CN109171942A - A kind of long-range injection control apparatus of bone cement and its control method - Google Patents
A kind of long-range injection control apparatus of bone cement and its control method Download PDFInfo
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- CN109171942A CN109171942A CN201811216426.5A CN201811216426A CN109171942A CN 109171942 A CN109171942 A CN 109171942A CN 201811216426 A CN201811216426 A CN 201811216426A CN 109171942 A CN109171942 A CN 109171942A
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- 239000007924 injection Substances 0.000 title claims abstract description 303
- 239000002639 bone cement Substances 0.000 title claims abstract description 115
- 238000000034 method Methods 0.000 title claims abstract description 35
- 238000004891 communication Methods 0.000 claims description 45
- 238000013461 design Methods 0.000 claims description 21
- 230000003750 conditioning effect Effects 0.000 claims description 8
- 230000005856 abnormality Effects 0.000 claims description 3
- 230000008569 process Effects 0.000 abstract description 11
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 abstract description 6
- 238000001356 surgical procedure Methods 0.000 abstract description 6
- 201000010099 disease Diseases 0.000 abstract description 5
- 238000005516 engineering process Methods 0.000 abstract description 5
- 201000011510 cancer Diseases 0.000 abstract description 4
- 230000036541 health Effects 0.000 abstract description 4
- 238000002324 minimally invasive surgery Methods 0.000 abstract description 4
- 230000001009 osteoporotic effect Effects 0.000 abstract description 4
- 206010010214 Compression fracture Diseases 0.000 abstract description 3
- 238000011017 operating method Methods 0.000 abstract description 3
- 230000000712 assembly Effects 0.000 abstract 1
- 238000000429 assembly Methods 0.000 abstract 1
- 238000001514 detection method Methods 0.000 description 11
- 238000010586 diagram Methods 0.000 description 7
- 210000000988 bone and bone Anatomy 0.000 description 6
- 230000005611 electricity Effects 0.000 description 5
- 239000004568 cement Substances 0.000 description 4
- 230000006870 function Effects 0.000 description 4
- 238000012544 monitoring process Methods 0.000 description 4
- 230000005855 radiation Effects 0.000 description 4
- 208000010392 Bone Fractures Diseases 0.000 description 3
- 206010017076 Fracture Diseases 0.000 description 3
- 208000001132 Osteoporosis Diseases 0.000 description 3
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 239000000243 solution Substances 0.000 description 3
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000012530 fluid Substances 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 239000000741 silica gel Substances 0.000 description 2
- 229910002027 silica gel Inorganic materials 0.000 description 2
- 210000004243 sweat Anatomy 0.000 description 2
- 229920000742 Cotton Polymers 0.000 description 1
- 208000001164 Osteoporotic Fractures Diseases 0.000 description 1
- 230000002159 abnormal effect Effects 0.000 description 1
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- 230000005540 biological transmission Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 239000002872 contrast media Substances 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 229940079593 drug Drugs 0.000 description 1
- 238000003708 edge detection Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000009413 insulation Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
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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
- A61B17/56—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
- A61B17/8802—Equipment for handling bone cement or other fluid fillers
- A61B17/8805—Equipment for handling bone cement or other fluid fillers for introducing fluid filler into bone or extracting it
-
- 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
- A61B17/68—Internal fixation devices, including fasteners and spinal fixators, even if a part thereof projects from the skin
- A61B17/70—Spinal positioners or stabilisers ; Bone stabilisers comprising fluid filler in an implant
- A61B17/7061—Spinal positioners or stabilisers ; Bone stabilisers comprising fluid filler in an implant for stabilising vertebrae or discs by improving the condition of their tissues, e.g. using implanted medication or fluid exchange
-
- 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
- A61B17/68—Internal fixation devices, including fasteners and spinal fixators, even if a part thereof projects from the skin
- A61B17/70—Spinal positioners or stabilisers ; Bone stabilisers comprising fluid filler in an implant
- A61B17/7074—Tools specially adapted for spinal fixation operations other than for bone removal or filler handling
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
-
- 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
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- Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Neurology (AREA)
- Engineering & Computer Science (AREA)
- Animal Behavior & Ethology (AREA)
- Veterinary Medicine (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Biomedical Technology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
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- Infusion, Injection, And Reservoir Apparatuses (AREA)
- Surgical Instruments (AREA)
Abstract
The present invention provides a kind of long-range injection control apparatus of bone cement and its control methods, comprising: control assembly, and the executive module being electrically connected with the control assembly；Wherein, first position sensor is equipped in the control assembly；Second position sensor is equipped in the executive module.The present invention is based on control assemblies and executive module connected to it, pass through the remote collaboration of control assembly and executive module, realize the remote quantitative control injection bone cement to syringe, operating method is simple, safe operation process is high, the operation for treating the diseases such as good centrum, malignant tumour and Osteoporotic Vertebral Compression Fractures for novel Minimally invasive procedure technology brings huge convenience, provides safety guarantee with the working environment of the health of doctor for going on smoothly for clinically patients surgery.
Description
Technical field
The invention belongs to bone cement injection technique field more particularly to a kind of long-range injection control apparatus of bone cement and its controls
Method processed.
Background technique
With the increase of modern society's aging populations, osteoporosis disease incidence is in rising trend, and thoracolumbar fracture is year by year
Increasing also has much relations with this.According to more than nearly 8,000 ten thousand people of the global patients with osteoporosis of statistics in 2002, total population ratio is accounted for
Up to 7%；50 years old or more city elderly womans are because osteoporosis causes the incidence of the chest vertebra body fracture of lumbar vertedra to be up to 15%, bone
Matter osteoporotic fractures have become public health issue urgently to be resolved.Vertebroplasty this kind of disease for the treatment of generally acknowledged at present
Prefered method.
Currently, in good, malignant tumour and osteoporotic vertebral pressure using novel Minimally invasive procedure technology treatment centrum
In the operations of diseases such as contracting fracture, doctor needs to work under X-ray real time monitoring, determines the injection dosage and injection of bone cement
Position, and the injection of bone cement is completed into centrum using propeller, while also to prevent bone cement injection excessive, leak out vertebra
Body causes irremediable damage to patient, and the working time generally requires several minutes or even longer.And the Shi doctor that performs the operation it is long when
Between exposure under x-ray bombardment, clinician body will be damaged, this will hinder this Technique Popularizing application.
