CN107049419B - Pedicle drilling device and method with force feedback - Google Patents
Pedicle drilling device and method with force feedback Download PDFInfo
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- CN107049419B CN107049419B CN201710329445.8A CN201710329445A CN107049419B CN 107049419 B CN107049419 B CN 107049419B CN 201710329445 A CN201710329445 A CN 201710329445A CN 107049419 B CN107049419 B CN 107049419B
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- pedicle
- drill
- handle
- force
- drill rod
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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 pedicle drilling device with force feedback and a method thereof, which solve the problems that the pedicle is easy to break, the internal fixation strength of a screw is reduced, and the cortex of the pedicle is easy to break in the prior art, have the advantages of reasonable arrangement, reference for accurate implantation of the pedicle screw and guarantee for safely and effectively establishing a pedicle screw channel, and have the following scheme: the drill rod, the head of the drill rod sets up the bit, set up the force sensitive resistance at the bit, the foot section of the drill rod sets up the oscillating circuit, the oscillating circuit is connected with force sensitive resistance through the wire set up in the drill rod, set up the alarm lamp in the ring-shaped oscillating circuit; the tail part of the drill rod is arranged in the handle, and the handle is detachably connected with the drill rod.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a pedicle drilling device with force feedback and a method.
Background
The internal fixation technique of pedicle screw is a common operation method for treating the diseases of the clinical spine surgery, such as lumbar spondylolisthesis, lumbar fracture, lumbar degenerative disease and the like, and obtains more ideal curative effect. Based on the anatomical features of the pedicle, the implant screw must pass through the narrow bony canal of the pedicle along its long axis at the correct sagittal and horizontal plane angles. At present, the screw feeding point is determined mainly by anatomical signs, auxiliary instruments such as a Kirschner wire, a pedicle probe and the like are used for establishing a screw channel, and the position of a guide pin is confirmed by projection of a C-shaped X-ray machine. Most of the nail paths are established by operating doctors according to the approximately walking direction of the vertebral pedicle, the drilling device is used for tentatively drilling by hand feeling and experience, the vertebral pedicle is easy to puncture, the internal fixation strength of the screw is reduced, tissues around the path are possibly damaged, and further vertebral pedicle cortex rupture, spinal cord and nerve root injury, blood vessel and viscera injury and the like are caused.
Therefore, there is a need for a pedicle drill device with force feedback for research and design.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides the pedicle drilling device with force feedback, the device is simple and practical in structure, can detect force information of a drill bit part, effectively reduces the probability of puncturing the pedicle during the establishment of a nail path, and is vital to the reduction of complications and the increase of the stability of a screw.
The specific scheme of the pedicle drilling device with force feedback is as follows:
a pedicle drilling device with force feedback, comprising:
the drilling rod, the head of drilling rod sets up the drill bit, and drill bit department sets up force sensing resistor, and the afterbody of drilling rod sets up oscillating circuit, and oscillating circuit is connected with force sensing resistor through the wire that passes the inside setting of drilling rod, sets up the alarm lamp among the annular oscillating circuit.
Above-mentioned pedicle of vertebral arch drilling equipment, the change of power is detected to force-sensitive resistor to the flicker frequency of alarm lamp is controlled through oscillation circuit's output frequency, is convenient for let the user clearly identify the position that the drill bit is located now, realizes the feedback of power information.
Wherein, the resistance value of the force-sensitive resistor is several mega ohms when no external force is applied. When the external force range is 10N-20N, the resistance value of the force-sensitive resistor ranges from 50 kilo-ohms to 250 kilo-ohms. When the external force is greater than 80N, the resistance value of the force-sensitive resistor is less than 10 kilo-ohm.
In order to conveniently grip the drill rod, the tail part of the drill rod is arranged in the handle, the handle is detachably connected with the drill rod, the oscillating circuit and the alarm lamp are also arranged inside the handle, the alarm lamp flickering condition can be conveniently observed, the connected handle and the drill rod can be detached, and the alarm lamp and the oscillating circuit can be conveniently replaced and maintained.
In order to protect the vertebral pedicle cortex, the drill bit is a diamond-shaped smooth blunt drill.
The surface of the drill bit is provided with a groove for arranging the force-sensitive resistor, the head of the drill bit is smooth so as to facilitate drilling, and the groove is arranged on the head of the drill bit.
The force sensitive resistor is packaged by a protective layer, and the protective layer is made of epoxy resin glue.
