CN107049419A - A kind of Pediculus arcus vertebrae drilling device and method with force feedback - Google Patents
A kind of Pediculus arcus vertebrae drilling device and method with force feedback Download PDFInfo
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- CN107049419A CN107049419A CN201710329445.8A CN201710329445A CN107049419A CN 107049419 A CN107049419 A CN 107049419A CN 201710329445 A CN201710329445 A CN 201710329445A CN 107049419 A CN107049419 A CN 107049419A
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- Prior art keywords
- drill bit
- handle
- drilling rod
- pedicle
- drilling
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
- A61B17/17—Guides or aligning means for drills, mills, pins or wires
- A61B17/1739—Guides or aligning means for drills, mills, pins or wires specially adapted for particular parts of the body
- A61B17/1757—Guides or aligning means for drills, mills, pins or wires specially adapted for particular parts of the body for the spine
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
- A61B17/58—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws, setting implements or the like
- A61B17/88—Osteosynthesis instruments; Methods or means for implanting or extracting internal or external fixation devices
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
- A61B17/58—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws, setting implements or the like
- A61B17/88—Osteosynthesis instruments; Methods or means for implanting or extracting internal or external fixation devices
- A61B17/90—Guides therefor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
- A61B2017/564—Methods for bone or joint treatment
Abstract
The invention discloses a kind of Pediculus arcus vertebrae drilling device with force feedback and method, it, which is solved, of the prior art easily wears out pedicle of vertebral arch, fixing intensity in screw can be reduced, easily cause the problem of pedicle of vertebral arch cortex ruptures, it is reasonable with setting, there is provided reference for the accurate implantation of pedicle screw, be it is safe and effective set up the beneficial effect that pedicle of vertebral arch screw nail channel provides safeguard, its scheme is as follows：Drilling rod, the head of drilling rod sets and force sensing resistance is set at drill bit, drill bit, and the afterbody of drilling rod sets oscillating circuit, and oscillating circuit is connected by the wire through setting inside drilling rod with force sensing resistance, and alarm lamp is set in annular oscillation circuit；The afterbody of the drilling rod is in handle, and handle is detachably connected with drilling rod.
Description
Technical field
The present invention relates to technical field of medical instruments, more particularly to a kind of Pediculus arcus vertebrae drilling device with force feedback and
Method.
Background technology
Pedicle internal fixators technology is treatment backbone Clinical Surgery, such as lumber spondylolisthesis, fracture of lumbar vertebra, lumbar degenerative disease
The conventional operation method of the illness such as change, and achieve comparatively ideal curative effect.Anatomical features based on pedicle of vertebral arch, pedicle screw is required
According to correct sagittal face angle and horizontal face angle, this narrow and small bone pipeline of pedicle of vertebral arch is passed through along the major axis of pedicle of vertebral arch.Mesh
Before rely primarily on anatomic marker and determine entry point, set up screw way using assistive device such as Kirschner wire, pedicle probe etc., pass through
C-type X-ray production apparatus is projected, and confirms guide pin position.The foundation of screw way mostly by surgical doctor according to pedicle of vertebral arch substantially direction of travel, with
Pierced by means of feel and experience using drilling equipment is exploratory, it is easy to wear out pedicle of vertebral arch, can not only reduce fixing intensity in screw,
It is also possible to the tissue of damage channel circumference, and then cause the rupture of pedicle of vertebral arch cortex, spinal cord and nerve root injury, blood vessel and internal organ
Damage etc..
Therefore, research and design is carried out to a kind of Pediculus arcus vertebrae drilling device with force feedback, be extremely necessary.
The content of the invention
, should the invention provides a kind of Pediculus arcus vertebrae drilling device with force feedback in order to overcome the deficiencies in the prior art
Apparatus structure is simple and practical, can detect drill bit position force information, effectively reduces the probability that pedicle of vertebral arch is punctured when screw way is set up, right
Reduce complication and increase screw stability is all most important.
A kind of concrete scheme of the Pediculus arcus vertebrae drilling device with force feedback is as follows：
A kind of Pediculus arcus vertebrae drilling device with force feedback, including：
Drilling rod, the head of drilling rod sets and force sensing resistance is set at drill bit, drill bit, and the afterbody of drilling rod sets oscillating circuit, shakes
Swing circuit to be connected with force sensing resistance by the wire through setting inside drilling rod, alarm lamp is set in annular oscillation circuit.
