CN101849849B - Device for intellectualized monitoring of surgical grinding tool - Google Patents
Device for intellectualized monitoring of surgical grinding tool Download PDFInfo
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- CN101849849B CN101849849B CN2010102104238A CN201010210423A CN101849849B CN 101849849 B CN101849849 B CN 101849849B CN 2010102104238 A CN2010102104238 A CN 2010102104238A CN 201010210423 A CN201010210423 A CN 201010210423A CN 101849849 B CN101849849 B CN 101849849B
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- grinding tool
- operation grinding
- control module
- rotating speed
- rotational speed
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Abstract
The embodiment of the invention provides a device for the intellectualized monitoring of a surgical grinding tool, which comprises a visual sensor, a software reconfiguration system, a speed control module and a power control unit, wherein the visual sensor is used for monitoring the positions of a surgical grinding tool and the focus, and feeding relevant information back to the software reconfiguration system; the software reconfiguration system is used for carrying out three-dimensional reconfiguration on focus CT data fed back by the visual sensor; the speed control module is used for calculating the rotation speed of the surgical grinding tool based on received parameters, and inputting the rotation speed to the power control unit; and the power control unit is used for controlling the rotation speed of the surgical grinding tool in a voltage regulation mode based on the rotation speed input by the speed control module. By using the components and structures of the device, the intellectualized control on the surgical grinding tool can be realized, thereby improving the accuracy and the safety of the surgical grinding tool, and realizing accurate grinding.
Description
Technical field
The present invention relates to the operation tool field, relate in particular to a kind of device that the operation grinding tool is carried out Intellectualized monitoring.
Background technology
At present, update along with domestic armarium, surgical apparatus also more and more develops towards intellectuality, hommization, high precision and high security direction, and traditional operation grinding tool function singleness, hand-manipulated fully, precision and safety all need the experience decision by the doctor.
For example, worn for sclerotin, focus still operated by manual the controlling by rule of thumb of doctor under without any the pattern of monitoring, and this transplants etc. for the high-precision operation of needs such as artificial cochlea, just the doctor is had higher requirement.This shows that there is function singleness in the operation grinding tool of prior art, needs manual operations, and precision and safety all need to rely on operator's shortcomings such as experience.
Summary of the invention
The embodiment of the invention provides a kind of the operation grinding tool has been carried out the device of Intellectualized monitoring, the intellectuality control of the grinding tool of can realizing performing the operation, and the degree of accuracy and the safety that improve the operation grinding tool realize worn accurately.
The embodiment of the invention provides a kind of the operation grinding tool has been carried out the device of Intellectualized monitoring, and described device comprises:
Vision sensor is used to monitor the position of operation grinding tool and focus, and relevant information is fed back to described software reconfiguration system;
Described software reconfiguration system, be used for the focus CT data of described vision sensor feedback are carried out three-dimensionalreconstruction, and carry out corresponding surgery planning, and the distance and the translational speed of itself on described operation grinding tool and the operative region border of cooking up in advance is input to described rotational speed control module as parameter;
Described rotational speed control module is used for the rotating speed according to the described operation grinding tool of received calculation of parameter, and this rotating speed is input to described power controller;
Described power controller is used for the rotating speed imported according to described rotational speed control module, utilizes the mode of voltage-regulation to control the rotating speed of described operation grinding tool.
Described vision sensor further adopts the binocular camera shooting head that the different gauge points that described operation grinding tool and patient paste are in advance discerned on one's body, their locus is obtained in monitoring, and calculates the vector correlation between them and the translational speed of described operation grinding tool.
Described rotational speed control module further adopts the strategy of fuzzy control to realize, the distance on the operative region border that is input as described operation grinding tool and cooks up in advance of this fuzzy control strategy and the translational speed of itself, be output as the rotating speed percentage ratio of described operation grinding tool, this rotating speed percentage ratio is as the input parameter of described power controller.
Described software reconfiguration system further carries out three-dimensional reconstruction to the CT of focal zone, the simulation planning of grinding action before being convenient to operator and realizing performing the operation.