In short, existing bone cement injects operation method, it is required to doctor and is exposed in the radiation scope of X-ray in person,
Modus operandi is complicated, and surgical procedure safety is low, for patient operation go on smoothly and the health of doctor bring it is huge
Security risk.
Summary of the invention
Based on the above issues, the main purpose of the present invention is to provide a kind of long-range injection control apparatus of bone cement and its controls
Method processed, to solve defect and deficiency in the prior art.
To solve the above problems, the present invention provides a kind of long-range injection control apparatus of bone cement, comprising: control assembly, with
And the executive module being electrically connected with the control assembly；
Wherein, first position sensor is equipped in the control assembly；The second position is equipped in the executive module to sense
Device；
The control assembly obtains the adjusting position of user's control bone cement injection volume by the first position sensor,
The corresponding injection volume information of adjusting position of the bone cement injection volume is obtained by calculating；According to default injection parameters, it is based on
The injection volume information controls the injection that the executive module carries out bone cement by the syringe connecting with the executive module,
And the practical propulsion position of the syringe is obtained by the second position sensor, the practical propulsion is obtained by calculating
The actual injection amount of the corresponding bone cement in position.
Preferably, the control assembly further includes injection rotating handle；The injection rotating handle and the first position
Sensor connection；
When injecting bone cement, injection rotating handle described in user's control is rotated, and the first position sensor obtains
Adjusting position of the angle of the rotation of the injection rotating handle as bone cement injection volume, and calculated according to the adjusting position
The injection volume information of corresponding bone cement out.
Preferably, the control assembly further includes first microprocessor, and connect with the first microprocessor
Power switch and the enabled switch of injection；The first position sensor is connect with the first microprocessor；
The power switch is opened, starts the control assembly of the long-range injection control apparatus of the bone cement, and
When injecting bone cement, the enabled switch of the injection is pressed, the injection rotating handle is rotated and is injected.
Preferably, the control assembly further includes the host computer communication module connecting with the first microprocessor；
The executive module further includes the second microprocessor, and the slave communication mould connecting with second microprocessor
Block；
The host computer communication module and the slave communication module are electrically connected.
Preferably, the first position sensor in the control assembly includes magnetic coded disc, deceleration direct-current motor, suddenly
Your sensor, and the signal conditioning circuit of the Hall sensor being connect with the first microprocessor.
Preferably, the control assembly further includes the equal Keysheet module connecting with the first microprocessor and display mould
Block；
The Keysheet module, for receiving the control instruction of user's input；
The display module, for showing the angle of the rotation of injection rotating handle and the adjusting position of bone cement injection volume
It sets and the received control instruction of the Keysheet module.
Preferably, the executive module further include: the Design of Stepper Motor Subdivision being electrically connected with second microprocessor
Controller, DC-DC power source power supply unit；
The second position sensor and second microprocessor are electrically connected；
The executive module further includes the decelerating step motor connecting with the second position sensor；Also, it is described to subtract
Fast stepper motor is connect with the syringe；
Second microprocessor passes through the Design of Stepper Motor Subdivision control under the power supply of the DC-DC power source power supply unit
Device processed controls the decelerating step motor and the syringe is driven to be injected.
Preferably, the Design of Stepper Motor Subdivision controller further include:
Sub-driver circuit, current regulation potentiometer, half electric current keep switch and subdivision mode setting switch, and with institute
State the Opto Isolator circuit of the second microprocessor electric connection.
In addition, to solve the above problems, the present invention also provides a kind of control method of the long-range injection control apparatus of bone cement,
Include:
After electrifying startup, the default injection parameters that user is generated by the key module setting of control assembly are received；Also,
The first microprocessor of the control assembly stores after receiving the default injection parameters；
Receive the operating mode information that user is arranged by the key module；
After receiving the operating mode information, by the host computer communication module of the control assembly, it is transmitted to execution
The slave communication module of component；Wherein, the second microprocessor of the executive module controls the slave communication module and obtains institute
Operating mode information received by control assembly is stated, also, information passes through Design of Stepper Motor Subdivision control according to the operation mode
Device control decelerating step motor driving syringe rotation processed, in order to be based on running under the operating mode information；
The decelerating step motor running resistance value is received, if the Resistance Value is greater than default resistance threshold value, determines to infuse
Existing abnormality is projected, generates warning message, and carry out by the display module that communication module feeds back to the control assembly
Display.
Preferably, the operating mode information includes normal injection mode, injection " fall back " mode" and clear mode；
If the received operating mode information is the normal injection mode, shown currently by display module
Mode is normal injection pattern；
The rotary injection instruction generated of the enabled switch of user's triggering injection is received, and is referred to according to the rotary injection
It enables, rotating clockwise for injection rotating handle described in user's control is received by the first position sensor of the control assembly
The adjusting position of the corresponding bone cement injection volume of angle, and corresponding injection volume information is calculated according to the adjusting position；Base
The executive module, which is controlled, in the injection volume information passes through the note for the syringe progress bone cement connecting with the executive module
It penetrates；
If the received operating mode information is injection " fall back " mode", present mode is shown by display module
To inject " fall back " mode"；
The counterclockwise of injection rotating handle described in user's control is received by the first position sensor of the control assembly
The adjusting position of the corresponding bone cement injection volume of the angle of rotation, and injection retrogressing is carried out according to the adjusting position；
If the received operating mode information is clear mode, show that present mode is clear by display module
Null mode；
The control assembly resets the default injection parameters, and control the long-range injection control apparatus of the bone cement into
Enter to stop injection state.