Above-mentioned Pediculus arcus vertebrae drilling device, force sensing resistance detects the change of power, and by the output frequency of oscillating circuit come
The flicker frequency of alarm lamp is controlled, is easy to allow user clearly to see clearly the present location of drill bit, realizes the anti-of force information
Feedback.
Wherein, force sensing resistance is when no external force is acted on, and resistance is several megaohms.When external force scope is 10N~20N, power
Quick resistance scope is 50 kilo-ohms to 250 kilo-ohms.When external force is more than 80N, force sensing resistance resistance is less than 10 kilo-ohms.
For convenience to the gripping of drilling rod, the afterbody of the drilling rod is in handle, and handle is detachably connected with drilling rod, this
Sample oscillating circuit, also in handle inner, is easy to the observation to alarm lamp flashing state, is detachably connected with alarm lamp
Handle and drilling rod, are easy to that alarm lamp and oscillating circuit are changed and safeguarded.
In order to protect pedicle of vertebral arch cortex, the drill bit is the round and smooth blunt nosed brill of diamond shaped.
The bit face is provided with the groove for setting the force sensing resistance, and drill bit head is smooth in order to carrying out
Drilling, groove is located at drill bit head.
The force sensing resistance is packaged using protective layer, and protective layer is epoxide-resin glue.
For convenience to the operation of drilling equipment, the handle is drops structure, and one end external diameter is less than the other end.
The material of the handle is transparent or trnaslucent materials, preferably light weight, transparent polystyrene material, is passed through
Moulding by casting.
The handle side is set in opening, opening and is threaded, and drilling rod surface is equally threaded, and handle passes through opening
It is attached with drilling rod；Certain space is left in the middle of handle to be used to place annular oscillation circuit and alarm lamp, drill bit and drilling rod axle
The heart is punched for placing wire.
Oscillating circuit is annular oscillation circuit, and annular oscillation circuit is located on circuit board with alarm lamp, and device used is
Surface mount elements, to reduce space, circuit board is located in transparent handle, is connected by wire with force sensing resistance.
Further, the handle outer surface sets multiple raised to increase the frictional force between handle and hand, prevents behaviour
Slippage when making.
In order to overcome the deficiencies in the prior art, present invention also offers a kind of nail pedicle fix method, using described
A kind of Pediculus arcus vertebrae drilling device with force feedback is carried out in pedicle of vertebral arch internal drilling, can determine to bore by the flashing state of alarm lamp
The position of head, it is to avoid damage is caused to spinal cord and nerve.
A kind of nail pedicle fix method, step is as follows：
1) by finger grip handle, drill bit is hanging, and force sensing resistance is not by external force, and alarm lamp is in OFF state；
2) drilling equipment is slowly advanced by the strength of palm, drill bit has been walked in cancellous bone coarse wears out sense, institute
It is small by resistance, it now can substantially observe the alarm lamp flicker in handle；
3) continue to puncture, if finding alarm lamp Chang Liang, illustrate that resistance suffered by drill bit is big, drill bit has reached anterior margin of vertebral body skin
Matter, appropriate adjustment puncture angle can be such that drill bit is slipped over from cortex of bone and enter correct path；
4) continue to puncture, if finding, alarm lamp extinguishes, and shows that now drill bit head has worn out pedicle of vertebral arch, should immediately stop
And change passage, in order to avoid damage spinal cord and nerve；
5) after the completion of puncturing, pedicle nail is set.
The operation principle of the present invention is as follows：
Alarm lamp is LED alarm lamp, during slowly being pushed ahead in pedicle of vertebral arch using drilling equipment, works as drill
During through cancellous bone, have it is coarse wear out sense, suffered resistance is smaller.When drill bit reaches anterior margin of vertebral body cortex, there is stamp parietal cortex
Solid sense, suffered resistance is larger.When drill bit wears out pedicle of vertebral arch, there is the obvious sense that falls through, now drill bit head vacantly not by
Power.Therefore in boring procedure, the stressing conditions of drill bit head can reflect drill bit head positional information.
