CN109171942B - Bone cement remote injection control device and control method thereof - Google Patents
Bone cement remote injection control device and control method thereof Download PDFInfo
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- CN109171942B CN109171942B CN201811216426.5A CN201811216426A CN109171942B CN 109171942 B CN109171942 B CN 109171942B CN 201811216426 A CN201811216426 A CN 201811216426A CN 109171942 B CN109171942 B CN 109171942B
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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
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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
- A61B17/68—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
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- 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
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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
- A61B2017/564—Methods for bone or joint treatment
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Abstract
The invention provides a bone cement remote injection control device and a control method thereof, wherein the control device comprises the following steps: the control assembly and the execution assembly are electrically connected with the control assembly; wherein, a first position sensor is arranged in the control component; the execution assembly is internally provided with a second position sensor. The invention realizes the remote quantitative control of the injection of bone cement to the injector based on the control component and the execution component connected with the control component through the remote cooperation of the control component and the execution component, has simple operation method and high safety in the operation process, brings great convenience to the operation of treating diseases such as benign vertebral body, malignant tumor, osteoporosis vertebral body compression fracture and the like by the novel minimally invasive spinal surgery technology, and provides safety guarantee for the smooth operation of patients in clinic and the healthy working environment of doctors.
Description
Technical Field
The invention belongs to the technical field of bone cement injection, and particularly relates to a bone cement remote injection control device and a control method thereof.
Background
With the increase of the aging population in the modern society, the incidence of osteoporosis is in an increasing trend, and the thoracolumbar fracture is greatly related to the increase of the thoracolumbar fracture year by year. According to the statistics of more than 8000 thousands of patients with global osteoporosis in 2002, the proportion of the patients with global osteoporosis accounts for up to 7 percent of the total population; the incidence rate of fracture of thoracolumbar vertebral bodies of women aged 50 years old and older is up to 15% due to osteoporosis, and the osteoporosis fracture becomes an urgent public health problem to be solved. Vertebroplasty is currently accepted as the first method of treatment for this disease.
At present, in the operation of using novel minimally invasive spinal surgery technology to treat diseases such as benign vertebral body, malignant tumor, osteoporosis vertebral body compression fracture and the like, doctors need to work under the real-time monitoring of X rays, determine the injection dosage and injection position of bone cement, and complete the injection of the bone cement into the vertebral body by utilizing a propeller, and meanwhile, the bone cement is prevented from being excessively injected and leaking out of the vertebral body, so that irrecoverable damage is caused to patients, and the working time generally needs a plurality of minutes or even longer. And the doctor is exposed to the X-ray for a long time during the operation, which causes damage to the doctor's body, thus preventing the popularization and application of the technology.
In a word, the existing bone cement injection operation methods all need doctors to be exposed to the radiation range of X rays in person, the operation mode is complex, the safety of the operation process is low, and great potential safety hazards are brought to the smooth operation of patients and the health of doctors.
Disclosure of Invention
Based on the above-mentioned problems, the present invention is mainly aimed at providing a remote injection control device for bone cement and a control method thereof, so as to solve the defects and shortcomings in the prior art.
In order to solve the above problems, the present invention provides a bone cement remote injection control device, comprising: the control assembly and the execution assembly are electrically connected with the control assembly;
wherein, a first position sensor is arranged in the control component; the execution assembly is internally provided with a second position sensor;
The control component obtains the adjusting position of the injection quantity of the bone cement controlled by the user through the first position sensor, and obtains the injection quantity information corresponding to the adjusting position of the injection quantity of the bone cement through calculation; according to preset injection parameters, the execution assembly is controlled to inject bone cement through an injector connected with the execution assembly based on the injection quantity information, the actual pushing position of the injector is obtained through the second position sensor, and the actual injection quantity of the bone cement corresponding to the actual pushing position is obtained through calculation.
Preferably, the control assembly further comprises an injection rotation handle; the injection rotating handle is connected with the first position sensor;
When injecting bone cement, a user controls the injection rotary handle to rotate, the first position sensor obtains the rotation angle of the injection rotary handle as an adjusting position of the injection quantity of the bone cement, and the corresponding injection quantity information of the bone cement is calculated according to the adjusting position.
Preferably, the control assembly further comprises a first microprocessor, and a power switch and an injection enabling switch both connected with the first microprocessor; the first position sensor is connected with the first microprocessor;
And starting the power switch, starting the control component of the bone cement remote injection control device, and pressing the injection enabling switch to rotate the injection rotating handle to perform injection when bone cement is injected.
Preferably, the control assembly further comprises a host communication module connected to the first microprocessor;
the execution assembly further comprises a second microprocessor and a slave communication module connected with the second microprocessor;
The host communication module is electrically connected with the slave communication module.
Preferably, the first position sensor in the control assembly comprises a magnetic code disc, a deceleration direct current motor, a hall sensor, and a signal conditioning circuit of the hall sensor connected with the first microprocessor.
Preferably, the control assembly further comprises a keyboard module and a display module which are both connected with the first microprocessor;
the keyboard module is used for receiving a control instruction input by a user;
The display module is used for displaying the rotation angle of the injection rotary handle, the adjustment position of the bone cement injection quantity and the control instruction received by the keyboard module.
