;
the preset unit is used for zeroing the depth and posture information;
then comparing the posture information of the display unit, drilling while manually adjusting the posture of the power drill, generating a control signal when the posture of the power drill relative to the implant or the bone surface exceeds a preset deviation threshold, and controlling the motor to decelerate by the controller according to the control signal so as to remind and facilitate a user to adjust the posture of the power drill and reduce the deviation of the drilling direction;
and finally, when the drilling depth of the drill bit is close to or reaches the preset depth, a control signal is generated, the controller can firstly control the motor to decelerate and stop drilling when the drilling depth is reached according to the control signal, and then control the motor to rotate reversely at a low speed so that the power drill exits, so that the drilling is finished.
The medical drilling apparatus of the present application includes a conventional power drill and a contactless sensor attachment. The sensor accessory can measure, display and control the depth and the posture of the non-contact drilling hole while drilling the hole by the power drill, avoids damage to tissue caused by excessive drilling hole penetration or direction deviation, improves the accuracy and the efficiency of drilling, and reduces the use difficulty of medical drilling equipment. Meanwhile, the sensor accessory and the power drill can be disassembled, assembled and exchanged, when the depth of the hole does not need to be measured, the power drill can be independently used, and the protective cover on the power drill can cover the connecting electric terminal of the sensor accessory when the power drill is used alone, so that the electric terminal is protected from being polluted by blood, tissues, liquid medicine and the like in the operation process. A plurality of power bores also can share a sensor annex, or power bores and sensor annex also only need when damaging to change the unit that damages can, can reduce the use degree of difficulty and the cost of sounding power bores. Moreover, the sensor accessory can generate a control signal according to the information of the drilling depth, the speed, the attitude and the like of the power drill to automatically control the working modes of the power drill such as speed reduction, stop, reverse rotation and the like, so that a user is helped to adjust the drilling depth, the speed and the attitude, and the use difficulty of the depth measurement power drill is further reduced.
Drawings
The present application will be described in further detail below with reference to the drawings and preferred embodiments, but those skilled in the art will appreciate that the drawings are only drawn for the purpose of illustrating the preferred embodiments and therefore should not be taken as limiting the scope of the present application. Furthermore, unless specifically stated otherwise, the drawings are intended to be conceptual in nature or configuration of the described objects and may contain exaggerated displays and are not necessarily drawn to scale.
FIG. 1 is a perspective view of one embodiment of a medical drilling apparatus of the present application.
FIG. 2 is a perspective view of a powered drill with an unassembled sensor attachment of one embodiment of the medical drilling apparatus of the present application.
Fig. 3 is a perspective view of the protective cap of the power drill of the embodiment of fig. 2 covering the electrical terminals.
FIG. 4 is a schematic view of a display unit and preset unit of one embodiment of a sensor attachment of the medical drilling apparatus of the present application.
Fig. 5 is a schematic illustration of the fixation of an intramedullary nail in a femur.
Detailed Description
Hereinafter, preferred embodiments of the present application will be described in detail with reference to the accompanying drawings. Those skilled in the art will appreciate that the descriptions are illustrative only, exemplary, and should not be construed as limiting the scope of the application.
First, it should be noted that the terms top, bottom, upward, downward and the like are defined relative to the directions in the drawings, and they are relative terms, and thus can be changed according to the different positions and different practical states in which they are located. These and other directional terms should not be construed as limiting terms.
Furthermore, it should be further noted that any single technical feature described or implied in the embodiments herein, or any single technical feature shown or implied in the figures, can still be combined between these technical features (or their equivalents) to obtain other embodiments of the present application not directly mentioned herein.
It should be noted that in different drawings, the same reference numerals indicate the same or substantially the same components.