The present invention provides a kind of long-range injection control apparatus of bone cement and its control method, wherein described device includes: control
Component processed, and the executive module being electrically connected with the control assembly.The present invention obtains user by first position sensor
The adjusting position of bone cement injection volume is controlled, and then injection volume information can be calculated, and is passed in injection by the second position
Sensor obtains the practical propulsion position of the syringe, obtains the corresponding practical bone in the practical propulsion position by calculating
The actual injection amount of cement passes through control assembly and executive module to be based on control assembly and executive module connected to it
Remote collaboration, realize and the remote quantitative of syringe controlled to inject bone cement, operating method is simple, safe operation process
Height treats the diseases such as good centrum, malignant tumour and Osteoporotic Vertebral Compression Fractures for novel Minimally invasive procedure technology
Operation brings huge convenience, provides peace with the working environment of the health of doctor for going on smoothly for clinically patients surgery
All risk insurance barrier.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the long-range injection control apparatus of bone cement in first embodiment in the application；
Fig. 2 is the structural schematic diagram of the long-range injection control apparatus of bone cement in second embodiment in the application；
Fig. 3 is the Design of Stepper Motor Subdivision control in the application in second embodiment in the long-range injection control apparatus of bone cement
The refinement structural schematic diagram of device；
Fig. 4 is the refinement of the first position sensor of the long-range injection control apparatus of bone cement in second embodiment in the application
Structural schematic diagram；
Fig. 5 is the process signal of the control method of the long-range injection control apparatus of bone cement in 3rd embodiment in the application
Figure；
Fig. 6 is the step S30 of the control method of the long-range injection control apparatus of bone cement in 3rd embodiment in the application
Refine flow diagram；
Fig. 7 is the XY axis top perspective of the control terminal of the long-range injection control apparatus of bone cement in fourth embodiment in the application
Structure chart；
Fig. 8 is the XY axis plan structure of the control terminal of the long-range injection control apparatus of bone cement in fourth embodiment in the application
Schematic diagram；
Fig. 9 is the right view of XZ axis of the actuating station of the long-range injection control apparatus of bone cement in fourth embodiment in the application.
Figure 10 is that the XY axis of the actuating station of the long-range injection control apparatus of bone cement in fourth embodiment in the application overlooks knot
Structure schematic diagram.
Appended drawing reference:
The embodiments will be further described with reference to the accompanying drawings for the realization, the function and the advantages of the object of the present invention.
Specific embodiment
The embodiment of the present invention is described below in detail, in which the same or similar labels are throughly indicated same or like
Element or element with the same or similar functions.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include one or more of the features.In the description of the present invention, the meaning of " plurality " is two or more,
Unless otherwise specifically defined.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc.
Term shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；It can be mechanical connect
It connects, is also possible to be electrically connected；It can be directly connected, can also can be in two elements indirectly connected through an intermediary
The interaction relationship of the connection in portion or two elements.It for the ordinary skill in the art, can be according to specific feelings
Condition understands the concrete meaning of above-mentioned term in the present invention.
It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not intended to limit the present invention.
Embodiment 1:
With reference to Fig. 1, the present embodiment provides a kind of long-range injection control apparatus 1 of bone cement, comprising:
The present invention provides a kind of long-range injection control apparatus 1 of bone cement, comprising: control assembly 11, and with the control
The executive module 12 that component 11 is electrically connected；
Wherein, first position sensor 111 is equipped in the control assembly 11；Second is equipped in the executive module 12
Set sensor 121；
The control assembly 11 obtains user's control bone cement injection volume by the first position sensor 111 and adjusts position
It sets, obtains the corresponding injection volume information of the bone cement amount adjusting position by calculating；According to default injection parameters, based on described
Injection volume information controls the injection that the executive module 12 carries out bone cement by the syringe connecting with the executive module 12,
And the practical propulsion position of the syringe is obtained by the second position sensor 121, the reality is obtained by calculating
Promote the actual injection amount of the corresponding bone cement in position.
Above-mentioned, the long-range injection control apparatus of bone cement provided in the present embodiment is directed to the note for bone cement
It penetrates, in addition it is also possible to be the injection of other fluids, such as contrast agent, the fluids such as drug that play treatment and diagnostic effect.
Above-mentioned, control assembly 11 and executive module 12 are electrically connected, can be by cable connection, can also be by wirelessly connecting
It connects, executes instruction receiving correlation and injected, and receive the status information in implementation procedure, to monitor.
Above-mentioned, when being performed the operation, executive module 12 can be set in the real time monitoring environment of X-ray, and front end is connected with
Syringe, and remotely connected by the control assembly 11 of cable or wireless mode and rear end, to realize user remotely to injection
The control of the injection volume of device.For example, executive module 12 is connect with syringe, perform the operation in radiation imaging vitriol chamber, and
Outside radiation imaging vitriol chamber, control assembly 11 is connect by cable with executive module 12.
Above-mentioned, user adjusts the adjusting position of different bone cement injection volumes by control assembly 11, realizes to bone cement
Injection volume is adjusted in real time, for example, can by push-and-pull operating stick, sliding slider 144, circle or other shapes steering wheel
Or disk, rocking bar etc., what doctor can be more convenient to be finely adjusted in the course of surgery realizes the controlling party of stepping injection bone cement
Formula.For example, sliding slider 144 of the doctor by operation control assembly 11, adjusts and arrives different bone cement injection volume adjusting positions,
Realization adjusts bone cement injection volume in real time.
In addition, in the course of surgery, it, can be by being connect with control assembly 11 for the precision for further increasing bone cement injection
Terminal carry out in real time setting bone cement stepping injection volume and injection speed, for example, every stepping in 3 seconds injection 1
Microlitre, to can avoid guaranteeing that bone cement enters patient to a certain extent since the error for injection speed is manually operated
Intracorporal speed and time.
The present embodiment obtains the adjusting position of user's control bone cement injection volume by first position sensor 111, in turn
Injection volume information can be calculated, and obtain the practical propulsion of the syringe by second position sensor 121 in injection
Position, by calculate obtain it is described it is practical promote the corresponding actual injection amount in position, thus based on control assembly 11 and with
Its executive module 12 connected by the remote collaboration that controls and execute, realize the remote quantitative control injection bone to syringe
Cement, operating method is simple, and safe operation process is high, treats that centrum is good, malignant tumour for novel Minimally invasive procedure technology
Operation with the diseases such as Osteoporotic Vertebral Compression Fractures brings huge convenience, for clinically patients surgery it is smooth into
The working environment of capable and doctor health provides safety guarantee.