Preferably, the execution assembly further comprises: a stepping motor subdivision controller and a DC-DC power supply which are electrically connected with the second microprocessor;
the second position sensor is electrically connected with the second microprocessor;
The execution assembly further comprises a deceleration stepping motor connected with the second position sensor; the deceleration stepping motor is connected with the injector;
the second microprocessor controls the deceleration stepping motor to drive the injector to inject through the stepping motor subdivision controller under the power supply of the DC-DC power supply.
Preferably, the stepper motor subdivision controller further comprises:
The circuit comprises a subdivision driving circuit, a current regulating potentiometer, a half-current holding switch, a subdivision mode setting switch and a photoelectric isolator circuit electrically connected with the second microprocessor.
In addition, in order to solve the above problems, the present invention also provides a control method of a bone cement remote injection control device, comprising:
After the power-on is started, receiving preset injection parameters generated by a user through the key module of the control assembly; and the first microprocessor of the control assembly stores the preset injection parameters after receiving the preset injection parameters;
Receiving working mode information set by a user through the key module;
After receiving the working mode information, the working mode information is transmitted to a slave communication module of an execution assembly through a master communication module of the control assembly; the second microprocessor of the execution assembly controls the slave communication module to acquire the working mode information received by the control assembly, and controls the speed reduction stepping motor to drive the injector to rotate through the stepping motor subdivision controller according to the working mode information so as to operate under the working mode information;
And receiving the running resistance value of the deceleration stepping motor, judging that the abnormal state occurs to the injection if the running resistance value is larger than a preset resistance threshold value, generating alarm information, and feeding back to a display module of the control assembly through a communication module for display.
Preferably, the working mode information includes a normal injection mode, an injection backward mode and a clear mode;
If the received working mode information is the normal injection mode, displaying that the current mode is the normal injection mode through a display module;
Receiving a rotary injection instruction generated by triggering the injection enabling switch by a user, receiving an adjusting position of the bone cement injection quantity corresponding to the clockwise rotation angle of the injection rotary handle controlled by the user through a first position sensor of the control assembly according to the rotary injection instruction, and calculating corresponding injection quantity information according to the adjusting position; controlling the execution assembly to inject bone cement through an injector connected with the execution assembly based on the injection amount information;
if the received working mode information is an injection backward mode, displaying that the current mode is the injection backward mode through a display module;
Receiving an adjusting position of the bone cement injection quantity corresponding to the anticlockwise rotation angle of the injection rotating handle controlled by a user through a first position sensor of the control assembly, and performing injection backward movement according to the adjusting position;
if the received working mode information is a zero clearing mode, displaying that the current mode is the zero clearing mode through a display module;
And the control component clears the preset injection parameters and controls the bone cement remote injection control device to enter a stop injection state.
The invention provides a bone cement remote injection control device and a control method thereof, wherein the device comprises: the device comprises a control component and an execution component electrically connected with the control component. According to the invention, the first position sensor is used for acquiring the adjustment position of the injection quantity of the bone cement by a user, so that the injection quantity information can be calculated, the actual pushing position of the injector is acquired through the second position sensor during injection, and the actual injection quantity of the actual bone cement corresponding to the actual pushing position is acquired through calculation, so that the remote quantitative control of the injector for injecting the bone cement is realized through the remote cooperation of the control component and the execution component based on the control component and the execution component connected with the control component, the operation method is simple, the safety of the operation process is high, and great convenience is brought to the operation of treating diseases such as benign vertebral body, malignant tumor and osteoporosis vertebral body compression fracture by the novel minimally invasive spinal surgery technology, and safety guarantee is provided for the smooth operation of patients and the healthy working environment of doctors in clinic.
Drawings
Fig. 1 is a schematic structural view of a remote bone cement injection control device according to a first embodiment of the present application;
fig. 2 is a schematic structural view of a remote bone cement injection control device according to a second embodiment of the present application;
fig. 3 is a schematic diagram showing a refinement structure of a stepper motor subdivision controller in a bone cement remote injection control device according to a second embodiment of the present application;
FIG. 4 is a detailed schematic view of a first position sensor of a remote bone cement injection control device according to a second embodiment of the present application;
Fig. 5 is a flow chart of a control method of a remote bone cement injection control device according to a third embodiment of the present application;
fig. 6 is a detailed flowchart of step S30 of the control method of the remote bone cement injection control device according to the third embodiment of the present application;
FIG. 7 is a perspective view showing the top view of the XY axes of the control end of the remote bone cement injection control device according to the fourth embodiment of the present application;
fig. 8 is a schematic view showing an XY-axis top view of a control end of a remote bone cement injection control device according to a fourth embodiment of the present application;
Fig. 9 is a right side view of the XZ axis of the actuating end of the bone cement remote injection control device according to the fourth embodiment of the present application.
Fig. 10 is a schematic view illustrating an XY-axis top view of an actuator end of a remote bone cement injection control device according to a fourth embodiment of the present application.
Reference numerals:
the achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
Embodiments of the present invention are described in detail below, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Example 1:
referring to fig. 1, the present embodiment provides a bone cement remote injection control device 1, comprising:
The invention provides a bone cement remote injection control device 1, comprising: a control component 11 and an execution component 12 electrically connected with the control component 11;
Wherein, the control assembly 11 is provided with a first position sensor 111; a second position sensor 121 is arranged in the executing component 12;
The control component 11 obtains the injection quantity adjusting position controlled by the user through the first position sensor 111, and obtains the injection quantity information corresponding to the injection quantity adjusting position through calculation; according to preset injection parameters, the execution assembly 12 is controlled to inject bone cement through an injector connected with the execution assembly 12 based on the injection amount information, the actual pushing position of the injector is obtained through the second position sensor 121, and the actual injection amount of bone cement corresponding to the actual pushing position is obtained through calculation.