By the above-mentioned technical scheme that provides as can be seen, the device that the embodiment of the invention provided comprises: vision sensor is used to monitor the position of operation grinding tool and focus, and relevant information is fed back to described software reconfiguration system; Described software reconfiguration system, be used for the focus CT data of described vision sensor feedback are carried out three-dimensionalreconstruction, and carry out corresponding surgery planning, and the distance and the translational speed of itself on described operation grinding tool and the operative region border of cooking up in advance is input to described rotational speed control module as parameter; Described rotational speed control module is used for the rotating speed according to the described operation grinding tool of received calculation of parameter, and this rotating speed is input to described power controller; Described power controller is used for the rotating speed imported according to described rotational speed control module, utilizes the mode of voltage-regulation to control the rotating speed of described operation grinding tool.By each parts and the structure of said apparatus, the intellectuality of the grinding tool of just can realizing performing the operation control, the degree of accuracy and the safety that improve the operation grinding tool realize worn accurately.
Description of drawings
The apparatus structure sketch map of Intellectualized monitoring is provided the operation grinding tool for the embodiment of the invention provide Fig. 1.
The specific embodiment
The embodiment of the invention provides a kind of the operation grinding tool has been carried out the device of Intellectualized monitoring, the intellectuality control of the grinding tool of can realizing performing the operation, and the degree of accuracy and the safety that improve the operation grinding tool realize worn accurately.
For better describing the embodiment of the invention, now in conjunction with the accompanying drawings specific embodiments of the invention are described, be illustrated in figure 1 as the structural representation of embodiment of the invention institute generator, comprise vision sensor, software reconfiguration system, rotational speed control module and power controller among Fig. 1, wherein:
Described vision sensor is used to monitor the position of operation grinding tool and focus, and positional information is fed back to described software reconfiguration system.In the specific implementation process, can adopt the binocular camera shooting head to follow the tracks of the operation grinding tool, promptly utilize the template that sticks on the grinding tool to obtain its position; Before art, adopt the binocular camera shooting head to obtain the position that sticks on patient's gauge point on one's body in advance, and then obtain patient's spatial positional information.
Described software reconfiguration system can utilize the medical image that scanning is obtained before the art that focal zone is carried out three-dimensionalreconstruction, promptly realizes the conversion of two dimensional image to 3D solid, makes the 3D solid structure of software simulation with the focus structure is consistent really.And the doctor can carry out the kitchen range that colludes of focus on this software system, depict zone to be ground, again by reconstruct, shows this zone in three dimensions.In art, distance and itself the translational speed of described operation grinding tool with the operation grinding area border of cooking up is input in the described rotational speed control module as parameter.
In the specific implementation process, described software reconfiguration system carries out three-dimensional reconstruction to the CT of focal zone, be convenient to the simulation planning that operator (doctor) realize the preceding grinding action of operation, for example the area of space that the doctor planned can be mapped on the relative position of actual patient in the actual operation process, and the position of operation grinding tool can compare with the border in this planning space zone, and then calculate actual operation grinding tool and whether be in the safety zone, in operation process, can also utilize described vision sensor to navigate simultaneously.
Described rotational speed control module is used for going out according to received calculation of parameter the rotating speed of described operation grinding tool, and this rotating speed is input in the described power controller.In the specific implementation process, this rotational speed control module can adopt the strategy of fuzzy control to realize, the distance on the operative region border that is input as described operation grinding tool and cooks up in advance of this fuzzy control strategy, and the translational speed of itself; Be output as the rotating speed percentage ratio of described operation grinding tool, this rotating speed percentage ratio is as the input parameter of described power controller.
Described power controller is the equipment that links described operation grinding tool and driver thereof, is used for the rotating speed imported according to described rotational speed control module, utilizes the mode of voltage-regulation to control the rotating speed of described operation grinding tool.The voltage-regulation here is by changing into DC voltage after the PWM ripple filtering that controller is sent, and then regulates the conducting resistance of MOS power tube, and the voltage that is added in grinding tool motor two ends like this can be conditioned.
For instance, before operation, at first utilize vision sensor and software reconfiguration system, the CT image of focus is carried out three-dimensional reconstruction, help the doctor to determine the position of patient's focus and carry out corresponding surgery planning; In operation, controlling the operation grinding tool by the doctor, to carry out sclerotin worn, monitors its current pose by vision sensor simultaneously, and utilize rotational speed control module and power controller to control the rotating speed of this operation grinding tool; After the operation grinding tool enters the operation grinding area according to the scheme of planning in advance, start this operation grinding tool, the grinding speed in grinding process is adjusted output by rotational speed control module, thereby realizes worn accurately.