Embodiment 2:
With reference to Fig. 2-4, based on the above embodiment 1, the present embodiment provides a kind of long-range injection control apparatus 1 of bone cement,
In, the control assembly 11 further includes injection rotating handle 112；The injection rotating handle 112 is sensed with the first position
Device 111 connects；
When injecting bone cement, injection rotating handle 112 described in user's control is rotated, the first position sensor
111 obtain adjusting position of the angle of the rotation of the injection rotating handle 112 as bone cement, and according to the adjusting position
Calculate corresponding bone cement injection volume.
Above-mentioned, control assembly 11 is equipped with shell 141, and injection rotating handle 112 is connect with shell 141, by relative to outer
141 rotary injection rotating handle 112 of shell, so as to adjust the rotation angle or rotating cycle of injection rotating handle 112, and then by institute
The position that the angle or rotating cycle of rotation are reached passes through in control assembly 11 as the position for adjusting injection bone cement
Microprocessor calculated, the actual injection amount of corresponding bone cement is calculated according to the position for adjusting injection bone cement.
The mode of traditional injection bone cement, is to make pushing away for syringe by the propulsive force of hand by hand syringes
Bar internally squeezes, to realize that for the bone cement in syringe, such method is being infused to the injection purpose of patient's appointed part
It, may be due to syringe if had certain requirements for injection volume or injection speed, the higher injection work of precision when penetrating
The skidding of push rod or the internal bone cement that enters lead to Caton, so that injection volume or injection speed hardly possible occur when enforcing push rod
With control, occurs excess injection suddenly or injection volume slows down, cause the problem of injection volume deficiency.Also, partial syringe bone cement,
In injection process, it is necessary to there is certain injection flow or injection speed, could have better injection effect.
In the present embodiment, it is equipped with an injection rotating handle 112, is adjusted in a manner of rotary injection rotating handle 112
The injection volume of bone cement is injected, so as to make user or doctor when bone cement is injected in stepping, relative to traditional direct propulsion
The mode for squeezing syringe can preferably realize the purpose of stepping injection, can be more convenient for the operation of doctor, to pass through rotation
The handle realizes that fine tuning injection volume and stepping increase the purpose of injection volume.
In addition, control assembly 11 may also include image monitoring system, which includes one for acquiring the injection rotation
The image collecting device of the image of handle 112, the figure recognition processor being electrically connected with described image acquisition device, the figure
Shape recognition processor and the microprocessor of the control assembly 11 are electrically connected.
The figure acquisition device can be camera.When injecting bone cement, the camera is to injection rotating handle
112 rotary area carries out Image Acquisition, obtains rotation process image；Wherein, rotary area, as user are rotating the note
Penetrate operating area when rotating handle 112；
After the figure recognition processor gets rotation process institute image, the rotation process image is converted to
It include to inject the key frame of 112 rotary course of rotating handle, and determine the injection rotating handle 112 in each key frame
Position, and edge detection is carried out according to positioning, according to the corresponding timestamp of each key frame by the rotation angle in each key frame
Degree is overlapped, and obtains the rotating cycle of injection rotating handle 112, and obtains pre-set stepping injection parameters range；Its
In, the stepping injection parameters range includes the bound of injection volume and injection speed that bone cement injection is carried out to patient
Threshold value；
The rotating cycle is calculated into corresponding injection volume and injection speed by default injection parameters, and by the rotation
It turn-takes several corresponding injection volumes and injection speed is compared with the stepping injection parameters range；
If the corresponding injection volume of the rotating cycle and injection speed exceed the stepping injection parameters range, to described
The microprocessor of control assembly 11 sends warning prompt, transfinites in order to prompt current operation extremely.
In the present embodiment, by the way that the image monitoring system being electrically connected with the microprocessor of control assembly 11 is arranged, to
The operating process of family operation injection rotating handle 112 is monitored in real time, and image obtained is identified, is identified and is worked as
The injection volume and injection speed of preceding the injected bone cement of operation, and it is compared with pre-set stepping injection parameters range
Compared with, to determine its control in the safe range of injection parameters range, if transfinited, abnormal alarm is prompted to microprocessor,
To visually whether meet preoperative preset stepping injection parameters for the operation of doctor by image recognition technology realization
The problem of range is monitored, and avoids the maloperation due to doctor, is caused injection to fail, or is caused security risk.
Further, the control assembly 11 further includes first microprocessor 113, and with the first microprocessor
The power switch 114 of 113 connections and the enabled switch 115 of injection；The first position sensor 111 and the first microprocessor
113 connections；
The power switch 114 is opened, the control assembly 11 of the long-range injection control apparatus 1 of the bone cement is started,
And when injecting bone cement, presses described inject and enable switch 115, rotate the injection rotating handle 112 and injected.
In addition, control assembly 11 can also include the wireless communication module connecting with first bit processor, also, logical
It crosses the wireless communication module and intelligent terminal is realized and is wirelessly connected.Specifically, intelligent terminal can include but is not limited to have
Operating system, and the intelligent terminals such as mobile phone, mobile PC, desktop computer, the tablet computer of real time inspection and operation can be carried out.
Above-mentioned, power switch 114 after opening power switch 114, that is, realizes control for the electrifying startup of control assembly 11
Component 11 processed wakes up to electricity.
It is above-mentioned, enabled switch 115 is injected, is started switch to manipulate the function of injection of the control assembly 11, is opened and inject
After enabled switch 115, just rotatable injection rotating handle 112 is injected.
Further, the control assembly 11 further includes the host computer communication module connecting with the first microprocessor 113
116；
The executive module 12 further includes the second microprocessor 122, and connect with second microprocessor 122 from
Machine communication module 126；
The host computer communication module 116 is electrically connected with the slave communication module 126.
Further, the first position sensor 111 in the control assembly 11 includes magnetic coded disc 111a, slows down
Direct current generator 111b, Hall sensor 111c, and the Hall sensor 111c being connect with the first microprocessor 113
Signal conditioning circuit 111d.
Further, the control assembly 11 further includes the equal Keysheet module 117 connecting with the first microprocessor 113
With display module 118.
The Keysheet module 117, for receiving the control instruction of user's input；
The display module 118, for showing the angle and adjusting injection bone water of the rotation of injection rotating handle 112
The position of mud and the received control instruction of the Keysheet module 117.