As described above, the remote injection control device for bone cement provided in this embodiment is aimed at injecting bone cement, and may also be used for injecting other fluids, such as contrast agents, drugs for therapeutic and diagnostic purposes, and the like.
The control component 11 is electrically connected to the execution component 12, and may be connected via a cable or a wireless connection, so as to receive related execution instructions for injection, and receive status information during execution for monitoring.
The executing component 12 can be arranged in the real-time monitoring environment of the X-ray during operation, the front end is connected with the injector, and the executing component is remotely connected with the control component 11 at the rear end in a cable or wireless mode, so that the injection quantity of the injector can be remotely controlled by a user. For example, the actuator 12 is connected to a syringe, an operation is performed in a radiographic lead room, and the control unit 11 is connected to the actuator 12 by a cable outside the radiographic lead room.
Above-mentioned, the user adjusts the adjustment position of different bone cement injection amounts through the control assembly 11, and realizes the real-time adjustment of bone cement injection amounts, for example, the doctor can more conveniently fine tune the control mode of step injection bone cement in the operation process through pushing and pulling the operating lever, sliding the sliding block 144, round or other shape steering wheel or disc, rocker, etc. For example, the doctor can adjust the injection amount of the bone cement in real time by operating the sliding block 144 of the control assembly 11 to adjust to different injection amount adjusting positions of the bone cement.
In addition, in order to further improve the accuracy of the bone cement injection during the operation, the stepped injection amount and injection speed of the bone cement can be set in real time by a computer terminal connected to the control unit 11, for example, 1 microliter per 3 seconds step injection, so that errors of the injection speed due to manual operation can be avoided, and the speed and time of the bone cement entering the patient can be ensured to some extent.
According to the embodiment, the first position sensor 111 is used for acquiring the adjustment position of the injection quantity of the bone cement controlled by the user, so that the injection quantity information can be obtained through calculation, the actual pushing position of the injector is acquired through the second position sensor 121 during injection, and the actual injection quantity corresponding to the actual pushing position is obtained through calculation, so that the bone cement is injected by the injector through remote quantitative control based on the remote cooperation of the control assembly 11 and the execution assembly 12 connected with the control assembly, the operation method is simple, the safety of the operation process is high, great convenience is brought to the operation of treating diseases such as benign vertebral body, malignant tumor and compression fracture of osteoporosis vertebral body by the novel minimally invasive spinal surgery technology, and safety guarantee is provided for the smooth operation of patients in clinic and the healthy working environment of doctors.
Example 2:
referring to fig. 2-4, based on the above-described embodiment 1, the present embodiment provides a bone cement remote injection control device 1, wherein the control assembly 11 further includes an injection rotation handle 112; the injection rotation handle 112 is connected to the first position sensor 111;
When injecting bone cement, the user controls the injection rotating handle 112 to rotate, the first position sensor 111 obtains the rotation angle of the injection rotating handle 112 as the adjustment position of bone cement, and calculates the corresponding injection amount of bone cement according to the adjustment position.
The control unit 11 is provided with the housing 141, the injection rotary handle 112 is connected to the housing 141, the rotation angle or the number of rotations of the injection rotary handle 112 is adjusted by rotating the injection rotary handle 112 with respect to the housing 141, the position reached by the rotated angle or the number of rotations is used as the position for adjusting the injection of the bone cement, the microprocessor in the control unit 11 is used for calculating, and the actual injection amount of the bone cement is calculated according to the position for adjusting the injection of the bone cement.
The traditional bone cement injection mode is to make the push rod of the injector extrude inwards by the pushing force of the hand by holding the injector, so as to realize the injection of the bone cement in the injector to the appointed part of the patient. In addition, the bone cement is partially injected, and a certain injection flow or injection speed is required in the injection process, so that a better injection effect can be achieved.
In this embodiment, an injection rotating handle 112 is provided, and the injection amount of the injected bone cement is adjusted by rotating the injection rotating handle 112, so that a user or a doctor can better realize the purpose of step injection compared with the traditional way of directly pushing and extruding the injector when injecting the bone cement in a step-by-step manner, and the operation of the doctor can be more convenient, thereby realizing the purposes of fine adjustment of the injection amount and step increase of the injection amount by rotating the handle.
In addition, the control assembly 11 may further comprise an image monitoring system, which includes an image acquisition device for acquiring an image of the injection rotating handle 112, and a pattern recognition processor electrically connected to the image acquisition device, wherein the pattern recognition processor is electrically connected to the microprocessor of the control assembly 11.