By the parts and the structure of above embodiment institute generator, the intellectuality control of the grinding tool of just can realizing performing the operation, the degree of accuracy and the safety that improve the operation grinding tool realize worn accurately.
The above; only for the preferable specific embodiment of the present invention, but protection scope of the present invention is not limited thereto, and anyly is familiar with those skilled in the art in the technical scope that the present invention discloses; the variation that can expect easily or replacement all should be encompassed within protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection domain of claims.
Claims (4)
1. one kind is carried out the device of Intellectualized monitoring to the operation grinding tool, it is characterized in that described device comprises:
Vision sensor is used to monitor the position of operation grinding tool and focus, and positional information is fed back to the software reconfiguration system;
Described software reconfiguration system, be used for the focus CT data of described vision sensor feedback are carried out three-dimensionalreconstruction, and carry out corresponding surgery planning, and described operation grinding tool and the distance on the operative region border of cooking up in advance and the translational speed of itself are input to rotational speed control module as parameter;
Described rotational speed control module is used for the rotating speed according to the described operation grinding tool of received calculation of parameter, and this rotating speed is input to power controller;
Described power controller is used for the rotating speed imported according to described rotational speed control module, utilizes the mode of voltage-regulation to control the rotating speed of described operation grinding tool.
2. device as claimed in claim 1, it is characterized in that, described vision sensor further adopts the binocular camera shooting head that the different gauge points that described operation grinding tool and patient paste are in advance discerned on one's body, the locus of described different gauge points is obtained in monitoring, and calculates the vector correlation between the described different gauge point and the translational speed of described operation grinding tool.
3. device as claimed in claim 1, it is characterized in that, described rotational speed control module further adopts the strategy of fuzzy control to realize, the distance on the operative region border that is input as described operation grinding tool and cooks up in advance of this fuzzy control strategy and the translational speed of itself, be output as the rotating speed percentage ratio of described operation grinding tool, this rotating speed percentage ratio is as the input parameter of described power controller.
4. device as claimed in claim 1 is characterized in that, described software reconfiguration system further carries out three-dimensional reconstruction to the CT of focal zone, the simulation planning of grinding action before being convenient to operator and realizing performing the operation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010102104238A CN101849849B (en) | 2010-06-18 | 2010-06-18 | Device for intellectualized monitoring of surgical grinding tool |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010102104238A CN101849849B (en) | 2010-06-18 | 2010-06-18 | Device for intellectualized monitoring of surgical grinding tool |
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| Publication Number | Publication Date |
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| CN101849849A CN101849849A (en) | 2010-10-06 |
| CN101849849B true CN101849849B (en) | 2011-11-16 |
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| CN2010102104238A Expired - Fee Related CN101849849B (en) | 2010-06-18 | 2010-06-18 | Device for intellectualized monitoring of surgical grinding tool |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109419554A (en) * | 2017-09-04 | 2019-03-05 | 北京航空航天大学 | A kind of carpal bone system of virtual operation and method based on unity3d |
| US20210298853A1 (en) * | 2018-07-26 | 2021-09-30 | Sony Corporation | Information processing apparatus, information processing method, and computer program |
| CN111248976B (en) * | 2020-02-20 | 2022-06-21 | 京东方科技集团股份有限公司 | Grinding equipment |
| CN111340876A (en) * | 2020-02-21 | 2020-06-26 | 京东方科技集团股份有限公司 | Processing method and device for knee joint replacement, storage medium and electronic equipment |
| CN113208703B (en) * | 2021-07-08 | 2021-09-28 | 上海导向医疗系统有限公司 | Mammary gland rotary-cut system and self-adaptive motor cutting control system thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5913867A (en) * | 1996-12-23 | 1999-06-22 | Smith & Nephew, Inc. | Surgical instrument |
| CN2696557Y (en) * | 2004-04-30 | 2005-05-04 | 江泽平 | Intelligent electric drill for medical use |
| CN201167980Y (en) * | 2007-12-15 | 2008-12-24 | 郭毅军 | Operation power mechanism with grinding function |
| CN101579250B (en) * | 2009-06-18 | 2010-08-11 | 北京科技大学 | Intelligent control device of surgical electric drill |
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