It is above-mentioned, the control assembly 11, including first position detection sensor, power switch 114, the enabled switch of injection
115, first microprocessor 113, Keysheet module 117 and display module 118.The executive module 12, including the second microprocessor
122, decelerating step motor 125, Design of Stepper Motor Subdivision controller 123 and DC-DC module.Control assembly 11 passes through cable and injection
Executive module 12 is connected；Injection executive module 12 is connected by special connector with syringe；In addition, mobile phone, computer etc.
Mode (such as: WiFi, bluetooth) is connected intelligent terminal with injection executive module 12 by wireless communication.
Wherein, control assembly 11, including first position detection sensor, power switch 114, inject enabled switch 115, the
One microprocessor 113, Keysheet module 117 and display module 118.Keysheet module 117 injects enabled switch 115 and first micro- place
The I/O mouth of reason device 113 is connected；The I of clock module and first microprocessor 1132C interface is connected；First position detection passes
I/O mouthfuls of interruption of sensor and first microprocessor 113 are connected；Host computer communication module 116 and display module 118 are respectively with first
The serial ports of microprocessor 113 is connected.The first position detection sensor, including magnetic coded disc 111a, deceleration direct-current motor
The signal conditioning circuit 111d of 111b, Hall sensor 111c and Hall sensor 111c, deceleration direct-current motor 111b drive magnetic
Property code-disc 111a rotation, Hall sensor 111c stands on the two sides of magnetic coded disc 111a, when magnetic coded disc 111a rotation, two sides
Hall sensor 111c can generate orthogonal square-wave signal, with the speed of revolving speed regular variation can occur for frequency,
The difference of the phase meeting direction of rotation of signal changes.Rotating handle 112 is injected, with subtracting for the position-detection sensor
Speed motor connection.
First position sensor 111 includes: magnetic coded disc 111a, deceleration direct-current motor 111b, Hall sensor 111c,
And the signal conditioning circuit 111d of the Hall sensor 111c totally 4 components.Magnetic coded disc 111a is mounted on deceleration direct current
In the rotation axis of motor 111b, direct current generator is followed to rotate；The armature terminal no power of deceleration direct-current motor 111b, it is directly short
Road, to provide damping force when handle rotation, revolving speed is too fast when avoiding rotational handle；Hall sensor 111c is with orthogonal position
It is mounted on the side of magnetic encoder 132, to generate the signal tune that two-way orthogonal electrical signal gives the Hall sensor 111c
Reason circuit 111d is filtered, amplifies and shaping.It is handled by the signal conditioning circuit 111d of the Hall sensor 111c
Signal is given first microprocessor 113 and is handled.
Design of Stepper Motor Subdivision controller 123 includes: Opto Isolator circuit 123a, sub-driver circuit 123b, electric current tune
Nodal potential device 123c, half electric current keep switch 123d and subdivision mode setting switch 123a totally 5 components.Current regulation potentiometer
123c, half electric current keep switch 123d and subdivision mode setting to be connected respectively with the control chip in sub-driver circuit 123b
It connects, is arranged accordingly for completing.Isolating chip in Opto Isolator circuit 123a is respectively and in sub-driver circuit 123b
The control terminal 13 of control chip is connected with the second microprocessor 122, is used for transmission control signal, and carry out insulation blocking.
Further, the executive module 12 further include: the stepping electricity being electrically connected with second microprocessor 122
Machine micro-stepping control device 123, DC-DC power source power supply unit 124；
The second position sensor 121 is electrically connected with second microprocessor 122；
The executive module 12 further includes the decelerating step motor 125 connecting with the second position sensor 121；And
And the decelerating step motor 125 is connect with the syringe；
Second microprocessor 122 passes through the stepper motor under the power supply of the DC-DC power source power supply unit 124
Micro-stepping control device 123 controls the decelerating step motor 125 and the syringe is driven to be injected.
DC-DC power source power supply unit 124, as DC-DC power module are the electricity that can directly mount on a printed circuit
Source power supply unit, its main feature is that can for specific integrated circuit (asic), digital signal processor (dsp), microprocessor, memory,
Field programmable gate array (fpga) and other numbers or fictitious load provide power supply.In general, this generic module is known as loading
Point (pol) power system or point of use power system (pups).
In the present embodiment ,+12V the voltage of input is converted to+5V by DC-DC power source power supply unit 124 and+3.3V gives the
The power supply of two microprocessors 122.
Further, sub-driver circuit 123b, current regulation potentiometer 123c, half electric current keep switch 123d and subdivision
Mode setting switch 123a, and the Opto Isolator circuit 123a being electrically connected with second microprocessor 122.
It is above-mentioned, executive module 12, including the control of the second microprocessor 122, decelerating step motor 125, Design of Stepper Motor Subdivision
Device 123 and DC-DC module.The I of clock module and the second microprocessor 1222C interface is connected；Slave communication module 126 and nothing
Line communication module is connected with the serial ports of the second microprocessor 122 respectively；Design of Stepper Motor Subdivision controller 123 and the second micro process
The I/O mouth of device 122 is connected.+ 12V the voltage of input is converted to+5V to DC-DC module and+3.3V gives second micro- place respectively
Manage device 122, clock module and communication module power supply.The output port and decelerating step motor of Design of Stepper Motor Subdivision controller 123
125 phase line is connected.The decelerating step motor 125, including retarder and stepper motor.The Design of Stepper Motor Subdivision
Controller 123, including photoisolator, sub-driver circuit 123b, current regulation potentiometer 123c, half electric current keep switch
123d and subdivision mode setting switch 123a.Photoisolator receives the control signal of the second microprocessor 122, and is passed along
Sub-driver circuit 123b, current regulation potentiometer 123c, half electric current keep switch 123d and subdivision mode setting switch 123a
It is connected respectively with sub-driver circuit 123b.
In addition, injection rotating handle, for injecting the purpose of bone cement by being rotated up to stepping in injection, at this
It is circular ring shape in embodiment, it can the steering wheel including circular ring shape, steering wheel hub are equipped with the pushing ram with cage connection,
Steering wheel is rotated, i.e. rotation pushing ram, realizes stepping injection.In addition, steering wheel can be set to two three width even several
The form of assurance, relative to rod-shaped handle, the steering wheel of circular ring shape is easier to operate to, in injection, it is easier to be held and be used
Power.In addition, the user in circular ring shape steering wheel holds position, the materials such as anti-skidding silica gel and absorbing sweat absorbent cotton can be equipped with, to
In injection process, play the role of anti-skidding and absorbing sweat, prevent in high-precision injection operation, due to operating the hand of user
Perspiration lead to operative failure caused by skidding, provided convenience and safety guarantee for the injection operation work of doctor.