FIG. 1 is a perspective view of one embodiment of a medical drilling apparatus of the present application. The medical drilling apparatus shown in fig. 1 comprises a power drill 1 and a sensor attachment power drill 2. The power drill 1 includes a drill bit 11, a handle 12, a housing 13, a motor 14 (not shown) within the housing, and an attachment interface 16 on the housing on an opposite (top) side of the handle; the sensor attachment 2 is removably electrically connected to the power drill 1 via the attachment interface 16. The sensor accessory 2 includes a non-contact sensor unit 21, a processing unit 22 (not shown), a display unit 23, and a preset unit 24 (not shown). The non-contact sensor unit 21 can generate a signal related to the distance of the implant or bone surface without contact to measure the depth of the drilled hole, and can avoid unnecessary contact infection. The processing unit 22 may calculate the velocity information of the borehole using the depth information of the borehole. In order to determine the attitude of the power drill in four directions, up, down, left, and right, with respect to the implant or bone surface, the non-contact sensor unit 21 includes at least three non-contact sensors 211, the three non-contact sensors 211 being triangularly distributed with respect to the attachment sensor centerline 25 (not shown). Preferably, the non-contact sensor centerline 212 is parallel to or coincident with the bit axis 111. The processing unit 22 may calculate pose information of the power drill relative to the implant or bone surface using different distance information of the plurality of non-contact sensors 211. Meanwhile, the speed and the depth of the drill bit drilling can also utilize the weighted average value of a plurality of non-contact sensors to further provide the accuracy of the numerical value. The non-contact sensor 211 may be a high frequency wave sensor such as an infrared sensor, a laser sensor, an ultrasonic sensor, or an electromagnetic wave sensor. Preferably, the display interface 231 is substantially perpendicular to the bit axis 111, with the sensor attachment located on the opposite (top) side of the handle, to facilitate the power drill user viewing the display unit information in real time.
The medical drilling apparatus further comprises a controller 15 (not shown) on the power drill 1 or on the sensor attachment 2 for controlling the power of the motor 14. The controller 15 may control the power of the motor 14 based on information transmitted from the sensor attachment 2, which may be wired or wireless, such as bluetooth, NFC, WiFi, etc.
FIG. 2 is a perspective view of a powered drill with an unassembled sensor attachment of one embodiment of the medical drilling apparatus of the present application. The power drill 1 may also have a protective cover 17 that is either non-removably or removably mechanically connected to the power drill 1 via the attachment interface 16. The accessory connection interface 16 may comprise at least one rail 162 and an electrical terminal 161, the connection interface of the sensor accessory 2 and the power drill 1 is connected through the rail 162 and the electrical terminal 161, the connection interface of the protection cover 17 and the power drill 1 is connected through the rail 162, and the accessory connection interface 16 may be simultaneously connected with the sensor accessory 2 and the protection cover 17 as shown in fig. 1, without first removing the protection cover 17 and then installing the sensor accessory 2, thereby facilitating the independent and combined use of the sensor accessory 2 and the power drill 1. It should be noted that the sensor attachment 2 and the connection interface rail 162 of the protective cover 17 and the power drill 1 may be replaced by other detachable mechanisms such as a snap or bolt mechanism.
Fig. 3 is a perspective view of the protective cap of the power drill covering the electrical terminals. The sensor accessory 2 and the power drill 1 are detachably assembled and exchanged, when the hole depth does not need to be measured, the power drill 1 can be independently used, and the protective cover 17 can cover the electric terminals when the power drill is used alone, so that the electric terminals are protected from being polluted by blood, tissues, liquid medicine and the like in the operation process. A plurality of power drills 1 can also share one sensor accessory 2, or the power drills 1 and the sensor accessory 2 only need to be replaced with damaged units when damaged, and therefore the using difficulty and the using cost of the depth measuring power drills are further reduced.