In order to facilitate the operation of the drilling device, the handle is of a water drop-shaped structure, and the outer diameter of one end of the handle is smaller than that of the other end of the handle.
The handle is made of transparent or semitransparent materials, preferably light and transparent polystyrene materials, and is molded by casting.
An opening is formed in one side of the handle, threads are arranged in the opening, threads are also arranged on the surface of the drill rod, and the handle is connected with the drill rod through the opening; a certain space is reserved in the middle of the handle and used for placing an annular oscillation circuit and an alarm lamp, and the drill bit and the axis of the drill rod are punched to place a lead.
The oscillating circuit is an annular oscillating circuit, the annular oscillating circuit and the alarm lamp are positioned on the circuit board, all the used devices are patch elements to reduce the space, and the circuit board is positioned in the transparent handle and is connected with the force-sensitive resistor through a lead.
Further, a plurality of protrusions are arranged on the outer surface of the handle to increase friction force between the handle and the hand and prevent slipping during operation.
In order to overcome the defects of the prior art, the invention also provides a pedicle screw fixing method, the pedicle screw drilling device with force feedback is adopted to drill holes in the pedicle, the position of a drill bit can be determined through the flashing condition of an alarm lamp, and the spinal cord and nerves are prevented from being damaged.
A pedicle screw fixing method comprises the following steps:
1) the handle is held by fingers, the drill bit is suspended, the force-sensitive resistor is free from external force, and the alarm lamp is in an off state;
2) the drilling device is slowly pushed by the force of the palm, the drill bit penetrates through cancellous bone to have rough penetration feeling and small resistance, and the flicker of an alarm lamp in the handle can be obviously observed at the moment;
3) continuously puncturing, if the alarm lamp is normally on, indicating that the resistance borne by the drill bit is large, the drill bit reaches the cortex at the front edge of the vertebral body, and properly adjusting the puncturing angle to enable the drill bit to slide from the cortex of the bone to enter a correct track;
4) continuously puncturing, if the alarm lamp is turned off, indicating that the head of the drill bit has punctured the vertebral pedicle, immediately stopping and changing the channel so as to avoid damaging the spinal cord and nerves;
5) and after the puncture is finished, setting the pedicle screws.
The working principle of the invention is as follows:
the alarm lamp is the LED alarm lamp, uses drilling equipment slowly forward propulsion's in the pedicle of vertebral arch in-process, when the drilling passes the spongy bone, has the coarse sense of wearing to break, and the resistance that receives is less. When the drill reaches the anterior cortex of the vertebral body, the drill has the firm sense of poking the apical bone cortex and is relatively high in resistance. When the drill bit breaks through the vertebral pedicle, the falling feeling is obvious, and the head of the drill bit is suspended without stress. Therefore, in the drilling process, the stress condition of the drill bit can reflect the position information of the drill bit.
According to the piezoresistive effect, the resistance value of a force sensitive resistor of the drill bit head is reduced along with the increase of pressure on the drill bit head, an RC delay circuit is formed by the force sensitive resistor and a capacitor, the appropriate resistance value and capacitance value are selected, the charging and discharging time of the capacitor is controlled, and the oscillation period of the ring oscillator can be adjusted. The ring oscillator output pulse control LED alarm lamp can reflect the stress condition of the drill bit head through the LED alarm lamp flicker frequency, and then judges the drill bit position: the LED alarm lamp flickers to indicate that the drill bit is located in cancellous bone, the LED alarm lamp is normally on to indicate that the drill bit touches cortex, and the LED alarm lamp is not on to indicate that the drill bit penetrates through the pedicle of vertebral arch.
Compared with the prior art, the invention has the beneficial effects that:
1) according to the invention, through the arrangement of the force-sensitive resistor, the oscillating circuit and the alarm lamp, the resistance value of the force-sensitive resistor is reduced when the pressure applied to the drill bit head is increased, and the flashing frequency of the alarm lamp is controlled through the output frequency of the oscillating circuit, so that a user can clearly identify the current position of the drill bit, and the feedback of force information is realized.
2) The invention has simple structure and reasonable arrangement, provides reference for accurate implantation of the pedicle screw and provides guarantee for safely and effectively establishing the pedicle screw channel.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application.