The image acquisition device can be a camera. When bone cement is injected, the camera performs image acquisition on a rotation area of the injection rotating handle 112 to obtain a rotation operation image; wherein the rotation area is an operation area when the user rotates the injection rotation handle 112;
After the image of the rotation operation is obtained by the pattern recognition processor, converting the rotation operation image into a key frame containing the rotation process of the injection rotation handle 112, positioning the injection rotation handle 112 in each key frame, performing edge detection according to the positioning, superposing the rotation angle in each key frame according to a timestamp corresponding to each key frame to obtain the rotation number of the injection rotation handle 112, and obtaining a preset stepping injection parameter range; the step injection parameter range comprises upper and lower limit thresholds of injection quantity and injection speed of bone cement injection to a patient;
calculating the corresponding injection quantity and injection speed of the rotation number through a preset injection parameter, and comparing the injection quantity and injection speed corresponding to the rotation number with the stepping injection parameter range;
if the injection quantity and the injection speed corresponding to the rotation number exceed the range of the stepping injection parameters, a warning prompt is sent to a microprocessor of the control assembly 11 so as to prompt that the current operation abnormality exceeds the limit.
In this embodiment, by setting the image monitoring system electrically connected to the microprocessor of the control assembly 11, the operation process of the injection rotating handle 112 operated by the user is monitored in real time, the obtained image is identified, the injection amount and injection speed of the bone cement injected by the current operation are identified, and compared with the preset step injection parameter range to determine that the bone cement is controlled within the safety range of the injection parameter range, if the bone cement exceeds the preset step injection parameter range, the microprocessor is prompted to give an abnormal alarm, so that whether the operation of the doctor accords with the preset step injection parameter range before the operation is monitored visually through the image identification technology, and the problems of injection failure or potential safety hazard caused by misoperation of the doctor are avoided.
Further, the control assembly 11 further includes a first microprocessor 113, and a power switch 114 and an injection enable switch 115, both connected to the first microprocessor 113; the first position sensor 111 is connected to the first microprocessor 113;
The power switch 114 is turned on, the control unit 11 of the bone cement remote injection control device 1 is activated, and the injection enabling switch 115 is pressed down to rotate the injection rotating handle 112 for injection when bone cement is injected.
In addition, the control component 11 may further include a wireless communication module connected to the first bit processor, and implement wireless connection with the intelligent terminal through the wireless communication module. In particular, the smart terminals may include, but are not limited to, smart terminals such as cell phones, mobile PCs, desktops, tablets, etc. that have an operating system and are capable of viewing and operating in real time.
The power switch 114 is used for controlling the power-on start of the component 11, and after the power switch 114 is turned on, the power-on wake-up of the component 11 is realized.
The injection enabling switch 115 is turned on to operate the start switch of the injection function of the control unit 11, and the injection rotating handle 112 is rotated to perform injection.
Further, the control assembly 11 further includes a host communication module 116 connected to the first microprocessor 113;
the execution assembly 12 further includes a second microprocessor 122, and a slave communication module 126 coupled to the second microprocessor 122;
The master communication module 116 is electrically connected to the slave communication module 126.
Further, the first position sensor 111 in the control assembly 11 includes a magnetic code wheel 111a, a deceleration direct current motor 111b, a hall sensor 111c, and a signal conditioning circuit 111d of the hall sensor 111c connected to the first microprocessor 113.
Further, the control assembly 11 further includes a keyboard module 117 and a display module 118, both connected to the first microprocessor 113.
The keyboard module 117 is configured to receive a control instruction input by a user;
The display module 118 is used for displaying the rotation angle of the injection rotary handle 112 and the position for adjusting the injection bone cement, and the control instruction received by the keyboard module 117.
The control assembly 11 includes the first position detection sensor, the power switch 114, the injection enabling switch 115, the first microprocessor 113, the keyboard module 117, and the display module 118. The execution assembly 12 includes a second microprocessor 122, a deceleration stepper motor 125, a stepper motor subdivision controller 123, and a DC-DC module. The control assembly 11 is connected with the injection execution assembly 12 through a cable; the injection execution assembly 12 is connected with the injector through a special connector; in addition, the intelligent terminals such as mobile phones, computers and the like are connected with the injection execution assembly 12 through wireless communication modes (such as WiFi, bluetooth and the like).
The control assembly 11 includes a first position detection sensor, a power switch 114, an injection enabling switch 115, a first microprocessor 113, a keyboard module 117, and a display module 118. The keyboard module 117 and the injection enabling switch 115 are connected with the I/O port of the first microprocessor 113; the clock module is connected with an I 2 C interface of the first microprocessor 113; the first position detection sensor is connected with an interrupt I/O port of the first microprocessor 113; the host communication module 116 and the display module 118 are respectively connected to the serial port of the first microprocessor 113. The first position detection sensor comprises a magnetic code disc 111a, a deceleration direct current motor 111b, a hall sensor 111c and a signal conditioning circuit 111d of the hall sensor 111c, the deceleration direct current motor 111b drives the magnetic code disc 111a to rotate, the hall sensor 111c stands on two sides of the magnetic code disc 111a, when the magnetic code disc 111a rotates, the hall sensors 111c on two sides can generate orthogonal square wave signals, the frequency of the square wave signals can regularly change along with the speed of rotation, and the phase of the signals can change along with the difference of the rotation directions. The injection rotating handle 112 is connected with a gear motor of the position detecting sensor.