FIG. 4 is a schematic view of a display unit and preset unit of one embodiment of a sensor attachment of the medical drilling apparatus of the present application. The display unit 23 can display the drilling speed of the drill bit 11, and/or the drilling depth, and/or the preset drilling depth, and/or the attitude information of the power drill 1 relative to the implant or the bone surface in real time. The drilling depth of the drill bit 11 is preferably displayed in the center of the display interface 231, and the vertical, horizontal, left and right posture information of the power drill 1 relative to the surface of the implant or bone is displayed on the corresponding horizontal and vertical axes of the display interface 231, so that a user can intuitively and effectively judge whether the drilling depth and the posture of the power drill are in place and need to be adjusted. The presetting unit 24 can preset the drilling depth of the drill bit 11, can preset the deviation threshold value of the posture of the power drill 1 relative to the implant or the bone surface, and can reset the depth and posture information to zero. The preferred preset unit 24 has a mode conversion key 241, a confirm and zero setting key 242, and adjustment keys 243 and 244. The mode switching key 241 is switchable between a manual mode in which a user of the power drill 1 can manually adjust the speed of the drill bit 11, the depth of a drilled hole, the rotation direction of the drill bit 11, and the posture thereof of the power drill 1 by comparing information of the display unit 23 while drilling the hole, and an automatic mode. In the automatic mode, the user of the power drill 1 can preset the drilling depth and speed by using the adjustment keys 243 and 244, automatically compare the information of the display unit 23 while drilling the hole in the power drill 1, and automatically adjust the speed of the drill bit 11, the drilling depth, the rotation direction of the drill bit 11, and the posture thereof by using the controller 15. The confirm and zero setting key 242 may confirm preset information or set zero of information of the display unit 23. For example, when the drilling depth of the drill bit 11 approaches or reaches a predetermined depth, or the attitude of the power drill relative to the implant or bone surface exceeds a predetermined deviation threshold, a control signal is generated to control the motor 14 to have one or more of a deceleration mode, a stop mode, or a reverse mode, thereby assisting the user in adjusting the drilling depth, speed, and attitude. Meanwhile, different working modes can also be used as an alarm form for reminding a power drill user. Approaching or reaching the preset depth may be: when the last 1 mm to 5 mm of the preset depth or the last 1/10 of the processing stroke is less; the deviation threshold preset for the attitude of the power drill relative to the implant or bone surface is: 5 degrees. It should be understood that the controller 15 may be a unit on the power drill 1, a unit on the sensor attachment 2, or a controller 15 for each of the power drill 1 and the sensor attachment 2.
In another embodiment, the sensor attachment may further include an alarm unit 26 (not shown) for sending an alarm message when the drilling depth of the drill bit 11 approaches or reaches a predetermined depth, and/or when the posture of the power drill 1 relative to the implant or bone surface exceeds a predetermined deviation threshold, such as a flashing LED light, a buzzer sound, a warning of different operation modes of decelerating or stopping or reversing the power drill, etc.
Fig. 5 is a schematic illustration of the fixation of an intramedullary nail in a femur. Intramedullary nail 4 belongs to an orthopedic internal fixation instrument in medical instruments, and is generally the preferred internal fixation for fracture of femur 3. Generally, one to two locking screws 51 are required to be fixed at the proximal end of the intramedullary nail 4, and the locking screws 51 not only have the requirement of high precision on depth, but also generally have the requirement of high angle, so as to ensure that the intramedullary nail is well fixed in the skeleton; it is also desirable to secure one or two locking screws 52 at the distal end, and the locking screws 52 generally require a relatively high degree of accuracy in depth. If two locking screws 51 or two locking screws 52 are required, the same two holes are often drilled and two locking screws 51 or two locking screws 52 of the same specification are fixed. Thus, when the drilling depth and direction are unknown, the following drilling method can be adopted: firstly, taking a radiograph to determine the approximate position, depth and posture of the power drill 1 of a drill hole; the preset unit 24 is used for zeroing the depth and posture information; then, comparing the depth and the posture information of the display unit 23, and manually adjusting the drilling speed and the posture of the power drill 1 while drilling; finally, the processing unit 22 can calculate the advancing speed of the drill bit 11 in the bone and the advancing speed after penetrating the bone according to the signals received by the non-contact sensor 211, judge the instantaneous point of the drill bit 11 penetrating the boundary of the second bone layer through the speed difference, control the motor 14 to stop drilling by the controller 15, and control the motor 14 to rotate reversely at a slow speed so that the power drill 1 is withdrawn, thereby automatically completing the drilling. When the drilling depth and direction of the first hole are known, and the drilling depth and direction of the other holes are the same as the first hole, the following drilling method can be used: presetting the depth of a known hole and the posture of the power drill 1 by using a presetting unit 24; zeroing the depth and attitude information with the preset unit 24; the posture information of the display unit 23 is compared to perform drilling and manually adjust the posture of the power drill 1, when the posture of the power drill 1 relative to the surface of the implant or the bone exceeds a preset deviation threshold value, a control signal is generated, and the controller 15 controls the motor 14 to decelerate according to the control signal so as to remind and facilitate a user to adjust the posture of the power drill 1 and reduce the deviation of the drilling direction; when the drilling depth of the drill bit 11 is close to or reaches a preset depth, a control signal is generated, the controller 15 can control the motor 14 to decelerate and stop drilling when the drilling depth is reached according to the control signal, and then control the motor 14 to rotate reversely at a slow speed so that the power drill 1 is withdrawn, thereby completing drilling quickly.