According to piezoresistive effect, the resistance value of the force sensing resistance of drill bit head increases and reduced with drill bit head pressure,
Using force sensing resistances and electric capacity composition RC retardation ratio circuit, suitable resistance value, capacitance are chosen, the capacitor charge and discharge time is controlled,
The cycle of oscillation of ring oscillator can be adjusted.Ring oscillator exports Pulse Width Control LED alarm lamp, is alarmed by LED
Lamp flicker frequency can reflect the stressing conditions of drill bit head, and then judge bit location：LED alarm lamp flicker shows drill bit position
In cancellous bone, LED alarm lamp Chang Liang shows that drill bit touches cortex, and LED alarm lamp, which does not work, represents that drill bit has worn out pedicle of vertebral arch.
Compared with prior art, the beneficial effects of the invention are as follows：
1) present invention is by the setting of force sensing resistance, oscillating circuit and alarm lamp, and the resistance value of force sensing resistance is with drill bit head
Portion's pressure increases and reduced, and controls the flicker frequency of alarm lamp by the output frequency of oscillating circuit, and being easy to allow makes
User clearly sees clearly the present location of drill bit, realizes the feedback of force information.
2) present invention is simple in construction, sets reasonable, provides reference for the accurate implantation of pedicle screw, be safely, effectively
Pedicle of vertebral arch screw nail channel of setting up provide safeguard.
Brief description of the drawings
The Figure of description for constituting the part of the application is used for providing further understanding of the present application, and the application's shows
Meaning property embodiment and its illustrate be used for explain the application, do not constitute the improper restriction to the application.
Fig. 1 is Pediculus arcus vertebrae drilling device structural representation；
Fig. 2 (a) is drilling equipment drill bit longitudinal profile structure schematic,
Fig. 2 (b) is handle longitudinal profile structure schematic；
Fig. 3 is the annular oscillation circuit schematic diagram with RC retardation ratio link；
Fig. 4 is the operation chart that drilling equipment penetrates pedicle of vertebral arch cancellous bone.
In figure：1 force sensing resistance, 2 drill bits, 3 drilling rods, 4 wires, 5 handles, 6 raised threads, 7 annular oscillation circuits, 8 alarms
Spacing in lamp, 9 hemispherical protuberances, 10 drill bit heads, 11 cable holes, 12 handles, 13 cancellous bones, 14 cortexs of bone.
Embodiment
It is noted that described further below is all exemplary, it is intended to provide further instruction to the application.Unless another
Indicate, all technologies used herein and scientific terminology are with usual with the application person of an ordinary skill in the technical field
The identical meanings of understanding.
It should be noted that term used herein above is merely to describe embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singulative
It is also intended to include plural form, additionally, it should be understood that, when in this manual using term "comprising" and/or " bag
Include " when, it indicates existing characteristics, step, operation, device, component and/or combinations thereof.
As background technology is introduced, the deficiencies in the prior art, in order to solve technical problem as above, this Shen
It please propose a kind of Pediculus arcus vertebrae drilling device with force feedback and method.
In a kind of typical embodiment of the application, as shown in figure 1, a kind of pediculus arcus vertebrae boring dress with force feedback
Put, the device includes drill bit 2, drilling rod 3, handle 5, force sensing resistance 1, annular oscillation circuit 7 and alarm lamp 8.The brill of drilling equipment
First 2 are processed and formed at one time with drilling rod 3 using 317L austenitic stainless steel materials, and handle 5 is using light weight, transparent polystyrene material
Expect moulding by casting, the afterbody of the drilling rod 3 embedment composition drill of handle 5.Force sensing resistance 1 is located at drill bit head 10, is passed through by wire 4
Drill bit 2, drilling rod 3, the cable hole 11 in handle 5 are connected to annular oscillation circuit 7, and force sensing resistance 1 perceives the brill in Tapping procedures
The pressure of head portion 10, adjusts the output frequency of ring oscillator 7 and controls the flicker frequency of alarm lamp 8, realizes that force information feeds back.Bore
Bar 3 designs for frustum cone structure, and the small tail end in distal end is big, and the distal end of drilling rod 3 is connected with drill bit 2, tail end embedment handle 5.Drill bit 2 is with boring
Punch for placing wire in the axle center of bar 3.
As shown in Fig. 2 (a), drill bit 2 is the round and smooth blunt nosed brill of diamond shaped, and the placement quick electricity of power of punchinging smoothly is easy on blunt nosed head 10
Resistance 1, while passivity is designed with beneficial to protection pedicle of vertebral arch cortex 14, it is to avoid wear out pedicle of vertebral arch.Drill bit head 10 opens cylinder shape groove,
Force sensing resistance 1 is embedded to groove and encapsulated with epoxide-resin glue.