FIG. 1 is a schematic view of a pedicle drilling device;
FIG. 2(a) is a schematic longitudinal sectional view of a drill head of the drilling apparatus,
FIG. 2(b) is a schematic longitudinal sectional view of the handle;
FIG. 3 is a schematic diagram of a ring oscillator circuit with an RC delay element;
fig. 4 is an operational view of the drilling device penetrating into cancellous bone of a pedicle.
In the figure: 1 force sensitive resistor, 2 drill bits, 3 drilling rods, 4 wires, 5 handles, 6 protruding threads, 7 annular oscillation circuits, 8 alarm lamps, 9 hemispherical bulges, 10 drill bit heads, 11 wiring holes, 12 spaces in the handles, 13 spongy bones and 14 cortical bones.
Detailed Description
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
In order to solve the above technical problems, the present application provides a pedicle hole drilling device and method with force feedback.
In a typical embodiment of the present application, as shown in fig. 1, a pedicle drilling device with force feedback comprises a drill bit 2, a drill rod 3, a handle 5, a force sensitive resistor 1, an annular oscillation circuit 7 and a warning lamp 8. The drill bit 2 and the drill rod 3 of the drilling device are formed by one-step processing of 317L austenitic stainless steel materials, the handle 5 is formed by pouring of light and transparent polystyrene materials, and the handle 5 is embedded in the tail of the drill rod 3 to form the drilling device. The force-sensitive resistor 1 is positioned at a drill bit head part 10, passes through a drill bit 2, a drill rod 3 and a wiring hole 11 in a handle 5 through a lead 4 and is connected to the annular oscillation circuit 7, the force-sensitive resistor 1 senses the pressure of the drill bit head part 10 in the hole opening process, the output frequency of the annular oscillator 7 is adjusted, the flashing frequency of the alarm lamp 8 is controlled, and force information feedback is achieved. The drill rod 3 is designed to be a circular truncated cone structure, the small tail end of the far end is large, the far end of the drill rod 3 is connected with the drill bit 2, and the tail end is embedded into the handle 5. The drill bit 2 and the drill rod 3 are perforated at the axes for placing a lead.
As shown in fig. 2(a), the drill bit 2 is a diamond-shaped smooth blunt drill, the blunt head 10 is smooth to facilitate the drilling and the placement of the force-sensitive resistor 1, and the blunt design is favorable for protecting the pedicle cortex 14 and avoiding puncturing the pedicle. The drill bit head 10 is provided with a cylindrical groove, and the force-sensitive resistor 1 is embedded into the groove and encapsulated by epoxy resin glue.
As shown in fig. 2(b), the handle 5 is designed to be a drop-shaped structure, the light and transparent polystyrene material is molded by casting, the outer side of the end connected with the drill rod 3 is carved with a raised thread 6, and the top end is distributed with a small semi-spherical bulge 9, so that the friction between the handle 5 and the hand in the drilling process is increased, and the slippage is prevented. A certain space is left in the middle of the handle to form a space 12 in the handle for placing the annular oscillating circuit 7 and the alarm lamp 8.
As shown in fig. 3, the force information detection principle of the drill head of the drilling device is as follows:
inverter U1A、U1B、U1CForming a basic ring oscillator, a resistor R1The resistance R and the capacitor C (1uF) form an RC delay link2(10K omega) as current limiting resistor and inverter U1A、U1B、U1CAnd a resistor R1、R2The capacitor C forms a ring oscillator 7 with an RC delay link, and the oscillation period T of the ring oscillator is approximately equal to 2.2R1C. The output pulse of the ring oscillator passes through a phase inverter U1DCurrent limiting resistor R3(300 omega) controls the LED alarm lamp 8 to be on or off, and U is controlled when the ring oscillator 7 does not work1CThe output is high level and passes through an inverter U1DThen, the voltage level becomes low, and the LED is turned off.
The above resistor R1Actually the force-sensitive resistor 1 located at the bit head, the resistance value of the force-sensitive resistor 1 of the bit head 10 decreases with increasing pressure on the bit head 10 according to the piezoresistive effect. When the drill bit 2 is slowly pushed in the spongy bone 13, the resistance of the drill bit is 10N-20N, the resistance value of the corresponding force sensitive resistor 1 is 50K omega-250K omega, the oscillation frequency (namely the LED flicker frequency) is 10 Hz-2 Hz, human eyes can obviously observe the flicker of an LED alarm lamp, and the LED flicker speed is increased along with the increase of the pressure of the drill bit head 10. When the drill bit 2 touches the cortical bone 14, the resistance is larger than 80N, the resistance value of the force sensitive resistor 1 is smaller than 10K omega, the oscillation frequency (namely the LED flicker frequency) is higher than 50Hz, and due to the afterglow effect, human eyes can only observe that the LED alarm lamp is normally on. When the drill bit 2 breaks through the vertebral pedicle, the drill bit head 10 is suspended without stress, the resistance value of the force sensitive resistor 1 is about several mega ohms, the annular oscillator 7 does not work, and the U is regarded as an open circuit1CThe output is high level and passes through an inverter U1DThen the LED alarm lamp is turned off when the LED alarm lamp is turned to a low level.