The first position sensor 111 includes: the magnetic code disc 111a, the deceleration direct current motor 111b, the Hall sensor 111c and the signal conditioning circuit 111d of the Hall sensor 111c are 4 parts in total. The magnetic code wheel 111a is mounted on the rotating shaft of the deceleration direct current motor 111b and rotates along with the direct current motor; the armature terminal of the deceleration direct current motor 111b is not electrified and is directly short-circuited to provide damping force when the handle rotates, so that the over-high rotating speed when the handle rotates is avoided; the hall sensor 111c is mounted on the side of the magnetic encoder 132 in an orthogonal position to generate two orthogonal electrical signals that are fed to the signal conditioning circuit 111d of the hall sensor 111c for filtering, amplifying and shaping. The signal processed by the signal conditioning circuit 111d of the hall sensor 111c is sent to the first microprocessor 113 for processing.
The stepper motor subdivision controller 123 includes: the photo-isolator circuit 123a, the subdivision drive circuit 123b, the current adjustment potentiometer 123c, the half-current holding switch 123d, and the subdivision mode setting switch 123a have 5 components. The current regulation potentiometer 123c, the half-current hold switch 123d, and the subdivision mode setting are respectively connected to the control chip in the subdivision drive circuit 123b for completing the corresponding setting. The isolation chip in the opto-isolator circuit 123a is connected to the control terminal 13 of the control chip in the subdivision drive circuit 123b and the second microprocessor 122, respectively, for transmitting control signals and performing isolation protection.
Further, the executing assembly 12 further includes: a stepper motor subdivision controller 123, a DC-DC power supply 124, all electrically connected to the second microprocessor 122;
The second position sensor 121 is electrically connected to the second microprocessor 122;
the actuator assembly 12 further includes a deceleration stepper motor 125 coupled to the second position sensor 121; further, the deceleration stepping motor 125 is connected to the syringe;
The second microprocessor 122 controls the deceleration stepper motor 125 to drive the injector for injection through the stepper motor subdivision controller 123 under the power of the DC-DC power supply 124.
The DC-DC power supply 124, i.e., a DC-DC power module, is a power supply that can be directly mounted on a printed circuit board, and is characterized by providing power to application specific integrated circuits (asics), digital signal processors (dsps), microprocessors, memory, field programmable gate arrays (fpga), and other digital or analog loads. Generally, such modules are referred to as point-of-load (pol) power supply systems or point-of-use power supply systems (pups).
In this embodiment, the DC-DC power supply 124 converts the input +12V voltage to +5V and +3.3V to power the second microprocessor 122.
Further, a subdivision driving circuit 123b, a current adjusting potentiometer 123c, a half-current holding switch 123d, a subdivision mode setting switch 123a, and a photo-isolator circuit 123a electrically connected to the second microprocessor 122.
The execution assembly 12, described above, includes the second microprocessor 122, the deceleration stepper motor 125, the stepper motor subdivision controller 123, and the DC-DC module. The clock module is connected with the I 2 C interface of the second microprocessor 122; the slave communication module 126 and the wireless communication module are respectively connected with the serial port of the second microprocessor 122; the stepper motor subdivision controller 123 is connected to the I/O port of the second microprocessor 122. The DC-DC module converts the input +12v voltage to +5v and +3.3v, respectively, to power the second microprocessor 122, the clock module, and the communication module. The output port of stepper motor subdivision controller 123 is connected to the phase line of stepper motor 125. The speed reducing stepper motor 125 includes a speed reducer and a stepper motor. The stepper motor subdivision controller 123 includes a photo-isolator, a subdivision driving circuit 123b, a current adjusting potentiometer 123c, a half-current holding switch 123d and a subdivision mode setting switch 123a. The photo-isolator receives the control signal of the second microprocessor 122 and transmits it to the subdivision driving circuit 123b, and the current adjusting potentiometer 123c, the half-current holding switch 123d and the subdivision mode setting switch 123a are connected to the subdivision driving circuit 123b, respectively.
In addition, the injection twist grip for when injecting, reach the mesh of step-by-step injection bone cement through rotatory, in this embodiment, be the ring shape, can include the annular steering wheel, the steering wheel center is equipped with the propulsion pole of being connected with the shell, rotates the steering wheel, rotates the propulsion pole promptly, realizes step-by-step injection. Furthermore, the steering wheel can be provided in the form of two, three or even more handles, which is easier to handle and easier to hold and exert force during injection than a bar-shaped handle. In addition, can be equipped with materials such as antiskid silica gel and sweat-absorbing absorbent cotton in the user holding position of ring shape steering wheel for in injection process, play antiskid and sweat-absorbing effect, prevent in the injection operation of high accuracy, because the operation failure that the sweat of operating user's hand leads to skidding causes provides convenience and safety guarantee for doctor's injection operation work.
The working principle of the remote bone cement injection control device 1 provided in the above embodiment is as follows:
(1) The control assembly 11 is used as a control center, after a user starts the power switch 114, the display module 118 of the control assembly 11 displays the injection parameters of the injected bone cement, the rotation number of the handle, the injection state and other information, the user sets the injection parameters through the key module according to the needs, and the first microprocessor 113 stores all the parameters after receiving the instruction.