As shown in Fig. 2 (b), handle 5 is drops structure design, light weight, transparent polystyrene material moulding by casting, with
Raised thread 6 is carved with the outside of the connected end of drilling rod 3, top is distributed in small hemispherical protuberances 9, increase boring procedure between handle 5 and hand
Friction, prevent slip.Left in the middle of handle certain space formation handle in spacing 12 be used for place annular oscillation circuit 7 and
Alarm lamp 8.
As shown in figure 3, drilling equipment drill bit head force information Cleaning Principle：
Phase inverter U1A、U1B、U1CConstitute basic ring oscillator, resistance R1RC retardation ratio link, electricity are constituted with electric capacity C (1uF)
Hinder R2(10K Ω) does current-limiting resistance, phase inverter U1A、U1B、U1CWith resistance R1、R2, electric capacity C composition the annular with RC retardation ratio link shake
Device 7 is swung, its cycle of oscillation T ≈ 2.2R1C.The inverted device U of ring oscillator output pulse1D, current-limiting resistance R3(300 Ω) is controlled
The light on and off of LED alarm lamp 8, U when ring oscillator 7 does not work1CHigh level is output as, by phase inverter U1DAfter be changed into low level, this
When LED extinguish.
Above-mentioned resistance R1Actual is the force sensing resistance 1 positioned at drill bit head, according to piezoresistive effect, the power of drill bit head 10
The resistance value of quick resistance 1 increases and reduced with the pressure of drill bit head 10.When drill bit 2 is slowly advanced in cancellous bone 13, institute
By resistance 10N~20N, the corresponding resistance of force sensing resistance 1 is 50K Ω~250K Ω, and frequency of oscillation (i.e. LED flicker frequencies) is
10Hz~2Hz, human eye can substantially observe LED alarm lamp flicker, and LED flash speeds are with the increasing of the pressure of drill bit head 10
Accelerate greatly.When drill bit 2 touches cortex of bone 14, suffered resistance is more than 80N, and the resistance of force sensing resistance 1 is less than 10K Ω, vibration
Frequency (i.e. LED flicker frequencies) is higher than 50Hz, and due to sunset glow effect, human eye can only observe LED alarm lamp Chang Liang.When drill bit 2
When wearing out pedicle of vertebral arch, now drill bit head 10 is hanging, does not stress, the resistance of force sensing resistance 1 is about several megaohms, can be considered open circuit, ring
Shape oscillator 7 does not work, U1CHigh level is output as, by phase inverter U1DAfter be changed into low level, now LED alarm lamp extinguish.
In order to overcome the deficiencies in the prior art, present invention also offers another embodiment：A kind of nail pedicle fix method,
Carried out using a kind of described Pediculus arcus vertebrae drilling device with force feedback in pedicle of vertebral arch internal drilling, can be by the flicker of alarm lamp
Situation determines the position of drill bit, it is to avoid damage is caused to spinal cord and nerve.
Specific method of work is as follows：
First, drilling equipment is carried out disinfection, thumb, the distal end of forefinger grips said handle 5, palm withstand the top of handle 5, other
Finger holds handle 5 naturally.Now drilling equipment drill bit 2 is hanging, not by external force, and LED alarm lamp is extinguished.
Then, drilling equipment drill bit 2 is placed on entry point, along correct sagittal face angle and horizontal face angle by palm
Drilling equipment is slowly advanced by strength, drill bit 2 walked in cancellous bone 13 it is coarse wear out sense, suffered resistance is smaller, now can
Substantially observe the LED alarm lamp flicker in handle 5.
In puncture process, if it find that LED alarm lamp Chang Liang, illustrates that resistance suffered by drill bit 2 is larger, drill bit 2 has been reached
Anterior margin of vertebral body cortex 14.The design of the passivity of drill bit head 10 can protect pedicle of vertebral arch cortex 14 to a certain extent, and appropriate adjustment is punctured
Angle can be such that drill bit 2 is slipped over from cortex 14 and enter correct path.
In puncture process, if it find that LED alarm lamp is extinguished, show that now drill bit head 10 has worn out pedicle of vertebral arch,
It should immediately stop and change passage, in order to avoid damage spinal cord and nerve.