The long-range injection control apparatus 1 of a kind of bone cement provided by the above embodiment, its working principles are as follows:
(1) control assembly 11 is used as control centre, after user's startup power supply switch 114, the display module of control assembly 11
Injection parameters, the circle number of handle rotation and the information such as state of injection of 118 display injection bone cements, user as desired by
Key module setting injection parameters store parameters after first microprocessor 113 receives instruction.
(2) 3 kinds of situations of bone cement injection point: a, normal injection: the injection key on user key-press disk module 117, starting
Injection, shows normal injection information at this time on screen, then user presses the enabled switch 115 of injection, rotates clockwise injection hand
Handle, handle drive the deceleration direct-current motor 111b rotation in position-detection sensor, the magnetic code on deceleration direct-current motor 111b
Disk 111a generates the orthogonal square-wave signal of two-way by Hall sensor 111c and its signal conditioning circuit 111d and gives phase therewith
Microprocessor even, after microprocessor receives the signal, is analyzed and processed the circle number of determining rotatable handle, and then needed
Injection volume, then by master-slave communication module give injection executive module 12 the second microprocessor 122.Inject executive module
12 the second microprocessor 122 controls deceleration stepping electricity according to the command information control Design of Stepper Motor Subdivision controller 123 received
Machine 125 drives the normal injection of syringe realization bone cement.B, injection retreats: the Reverse keys on user key-press disk module 117,
Starting injection retreats, and shows injection backward information on screen at this time, then user's rotary injection handle counterclockwise, and handle drives position
The deceleration direct-current motor 111b rotation in detection sensor is set, the magnetic coded disc 111a on deceleration direct-current motor 111b passes through Hall
Sensor 111c and its signal conditioning circuit 111d generates the orthogonal square-wave signal of two-way and gives the microprocessor being attached thereto, the
After one microprocessor 113 receives the signal, it is analyzed and processed the circle number of determining rotatable handle, then passes through master-slave communication module
Give the second microprocessor 122 of injection executive module 12.Second microprocessor 122 of executive module 12 is injected according to receiving
Command information controls Design of Stepper Motor Subdivision controller 123 and controls the driving syringe realization syringe retrogressing of decelerating step motor 125.
C, Protection Counter Functions: after the clearing key on user key-press disk module 117, injection control assembly 11 carries out system parameter clearing, and
Injecting systems are entered into stopping injection pattern, is shown on screen stop injection information at this time.
(3) after the microprocessor of injection control assembly 11 receives instruction described above, pass through host computer communication module
116, it is transferred to the slave communication module 126 of injection executive module 12 through communication cable or communication, injects execution group
The microprocessor control slave communication module 126 of part 12 obtains the instruction of injection control assembly 11, is then analyzed and processed, to
After having handled, decelerating step motor 125 is controlled by Design of Stepper Motor Subdivision controller 123, syringe is driven to rotate, is more than realization
3 kinds of operating modes.
As further technical solution, when the control method further includes the realization normal injection after (3), detection is
It is no to have exception, situation is obstructed by detection decelerating step motor 125 to realize.If resistance is excessive to illustrate that injection has exception, produce
Raw alarm signal, and exception information is shown by the display module 118 that communication module feeds back to injection control assembly 11
Show.
In addition, Design of Stepper Motor Subdivision controller 123 and decelerating step motor 125, can also use servo motor, or
Servo-driver adds direct current coding motor substitution to realize.
In the present embodiment, by setting control assembly 11 and executive module connected to it 12, to realize in user couple
Handle carries out helical rotation and adjusts the angle of different rotations as the position for adjusting injection bone cement, have it is small in size,
It is light-weight, be convenient for carrying, inject the features such as accuracy of measurement is high, easy to operate, stability is good, highly-safe, can allow operative doctor
Compartment operation, avoids doctor by X-ray radiation.
Embodiment 3:
With reference to Fig. 5-6, the present embodiment provides a kind of control methods of the long-range injection control apparatus 1 of bone cement, comprising:
Step S10 after electrifying startup, receives the default injection that user is generated by the key module setting of control assembly 11
Parameter；Also, the first microprocessor 113 of the control assembly 11 stores after receiving the default injection parameters；
Step S20 receives the operating mode information that user is arranged by the key module；
Step S30 passes through the host computer communication module of the control assembly 11 after receiving the operating mode information
116, it is transmitted to the slave communication module 126 of executive module 12；Wherein, the second microprocessor 122 control of the executive module 12
It makes the slave communication module and obtains operating mode information received by the control assembly 11, also, according to the work
Pattern information controls decelerating step motor 125 by Design of Stepper Motor Subdivision controller and drives syringe rotation, in order to be based on institute
It states and is run under operating mode information；
Step S40 receives the 125 running resistance value of decelerating step motor, if the Resistance Value is greater than default resistance threshold
Value then determines that abnormality occurs in injection, generates warning message, and feed back to the control assembly 11 by communication module
Display module 118 is shown.
Further, the operating mode information includes normal injection mode, injection " fall back " mode" and clear mode；
In the step S30, further includes:
Step S31 passes through display module if the received operating mode information is the normal injection mode
118 display present modes are normal injection pattern；
Step S32 receives described inject of user's triggering and enables the instruction of the rotary injection generated of switch 115, and according to institute
Rotary injection instruction is stated, is received by the first position sensor 111 of the control assembly 11 and injects rotation described in user's control
The corresponding position for adjusting injection bone cement of the angle of handle 112 rotated clockwise, and bone is injected according to the adjusting
The position of cement calculates corresponding injection volume information；Based on the injection volume information control the executive module 12 by with institute
The syringe for stating the connection of executive module 12 carries out the injection of bone cement；
Step S33 passes through display module 118 if the received operating mode information is injection " fall back " mode"
Show that present mode is injection " fall back " mode"；
Step S34 is received by the first position sensor 111 of the control assembly 11 and is injected rotation described in user's control
The corresponding position for adjusting injection bone cement of the angle of handle 112 rotated counterclockwise, and bone is injected according to the adjusting
The position of cement carries out injection retrogressing；
Step S35 is shown if the received operating mode information is clear mode by display module 118
Present mode is clear mode；
Step S36, the control assembly 11 resets the default injection parameters, and controls the bone cement and remotely inject
Control device 1, which enters, stops injection state.