This description discloses the present application with reference to the drawings, and also enables one skilled in the art to practice the present application, including making and using any devices or systems, selecting appropriate materials, and using any incorporated medical devices. The scope of the present application is defined by the claims and encompasses other examples that occur to those skilled in the art. Such other examples are to be considered within the scope of protection defined by the claims of this application, provided that they include structural elements that do not differ from the literal language of the claims, or that they include equivalent structural elements with insubstantial differences from the literal language of the claims.
Claims (10)
1. A medical drilling apparatus, the apparatus comprising:
a power drill;
the power drill comprises a drill bit, a handle, a shell, a motor in the shell, and an accessory connecting interface positioned on the opposite surface of the handle on the shell;
and a sensor attachment;
the sensor accessory is detachably and electrically connected with the power drill through the accessory connecting interface and comprises a non-contact sensor unit, a processing unit, a display unit and a preset unit;
the processing unit may determine the speed, depth of the drill hole and attitude of the power drill relative to the implant or bone surface based on the distance signals received from the non-contact sensor unit and display on the display unit; the preset unit can preset the speed and the depth of the drill bit drilling, and/or preset the deviation threshold of the posture of the power drill relative to the surface of the implant or the bone, and can return to zero the information of the depth and/or the posture of the power drill;
and the power drill or the sensor accessory is provided with a controller for controlling the power of the motor.
2. The medical drilling apparatus of claim 1, wherein the non-contact sensor unit comprises at least three non-contact sensors, and wherein the three non-contact sensors are triangularly positioned with respect to a sensor attachment centerline.
3. The medical drilling apparatus of claim 1, wherein the power drill includes a protective cap that is non-removably or removably mechanically coupled to the power drill via the accessory attachment interface.
4. The medical drilling apparatus of claim 3, wherein the attachment interface is connectable to both the sensor attachment and the protective cover.
5. The medical drilling apparatus of claim 4, wherein the interface of the sensor attachment to the power drill includes at least one rail and an electrical terminal, and wherein the interface of the protective cover to the power drill is the rail.
6. The medical drilling apparatus according to any one of claims 1 to 5, wherein a control signal is generated when the depth of the drill hole is close to or reaches a predetermined depth, and or the attitude of the power drill relative to the implant or bone surface exceeds a predetermined deviation threshold, and the controller controls the motor to have a deceleration mode, a stop mode or a reverse operation mode according to the control signal.
7. The medical drilling apparatus according to claim 6, wherein the approaching or reaching of the preset depth is: between the last 1 mm and 5 mm of the preset depth or within the last 1/10 of the processing stroke, the preset deviation threshold value of the posture of the power drill relative to the implant or the bone surface is as follows: 5 degrees.
8. The medical drilling apparatus according to any one of claims 1 to 5, wherein the sensor attachment comprises an alarm unit adapted to issue an alarm message when the drill bit has drilled a depth close to or up to a predetermined depth and or the attitude of the power drill relative to the implant or bone surface exceeds a predetermined deviation threshold.
9. A method of drilling a bone using the medical drilling apparatus of any of claims 1-8, comprising the steps of:
taking a radiograph to determine the approximate position, depth and attitude of the drill hole;
zeroing the depth and attitude information by using the preset unit;
comparing the depth and the posture information of the display unit, and manually adjusting the drilling speed and the posture of the power drill while drilling;
the processing unit can calculate the advancing speed of the drill bit in the bone and the advancing speed of the drill bit after the drill bit penetrates through the bone according to signals received by the non-contact sensor, the instantaneous point of the drill bit penetrating through the boundary of the second layer of bone is judged through the speed difference, the controller controls the motor to stop drilling, and then the motor is controlled to rotate reversely at a low speed so that the power drill exits, and drilling is completed.