(2) Bone cement injection is divided into 3 cases: a. normal injection: the user presses the injection button on the keyboard module 117 to start injection, normal injection information is displayed on the screen at this time, then the user presses the injection enabling switch 115 to rotate the injection handle clockwise, the handle drives the deceleration direct current motor 111b in the position detection sensor to rotate, the magnetic code disc 111a on the deceleration direct current motor 111b generates two paths of orthogonal square wave signals through the Hall sensor 111c and the signal conditioning circuit 111d thereof to be sent to the microprocessor connected with the deceleration direct current motor 111b, and after receiving the signals, the microprocessor analyzes and processes to determine the number of turns of the handle to obtain the required injection quantity, and then the injection quantity is sent to the second microprocessor 122 of the injection execution assembly 12 through the master-slave communication module. The second microprocessor 122 of the injection execution assembly 12 controls the stepper motor subdivision controller 123 to control the deceleration stepper motor 125 to drive the injector to realize normal injection of bone cement according to the received instruction information. b. Injection retreating: the user presses a back button on the keyboard module 117 to start the injection back, at this time, the injection back information is displayed on the screen, then the user rotates the injection handle anticlockwise, the handle drives the deceleration direct current motor 111b in the position detection sensor to rotate, the magnetic code disc 111a on the deceleration direct current motor 111b generates two paths of orthogonal square wave signals through the Hall sensor 111c and the signal conditioning circuit 111d thereof to be sent to a microprocessor connected with the deceleration direct current motor 111b, and after receiving the signals, the first microprocessor 113 performs analysis processing to determine the number of rotations of the handle, and then sends the signals to the second microprocessor 122 of the injection execution assembly 12 through the master-slave communication module. The second microprocessor 122 of the injection execution assembly 12 controls the stepper motor subdivision controller 123 to control the deceleration stepper motor 125 to drive the injector to retract according to the received instruction information. c. Zero clearing function: after the user presses the clear button on the keyboard module 117, the injection control module 11 clears the system parameters, and enters the injection stopping mode of the injection system, and at this time, the injection stopping information is displayed on the screen.
(3) After receiving the above instruction, the microprocessor of the injection control assembly 11 transmits the instruction to the slave communication module 126 of the injection execution assembly 12 through the host communication module 116 by a communication cable or a wireless communication mode, and the microprocessor of the injection execution assembly 12 controls the slave communication module 126 to acquire the instruction of the injection control assembly 11, then performs analysis processing, and after the processing is finished, controls the deceleration stepper motor 125 to drive the injector to rotate through the stepper motor subdivision controller 123, so that the above 3 working modes are realized.
As a further technical solution, the control method further includes detecting whether there is an abnormality in implementing the normal injection after (3), by detecting the blocking condition of the deceleration stepping motor 125. If the resistance is excessive, an alarm signal is generated, and abnormal information is fed back to the display module 118 of the injection control assembly 11 through the communication module for display.
In addition, the stepper motor subdivision controller 123 and the deceleration stepper motor 125 can also be implemented by adopting a servo motor or a servo driver and a direct current coding motor instead.
In this embodiment, through setting up control assembly 11 and the execution subassembly 12 that connects with it to realize carrying out the different rotatory angles of screw rotation adjustment to the handle at the user as adjust the position of injecting bone cement, have characteristics such as small, light in weight, conveniently carry, injection volume precision is high, easy operation, stability is good, the security is high, can let the doctor compartment operation, avoid the doctor to receive X ray radiation.
Example 3:
referring to fig. 5 to 6, the present embodiment provides a control method of a bone cement remote injection control device 1, comprising:
Step S10, after power-on starting, receiving preset injection parameters generated by a user through the key module setting of the control assembly 11; and, the first microprocessor 113 of the control assembly 11 stores after receiving the preset injection parameters;
Step S20, receiving working mode information set by a user through the key module;
Step S30, after receiving the operation mode information, transmitting the operation mode information to the slave communication module 126 of the execution assembly 12 through the master communication module 116 of the control assembly 11; wherein, the second microprocessor 122 of the executing component 12 controls the slave communication module to acquire the working mode information received by the control component 11, and controls the deceleration stepper motor 125 to drive the injector to rotate according to the working mode information through the stepper motor subdivision controller so as to operate under the working mode information;
step S40, receiving the running resistance value of the deceleration stepper motor 125, if the running resistance value is greater than the preset resistance threshold, determining that the abnormal state occurs in the injection, generating alarm information, and feeding back to the display module 118 of the control assembly 11 through the communication module for displaying.
Further, the working mode information comprises a normal injection mode, an injection backward mode and a zero clearing mode;
in the step S30, further includes:
step S31, if the received working mode information is the normal injection mode, displaying, by the display module 118, that the current mode is the normal injection mode;
step S32, receiving a rotary injection command generated by the user triggering the injection enabling switch 115, receiving the position of the adjusted injected bone cement corresponding to the clockwise rotation angle of the injection rotary handle 112 controlled by the user through the first position sensor 111 of the control assembly 11 according to the rotary injection command, and calculating corresponding injection amount information according to the position of the adjusted injected bone cement; controlling the execution assembly 12 to perform injection of bone cement through an injector connected with the execution assembly 12 based on the injection amount information;
step S33, if the received working mode information is the injection backward mode, displaying, by the display module 118, that the current mode is the injection backward mode;
step S34, receiving, by the first position sensor 111 of the control assembly 11, the adjusted injection bone cement position corresponding to the counterclockwise rotation angle of the injection rotation handle 112 controlled by the user, and performing injection backward according to the adjusted injection bone cement position;
Step S35, if the received working mode information is a clear mode, displaying, by the display module 118, that the current mode is a clear mode;
In step S36, the control component 11 clears the preset injection parameters, and controls the bone cement remote injection control device 1 to enter a stop injection state.