Above-mentioned, the control method of the long-range injection control apparatus 1 of bone cement includes the following:
(1) injection control unit after user's startup power supply switch 114, injects the display of control unit as control centre
Information, the users such as the state of the injection parameters of the display injection bone cement of module 118, the circle number of handle rotation and injection are as needed
Injection parameters are set by key module, after microprocessor receives instruction, parameters are stored.
(2) 3 kinds of situations of bone cement injection point: a, normal injection: the injection key on user key-press disk module 117, starting
Injection, shows normal injection information at this time on screen, then user presses the enabled switch 115 of injection, rotates clockwise injection hand
Handle realizes the normal injection of bone cement.B, injection retreats: the Reverse keys on user key-press disk module 117, after starting injection
It moves back, shows injection backward information on screen at this time, then user's rotary injection handle counterclockwise, realize that syringe retreats.C, clear
Zero power energy: after the clearing key on user key-press disk module 117, injection control unit carries out system parameter clearing, and will injection
System enters stopping injection pattern, shows on screen stop injection information at this time.
(3) inject control unit microprocessor receive instruction described above after, by host computer communication module 116,
It is transferred to the slave communication module 126 of injection execution unit through communication cable or communication, injects the micro- of execution unit
Controller controls the instruction that slave communication module 126 obtains injection control unit, is then analyzed and processed, after Chu Liwan,
Decelerating step motor 125 is controlled by Design of Stepper Motor Subdivision controller 123 and drives syringe rotation, realizes above-described 3 kinds
Operating mode.
As further technical solution, the control method further include: when realizing normal injection after (3), detection
Whether there is exception, situation is obstructed by detection decelerating step motor 125 to realize.If resistance is excessive to illustrate that injection appearance is different
Often, alarm signal is generated, and exception information is carried out by the display module 118 that communication module feeds back to injection control unit
Display.
Embodiment 4:
With reference to Fig. 7-10, the present embodiment provides a kind of long-range injection control apparatus 1 of bone cement, including control terminal 13 and execution
End 14；It include control assembly 11 in the control terminal 13；The actuating station 14 includes executive module 12；The control assembly 11 with
The executive module 12 is electrically connected by wired or wireless cable.
Wherein, the control terminal 13 includes box body 131, and encoder 132 and control electricity in the box body 131
Road plate (circuit part in control assembly 11), the injection rotating handle 112 on the box body 131 are (in control assembly 11
Injection rotating handle 112), key module (key module in control assembly 11, including reset key, injection key, back spacer),
Display module 118 (display module 118 in control assembly 11 can be display screen), the first connection data cable connector 133；
The injection rotating handle 112 may include handle 112a, tie down screw 112b, handle joint 112c, clamp screw
Follow closely 112d；
The encoder 132 is equipped with motor shaft 132a, is connected by the holding screw 112d and handle joint 112c
It connects；
The handle 112a is connect by the tie down screw 112b with the handle joint 112c；
Wherein, the injection rotating handle 112 is the injection rotating handle 112 of T font, and handle 112a may include barre
And holding rod；The holding rod is connect with the barre, and the barre is connect with the handle joint 112c；Also, the holding rod with
The barre setting in T shape；
User holds the holding rod when operating, through hand, using the barre as axis, controls the injection rotation
Handle 112 rotates.Such set-up mode, compared to the push rod of traditional push syringe or the dress of other control syringes
It sets and compares, can prevent hand from skidding significantly, and family can be used to rotate in operation by wrist, can be realized to control terminal 13
Manipulation, provide great convenience for user, it is easier to which operation and control and are not easy to skid, user experience is more preferable.
In addition, anti-skidding layer of silica gel can be equipped at holding rod, to further increase comfort level and non-skid property.
The actuating station 14 further includes shell 141, motor driving plate 142, adjusting motor in the shell 141
143,149c, sliding block 144, guide rail 145, bottom plate 146, power connection 147 and the second connection data cable connector 148, and be set to
The handle on 141 surface of shell；
The first connection data cable connector 133 and the second connection data cable connector 148 are connected by cable realization,
Data interaction to control instruction and operating status；
The motor driving plate 142 connect data cable connector 148 with described second and the adjusting motor 143 is all connected with；
Also, the motor driving plate 142 is based on connection cables by the second connection data cable connector 148 or wireless mode receives
The injection instruction sent to the control terminal 13, and the adjusting motor 143 is controlled according to injection instruction and is run；
The adjusting motor 143 is connect with the sliding block 144, the guide rail 145 described in the control lower edge of the injection instruction
Movement；
The actuating station 14 further includes propulsion device 149 connected to syringe；
The propulsion device 149 includes the shaft coupling 149a connecting with the adjusting motor 143, with the shaft coupling 149a
The driving mandrel 149b of connection；The driving mandrel 149b is connect with the syringe；
The 149c is used to be clamped with the syringe；
The propulsion device 149 further includes the fixed block for the shaft coupling 149a to be fixed on to the shell 141
The 149d and 149c for being used to be clamped syringe on the fixed block 149d.
The serial number of the above embodiments of the invention is only for description, does not represent the advantages or disadvantages of the embodiments.
Through the above description of the embodiments, those skilled in the art can be understood that above-described embodiment side
Method can be realized by means of software and necessary general hardware platform, naturally it is also possible to by hardware, but in many cases
The former is more preferably embodiment.Based on this understanding, technical solution of the present invention substantially in other words does the prior art
The part contributed out can be embodied in the form of software products, which is stored in one as described above
In storage medium (such as ROM/RAM, magnetic disk, CD), including some instructions are used so that terminal device (it can be mobile phone,
Computer, server or network equipment etc.) execute method described in each embodiment of the present invention.
The above is only a preferred embodiment of the present invention, is not intended to limit the scope of the invention, all to utilize this hair
Equivalent structure or equivalent flow shift made by bright specification and accompanying drawing content is applied directly or indirectly in other relevant skills
Art field, is included within the scope of the present invention.