In order to overcome the defects of the prior art, the invention also provides another embodiment: a pedicle screw fixing method adopts the pedicle screw drilling device with force feedback to drill holes in pediculus arcus vertebrae, and the position of a drill bit can be determined through the flickering condition of an alarm lamp, so that the spinal cord and nerves are prevented from being damaged.
The specific working method is as follows:
firstly, the drilling device is sterilized, the far end of the handle 5 is pinched by the thumb and the forefinger, the palm of the hand is propped against the top end of the handle 5, and the other fingers naturally hold the handle 5. At the moment, the drill bit 2 of the drilling device is suspended and is free from external force, and the LED alarm lamp is turned off.
Then, the drill bit 2 of the drilling device is placed at a nail feeding point, the drilling device is slowly pushed along the correct sagittal plane angle and horizontal plane angle by means of the force of a palm, the drill bit 2 penetrates through cancellous bone 13 roughly and breaks, the resistance is small, and the flickering of an LED alarm lamp in the handle 5 can be obviously observed at the moment.
During the puncture process, if the LED alarm lamp is found to be normally on, the resistance borne by the drill bit 2 is large, and the drill bit 2 reaches the cortex 14 at the front edge of the vertebral body. The blunt design of the drill head 10 protects the pedicle cortex 14 to the extent that proper adjustment of the angle of penetration allows the drill bit 2 to slide through the cortex 14 into the correct trajectory.
During the puncture process, if the LED alarm lamp is found to be turned off, which indicates that the drill head 10 has punctured the pedicle of the vertebra, the channel should be stopped and changed immediately so as not to damage the spinal cord and nerves.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (6)
1. A pedicle drilling device with force feedback, comprising:
the drill rod, the head of the drill rod sets up the bit, set up the force sensitive resistance at the bit, the foot section of the drill rod sets up the oscillating circuit, the oscillating circuit is connected with force sensitive resistance through the wire set up in the drill rod, set up the alarm lamp in the ring-shaped oscillating circuit;
the drill bit is a diamond smooth blunt drill, the surface of the drill bit is provided with a groove for arranging the force sensitive resistor, the head of the drill bit is smooth, and the groove is arranged at the head of the drill bit;
the resistance value of the force-sensitive resistor is reduced along with the increase of the pressure on the drill bit head, so that the output frequency of the oscillating circuit is changed, and the flashing frequency of the alarm lamp is controlled through the output frequency of the oscillating circuit.
2. A pedicle drill device with force feedback according to claim 1, wherein the tail portion of the drill rod is arranged in a handle, and the handle is detachably connected with the drill rod.
3. A pedicle drill device having force feedback as claimed in claim 1, wherein the force sensitive resistor is encapsulated with a protective layer.
4. A pedicle drill device with force feedback as claimed in claim 2, wherein the handle is of a drop-like configuration.
5. A pedicle drill device with force feedback according to claim 2 or 4, wherein the material of the handle is a transparent or translucent material.
6. A pedicle drill device with force feedback according to claim 2 or 4, characterized in that an opening is arranged on one side of the handle, a thread is arranged in the opening, and the handle is connected with the drill rod through the opening; further, the outer surface of the handle is provided with a plurality of protrusions to increase the friction between the handle and the hand.
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 |
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| Publication Number | Publication Date |
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| CN107049419A CN107049419A (en) | 2017-08-18 |
| CN107049419B true CN107049419B (en) | 2020-04-24 |
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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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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109124723A (en) * | 2017-10-10 | 2019-01-04 | 赵宇 | Can early warning pediculus arcus vertebrae opening device and control method |
| US20220409307A1 (en) * | 2021-06-25 | 2022-12-29 | DePuy Synthes Products, Inc. | Systems and methods for detecting skiving in surgical instruments |
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