The preferred embodiment of the application is the foregoing is only, the application is not limited to, for the skill of this area
For art personnel, the application can have various modifications and variations.It is all within spirit herein and principle, made any repair
Change, equivalent substitution, improvement etc., should be included within the protection domain of the application.
Claims (10)
1. a kind of Pediculus arcus vertebrae drilling device with force feedback, it is characterised in that including：
Drilling rod, the head of drilling rod sets and force sensing resistance is set at drill bit, drill bit, and the afterbody of drilling rod sets oscillating circuit, vibration electricity
Road is connected by the wire through setting inside drilling rod with force sensing resistance, and alarm lamp is set in annular oscillation circuit.
2. a kind of Pediculus arcus vertebrae drilling device with force feedback according to claim 1, it is characterised in that the drilling rod
Afterbody is in handle, and handle is detachably connected with drilling rod.
3. a kind of Pediculus arcus vertebrae drilling device with force feedback according to claim 1, it is characterised in that the drill bit is
The round and smooth blunt nosed brill of diamond shaped.
4. a kind of Pediculus arcus vertebrae drilling device with force feedback according to claim 1 or 3, it is characterised in that the brill
Head surface is provided with the groove for setting the force sensing resistance.
5. a kind of Pediculus arcus vertebrae drilling device with force feedback according to claim 4, it is characterised in that the quick electricity of power
Resistance is packaged using protective layer.
6. a kind of Pediculus arcus vertebrae drilling device with force feedback according to claim 2, it is characterised in that the handle is
Drops structure.
7. a kind of Pediculus arcus vertebrae drilling device with force feedback according to claim 2 or 6, it is characterised in that the hand
The material of handle is transparent or trnaslucent materials.
8. a kind of Pediculus arcus vertebrae drilling device with force feedback according to claim 2 or 6, it is characterised in that the hand
Handle side is set in opening, opening and is threaded, and handle is attached by opening with drilling rod；
Further, the handle outer surface sets multiple projections to increase the frictional force between handle and hand.
9. a kind of nail pedicle fix method, it is characterised in that using a kind of tool according to any one of claim 1-8
The Pediculus arcus vertebrae drilling device of force feedback is carried out in pedicle of vertebral arch internal drilling.
10. a kind of nail pedicle fix method according to claim 9, it is characterised in that step is as follows：
1) by finger grip handle, drill bit is hanging, and force sensing resistance is not by external force, and alarm lamp is in OFF state；
2) drilling equipment is slowly advanced by the strength of palm, drill bit walked in cancellous bone it is coarse wear out sense, be obstructed
Power is small, now can substantially observe the alarm lamp flicker in handle；
3) continue to puncture, if finding alarm lamp Chang Liang, illustrate that resistance suffered by drill bit is big, drill bit has reached anterior margin of vertebral body cortex, fit
Enter correct path when adjustment puncture angle can be such that drill bit is slipped over from cortex of bone；
4) continue to puncture, if finding, alarm lamp extinguishes, and shows that now drill bit head has worn out pedicle of vertebral arch, should immediately stop and more
Change passage, in order to avoid damage spinal cord and nerve；
5) after the completion of puncturing, pedicle nail is set.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710329445.8A CN107049419B (en) | 2017-05-11 | 2017-05-11 | Pedicle drilling device and method with force feedback |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710329445.8A CN107049419B (en) | 2017-05-11 | 2017-05-11 | Pedicle drilling device and method with force feedback |
Publications (2)
| Publication Number | Publication Date |
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| CN107049419A true CN107049419A (en) | 2017-08-18 |
| CN107049419B CN107049419B (en) | 2020-04-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710329445.8A Expired - Fee Related CN107049419B (en) | 2017-05-11 | 2017-05-11 | Pedicle drilling device and method with force feedback |
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Cited By (2)
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| CN109124723A (en) * | 2017-10-10 | 2019-01-04 | 赵宇 | Can early warning pediculus arcus vertebrae opening device and control method |
| WO2022269430A1 (en) * | 2021-06-25 | 2022-12-29 | DePuy Synthes Products, Inc. | Systems and methods for detecting skiving in surgical instruments |
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| WO2022269430A1 (en) * | 2021-06-25 | 2022-12-29 | DePuy Synthes Products, Inc. | Systems and methods for detecting skiving in surgical instruments |
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