10. A method of drilling a bone using the medical drilling apparatus of any of claims 6-7, comprising the steps of:
presetting the known depth and the attitude of the power drill by using the preset unit;
zeroing the depth and attitude information by using the preset unit;
the display unit posture information is compared to conduct drilling while manually adjusting the posture of the power drill, when the posture of the power drill relative to the implant or the bone surface exceeds a preset deviation threshold value, a control signal is generated, the controller controls the motor to decelerate according to the control signal so as to remind and facilitate a user to conduct the posture adjustment of the power drill, and the deviation of the drilling direction is reduced;
when the drilling depth of the drill bit is close to or reaches the preset depth, a control signal is generated, the controller can firstly control the motor to decelerate and stop drilling when the drilling depth is reached according to the control signal, and then control the motor to rotate reversely at a low speed so that the power drill exits, and therefore drilling is completed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010837762.2A CN111938744A (en) | 2020-08-19 | 2020-08-19 | Medical drilling equipment and method for setting same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010837762.2A CN111938744A (en) | 2020-08-19 | 2020-08-19 | Medical drilling equipment and method for setting same |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111938744A true CN111938744A (en) | 2020-11-17 |
Family
ID=73358489
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010837762.2A Pending CN111938744A (en) | 2020-08-19 | 2020-08-19 | Medical drilling equipment and method for setting same |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111938744A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112611351A (en) * | 2020-12-16 | 2021-04-06 | 波斯(浙江)智能动力科技有限公司 | Intelligent system and method capable of providing drilling angle and drilling direction correction information |
| CN113855249A (en) * | 2021-12-02 | 2021-12-31 | 极限人工智能有限公司 | Machine control method and device, surgical robot and readable storage medium |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20090326537A1 (en) * | 2008-06-26 | 2009-12-31 | Wayne Anderson | Depth controllable and measurable medical driver devices and methods of use |
| CN107072674A (en) * | 2014-09-23 | 2017-08-18 | 思外科有限公司 | Many plane variable-geometry saw cut radial type borer systems |
| CN108366801A (en) * | 2015-11-16 | 2018-08-03 | Ao技术股份公司 | Surgical operation power drill including the measuring unit for being suitable for the determination of bone screw length |
| CN208435717U (en) * | 2017-10-26 | 2019-01-29 | 上海逸动医学科技有限公司 | Bone surgery robot arm device |
| CN211156047U (en) * | 2019-07-22 | 2020-08-04 | 苏州微创骨科医疗工具有限公司 | Orthopaedics drilling tool |
-
2020
- 2020-08-19 CN CN202010837762.2A patent/CN111938744A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20090326537A1 (en) * | 2008-06-26 | 2009-12-31 | Wayne Anderson | Depth controllable and measurable medical driver devices and methods of use |
| CN107072674A (en) * | 2014-09-23 | 2017-08-18 | 思外科有限公司 | Many plane variable-geometry saw cut radial type borer systems |
| CN108366801A (en) * | 2015-11-16 | 2018-08-03 | Ao技术股份公司 | Surgical operation power drill including the measuring unit for being suitable for the determination of bone screw length |
| CN208435717U (en) * | 2017-10-26 | 2019-01-29 | 上海逸动医学科技有限公司 | Bone surgery robot arm device |
| CN211156047U (en) * | 2019-07-22 | 2020-08-04 | 苏州微创骨科医疗工具有限公司 | Orthopaedics drilling tool |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112611351A (en) * | 2020-12-16 | 2021-04-06 | 波斯(浙江)智能动力科技有限公司 | Intelligent system and method capable of providing drilling angle and drilling direction correction information |
| CN113855249A (en) * | 2021-12-02 | 2021-12-31 | 极限人工智能有限公司 | Machine control method and device, surgical robot and readable storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11839385B2 (en) | Driving devices and methods for determining material strength in real-time | |
| US10925619B2 (en) | Depth controllable and measurable medical driver devices and methods of use | |
| US11937889B2 (en) | Robotic spine surgery system and methods | |
| US11065069B2 (en) | Robotic spine surgery system and methods | |
| US10456146B2 (en) | Depth controllable and measurable medical driver devices and methods of use | |
| US20220273396A1 (en) | Robotic Hand-Held Surgical Instrument Systems And Methods | |
| JP2019088840A (en) | Navigation system and method for indicating and reducing line-of-sight error | |
| CN111938744A (en) | Medical drilling equipment and method for setting same | |
| Sun et al. | A remote control robotic surgical system for femur shaft fracture reduction | |
| CN113038899A (en) | Robotic spinal surgical system and method | |
| KR20190045490A (en) | Digital gauge for measuring body size |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20201117 |
|
| WD01 | Invention patent application deemed withdrawn after publication |