The control method of the bone cement remote injection control device 1 comprises the following steps:
(1) The injection control unit is used as a control center, after a user starts the power switch 114, the display module 118 of the injection control unit displays the injection parameters of the injected bone cement, the rotation number of the handle, the injection state and other information, the user sets the injection parameters through the key module according to the needs, and the microprocessor stores all the parameters after receiving the instruction.
(2) Bone cement injection is divided into 3 cases: a. normal injection: the user presses the injection button on the keyboard module 117 to start injection, at this time, normal injection information is displayed on the screen, and then the user presses the injection enabling switch 115 to rotate the injection handle clockwise, thereby realizing normal injection of bone cement. b. Injection retreating: the user presses the back button on the keyboard module 117 to start the injection back, at this time, the injection back information is displayed on the screen, and then the user rotates the injection handle counterclockwise to realize the syringe back. c. Zero clearing function: after the user presses the clear button on the keyboard module 117, the injection control unit clears the system parameters, and enters the injection stopping mode of the injection system, and at this time, the injection stopping information is displayed on the screen.
(3) After receiving the instruction, the microprocessor of the injection control unit transmits the instruction to the slave communication module 126 of the injection execution unit through the host communication module 116 by a communication cable or a wireless communication mode, and the microcontroller of the injection execution unit controls the slave communication module 126 to acquire the instruction of the injection control unit and then analyzes and processes the instruction, and after the instruction is processed, the stepping motor subdivision controller 123 controls the deceleration stepping motor 125 to drive the injector to rotate, so that the above-mentioned 3 working modes are realized.
As a further technical solution, the control method further includes: in the case of normal injection after (3), detection of abnormality is performed by detecting a condition that the reduction stepping motor 125 is blocked. If the resistance is excessive, an alarm signal is generated, and abnormal information is fed back to the display module 118 of the injection control unit through the communication module for display.
Example 4:
Referring to fig. 7-10, the present embodiment provides a bone cement remote injection control device 1, comprising a control end 13 and an execution end 14; the control end 13 comprises a control assembly 11; the execution end 14 comprises an execution assembly 12; the control component 11 is electrically connected with the execution component 12 through a wired or wireless cable.
The control end 13 includes a case 131, an encoder 132 and a control circuit board (a circuit part in the control assembly 11) disposed in the case 131, an injection rotating handle 112 (an injection rotating handle 112 in the control assembly 11) disposed on the case 131, a key module (a key module in the control assembly 11 including a clear key, an injection key, and a back key), a display module 118 (a display module 118 in the control assembly 11 may be a display screen), and a first connection data line connector 133;
the injection rotating handle 112 may include a grip 112a, a locking screw 112b, a handle joint 112c, a set screw 112d;
The encoder 132 is provided with a motor shaft 132a connected with the handle joint 112c through the set screw 112 d;
the grip 112a is connected with the handle joint 112c through the locking screw 112 b;
Wherein, the injection rotating handle 112 is a T-shaped injection rotating handle 112, and the grip 112a can comprise a handle bar and a holding bar; the grip lever is connected with the handle lever, and the handle lever is connected with the handle joint 112 c; the holding rod and the handle rod are arranged in a T shape;
When the user operates, the user grasps the grip lever by his or her hand and controls the injection rotation handle 112 to rotate about the grip lever. Compared with the traditional push rod of the pushing injector or other devices for controlling the injector, the setting mode can greatly prevent the hands from slipping, can enable a user to rotate through the wrist during operation, can realize the control of the control end 13, provides great convenience for the user, is easier to operate and control, is not easy to slip, and has better user experience.
In addition, an anti-slip silica gel layer can be arranged at the holding rod, so that the comfort level and the anti-slip performance are further improved.
The executing end 14 further comprises a housing 141, a motor driving plate 142, adjusting motors 143, 149c, a sliding block 144, a guide rail 145, a bottom plate 146, a power connector 147, a second connection data line connector 148 and a handle arranged on the surface of the housing 141, wherein the motor driving plate 142, the adjusting motors 143, 149c, the sliding block 144, the guide rail 145, the bottom plate 146, the power connector 147 and the second connection data line connector 148 are arranged in the housing 141;
the first connection data line connector 133 and the second connection data line connector 148 are connected by a cable, so as to control data interaction between an instruction and an operation state;
The motor driving plate 142 is connected with the second connection data line connector 148 and the adjusting motor 143; the motor driving board 142 receives an injection command sent by the control end 13 through the second connection data line connector 148 based on a connection cable or a wireless manner, and controls the operation of the adjusting motor 143 according to the injection command;
The adjusting motor 143 is connected with the sliding block 144 and moves along the guide rail 145 under the control of the injection command;
the actuating end 14 further comprises a propulsion device 149 connected to the syringe;
The propulsion device 149 includes a coupling 149a connected to the adjustment motor 143, and a driving spindle 149b connected to the coupling 149 a; the drive spindle 149b is connected to the syringe;
149c is used for being clamped with the injector;
The pushing device 149 further comprises a fixing block 149d for fixing the coupling 149a to the housing 141 and a fixing block 149c provided on the fixing block 149d for clamping the syringe.
The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) as described above, comprising instructions for causing a terminal device (which may be a mobile phone, a computer, a server, or a network device, etc.) to perform the method according to the embodiments of the present invention.