Claims (10)
1. a kind of long-range injection control apparatus of bone cement characterized by comprising control assembly, and with the control assembly
The executive module of electric connection；
Wherein, first position sensor is equipped in the control assembly；Second position sensor is equipped in the executive module；
The control assembly obtains the adjusting position of user's control bone cement injection volume by the first position sensor, passes through
Calculate the corresponding injection volume information of adjusting position for obtaining the bone cement injection volume；According to default injection parameters, based on described
Injection volume information controls the executive module and carries out the injection of bone cement by the syringe connecting with the executive module, and leads to
The practical propulsion position that the second position sensor obtains the syringe is crossed, obtains the practical propulsion position by calculating
The actual injection amount of corresponding bone cement.
2. the long-range injection control apparatus of bone cement as described in claim 1, which is characterized in that the control assembly further includes injection
Rotating handle；The injection rotating handle is connect with the first position sensor；
When injecting bone cement, injection rotating handle described in user's control is rotated, described in the first position sensor acquisition
It injects adjusting position of the angle as bone cement injection volume of the rotation of rotating handle, and is calculated pair according to the adjusting position
The injection volume information for the bone cement answered.
3. the long-range injection control apparatus of bone cement as claimed in claim 2, which is characterized in that the control assembly further includes first
Microprocessor, and the power switch being connect with the first microprocessor and the enabled switch of injection；The first position passes
Sensor is connect with the first microprocessor；
The power switch is opened, the control assembly of the long-range injection control apparatus of the bone cement is started, and is being injected
When bone cement, the enabled switch of the injection is pressed, the injection rotating handle is rotated and is injected.
4. the long-range injection control apparatus of bone cement as claimed in claim 3, which is characterized in that the control assembly further includes and institute
State the host computer communication module of first microprocessor connection；
The executive module further includes the second microprocessor, and the slave communication module connecting with second microprocessor；
The host computer communication module and the slave communication module are electrically connected.
5. the long-range injection control apparatus of bone cement as claimed in claim 4, which is characterized in that described in the control assembly
One position sensor includes magnetic coded disc, deceleration direct-current motor, Hall sensor, and connect with the first microprocessor
The signal conditioning circuit of the Hall sensor.
6. the long-range injection control apparatus of bone cement as claimed in claim 5, which is characterized in that the control assembly further include with
The Keysheet module and display module of the first microprocessor connection；
The Keysheet module, for receiving the control instruction of user's input；
The display module, for showing the angle of the rotation of injection rotating handle and the adjusting position of bone cement injection volume, with
And the received control instruction of Keysheet module.
7. the long-range injection control apparatus of bone cement as claimed in claim 6, which is characterized in that the executive module further include:
Design of Stepper Motor Subdivision controller, the DC-DC power source power supply unit being electrically connected with second microprocessor；
The second position sensor and second microprocessor are electrically connected；
The executive module further includes the decelerating step motor connecting with the second position sensor；Also, the deceleration step
It is connect into motor with the syringe；
Second microprocessor passes through the Design of Stepper Motor Subdivision controller under the power supply of the DC-DC power source power supply unit
Controlling the decelerating step motor drives the syringe to be injected.
8. the long-range injection control apparatus of bone cement as claimed in claim 7, which is characterized in that the Design of Stepper Motor Subdivision controller
Further include:
Sub-driver circuit, current regulation potentiometer, half electric current keep switch and subdivision mode setting switch, and with described the
The Opto Isolator circuit that two microprocessors are electrically connected.
9. a kind of control method of the long-range injection control apparatus of bone cement characterized by comprising
After electrifying startup, the default injection parameters that user is generated by the key module setting of control assembly are received；Also, it is described
The first microprocessor of control assembly stores after receiving the default injection parameters；
Receive the operating mode information that user is arranged by the key module；
After receiving the operating mode information, by the host computer communication module of the control assembly, it is transmitted to executive module
Slave communication module；Wherein, the second microprocessor of the executive module controls the slave communication module and obtains the control
Operating mode information received by component processed, also, information passes through Design of Stepper Motor Subdivision controller according to the operation mode
Decelerating step motor driving syringe rotation is controlled, in order to be based on running under the operating mode information；
The decelerating step motor running resistance value is received, if the Resistance Value is greater than default resistance threshold value, judgement is injected
Existing abnormality, generates warning message, and shown by the display module that communication module feeds back to the control assembly.
10. the control method of the long-range injection control apparatus of bone cement as claimed in claim 9, which is characterized in that
The operating mode information includes normal injection mode, injection " fall back " mode" and clear mode；
If the received operating mode information is the normal injection mode, present mode is shown by display module
For normal injection pattern；
The rotary injection instruction generated of the enabled switch of user's triggering injection is received, and is instructed according to the rotary injection,
The angle rotated clockwise that rotating handle is injected described in user's control is received by the first position sensor of the control assembly
The adjusting position of corresponding bone cement injection volume is spent, and corresponding injection volume information is calculated according to the adjusting position；It is based on
The injection volume information controls the injection that the executive module carries out bone cement by the syringe connecting with the executive module；
If the received operating mode information is injection " fall back " mode", show that present mode is note by display module
Penetrate " fall back " mode"；
The rotation counterclockwise that rotating handle is injected described in user's control is received by the first position sensor of the control assembly
The corresponding bone cement injection volume of angle adjusting position, and injection retrogressing is carried out according to the adjusting position；
If the received operating mode information is clear mode, show that present mode is to reset mould by display module
Formula；
The control assembly resets the default injection parameters, and controls the long-range injection control apparatus entrance of the bone cement and stop
Only inject state.
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| CN201811216426.5A CN109171942B (en) | 2018-10-18 | 2018-10-18 | Bone cement remote injection control device and control method thereof |
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| CN201811216426.5A CN109171942B (en) | 2018-10-18 | 2018-10-18 | Bone cement remote injection control device and control method thereof |
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| CN117462230A (en) * | 2023-12-27 | 2024-01-30 | 北京铸正机器人有限公司 | Bone cement injection system with pressure relief function and robot system |
| CN117462230B (en) * | 2023-12-27 | 2024-03-12 | 北京铸正机器人有限公司 | Bone cement injection system with pressure relief function and robot system |
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