The foregoing description is only of the preferred embodiments of the present invention, and is not intended to limit the scope of the invention, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein or in the alternative, which may be employed directly or indirectly in other related arts.
Claims (7)
1. A bone cement remote injection control device, comprising: the control assembly and the execution assembly are electrically connected with the control assembly;
wherein, a first position sensor is arranged in the control component; the execution assembly is internally provided with a second position sensor;
The control component obtains the adjusting position of the injection quantity of the bone cement controlled by the user through the first position sensor, and obtains the injection quantity information corresponding to the adjusting position of the injection quantity of the bone cement through calculation; according to preset injection parameters, the execution assembly is controlled to inject bone cement through an injector connected with the execution assembly based on the injection quantity information, the actual pushing position of the injector is obtained through the second position sensor, and the actual injection quantity of the bone cement corresponding to the actual pushing position is obtained through calculation;
the control assembly further includes an injection rotation handle; the injection rotating handle is connected with the first position sensor;
When injecting bone cement, a user controls the injection rotating handle to rotate, the first position sensor obtains the rotating angle of the injection rotating handle as an adjusting position of the injection quantity of the bone cement, and the corresponding injection quantity information of the bone cement is calculated according to the adjusting position;
The control assembly is provided with a shell, and the injection rotating handle is connected with the shell; the injection rotating handle comprises a steering wheel which is in a ring-shaped multi-piece holding form; a pushing rod connected with the shell is arranged in the center of the steering wheel; the steering wheel is provided with anti-slip silica gel or sweat-absorbent cotton at a holding position;
The control assembly further comprises an image monitoring system; the image monitoring system comprises an image acquisition device for acquiring an image of the injection rotating handle and a pattern recognition processor electrically connected with the image acquisition device, wherein the pattern recognition processor is electrically connected with a microprocessor of the control assembly; the image acquisition device is a camera;
When bone cement is injected, the camera performs image acquisition on a rotating area of the injection rotating handle to obtain a rotating operation image; the rotating area is an operating area when a user rotates the injection rotating handle;
After the pattern recognition processor acquires the rotation operation image, converting the rotation operation image into a key frame containing an injection rotation handle rotation process, positioning the injection rotation handle in each key frame, performing edge detection according to the positioning, superposing the rotation angle in each key frame according to a timestamp corresponding to each key frame to obtain the rotation number of the injection rotation handle, and acquiring a preset stepping injection parameter range; the step injection parameter range comprises an upper limit threshold and a lower limit threshold of injection quantity and injection speed of bone cement injection to a patient;
calculating the corresponding injection quantity and injection speed of the rotation number through injection parameters, and comparing the injection quantity and injection speed corresponding to the rotation number with the stepping injection parameter range;
And if the injection quantity and the injection speed corresponding to the rotation number exceed the range of the stepping injection parameters, sending a warning prompt to a microprocessor of the control assembly so as to prompt that the current operation abnormality exceeds the limit.
2. The bone cement remote injection control device of claim 1, wherein the control assembly further comprises a first microprocessor, and a power switch and an injection enable switch both connected to the first microprocessor; the first position sensor is connected with the first microprocessor;
And starting the power switch, starting the control component of the bone cement remote injection control device, and pressing the injection enabling switch to rotate the injection rotating handle to perform injection when bone cement is injected.
3. The bone cement remote injection control device of claim 2, wherein the control assembly further comprises a host communication module coupled to the first microprocessor;
the execution assembly further comprises a second microprocessor and a slave communication module connected with the second microprocessor;
The host communication module is electrically connected with the slave communication module.
4. The bone cement remote injection control device of claim 3, wherein the first position sensor in the control assembly comprises a magnetic code wheel, a retarding direct current motor, a hall sensor, and a signal conditioning circuit of the hall sensor coupled to the first microprocessor.
5. The bone cement remote injection control device of claim 4, wherein the control assembly further comprises a keyboard module and a display module, each connected to the first microprocessor;
the keyboard module is used for receiving a control instruction input by a user;
The display module is used for displaying the rotation angle of the injection rotary handle, the adjustment position of the bone cement injection quantity and the control instruction received by the keyboard module.
6. The bone cement remote injection control device of claim 5, wherein the execution assembly further comprises: a stepping motor subdivision controller and a DC-DC power supply which are electrically connected with the second microprocessor;
the second position sensor is electrically connected with the second microprocessor;
The execution assembly further comprises a deceleration stepping motor connected with the second position sensor; the deceleration stepping motor is connected with the injector;
the second microprocessor controls the deceleration stepping motor to drive the injector to inject through the stepping motor subdivision controller under the power supply of the DC-DC power supply.
7. The bone cement remote injection control device of claim 6, wherein the stepper motor subdivision controller further comprises:
The circuit comprises a subdivision driving circuit, a current regulating potentiometer, a half-current holding switch, a subdivision mode setting switch and a photoelectric isolator circuit electrically connected with the second microprocessor.
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| CN111429775B (en) * | 2020-04-30 | 2021-05-18 | 中国科学院长春光学精密机械与物理研究所 | Training device for ophthalmologic operation |
| CN114145835B (en) * | 2021-11-26 | 2023-10-20 | 山东省千佛山医院 | Online monitoring system for injection, dispersion and solidification process of bone cement at fracture |
| 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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