CN109758116A - A kind of judgment method of bone density distribution in bone reaming operation - Google Patents
A kind of judgment method of bone density distribution in bone reaming operation Download PDFInfo
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- CN109758116A CN109758116A CN201811450912.3A CN201811450912A CN109758116A CN 109758116 A CN109758116 A CN 109758116A CN 201811450912 A CN201811450912 A CN 201811450912A CN 109758116 A CN109758116 A CN 109758116A
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Abstract
The judgment method of bone density distribution in a kind of bone reaming operation is related to bone reaming operation auxiliary technical field comprising following steps: (1) obtaining the real-time stress feedback of the reaming tool in bone reaming surgical procedure by sensor；(2) in step (1), in the force feedback in m swing circle of reaming tool, the maxima and minima of reaming tool absolute value of stress in each swing circle is extracted, the value of m is chosen according to required measurement accuracy；(3) data acquired by step (2) are handled, the real-time function relationship and minimum value of maximizing and time and the real-time function relationship of time；(4) by the feature of the function in analytical procedure (3), to judge the operation locating stage of bone reaming at that time corresponding bone density distribution situation.The mechanics of qualitative discrimination marrow is distributed, and facilitates the decision in operation, if Density Distribution is uneven, operation may need to adjust the dosage and distribution of bone cement.
Description
Technical field
It performs the operation the present invention relates to bone reaming and assists technical field, more particularly to the bone density in a kind of bone reaming operation
The judgment method of distribution.
Background technique
In existing technology, surgical assistant system is during carrying out bone reaming operation, be only capable of by surgical navigational,
The means such as CT shooting visually substantially carry out the locating stage condition of judgement operation, while there will be a large amount of spokes for CT shooting
It penetrates, is harmful to the human body.
And the Density Distribution of marrow has obvious influence to the operation decision of operation, if bone marrow density distribution is not
, operation then may need to adjust the dosage and its distribution of bone cement, and existing surgical assistant system can not obtain accordingly
Bone density prompt because most of robots do not have mechanics feedback device, without specific mechanics detection analysis patrol
Volume and judgment method.Therefore, the operation error of surgical procedure can seriously affect the efficiency and effect of operation.
Summary of the invention
It is an object of the invention to avoid surgical assistant system in the prior art that from cannot prompting the bone in bone reaming operation
The shortcoming of matter Density Distribution information, and the judgment method of the bone density distribution in a kind of bone reaming operation is provided.
The purpose of the present invention is achieved through the following technical solutions:
The judgment method of bone density distribution in a kind of bone reaming operation comprising following steps:
(1) real-time stress that the reaming tool in bone reaming surgical procedure is obtained by sensor is fed back；
(2) in the step (1), in the force feedback in m swing circle of reaming tool, reaming tool is extracted each
The value of the maxima and minima of the absolute value of stress in swing circle, m is chosen according to required measurement accuracy；
(3) data acquired by the step (2) are handled, asks real-time function relationship and the institute of the maximum value and time
State the real-time function relationship of minimum value and time；
(4) by analyzing the feature of the real-time function in the step (3), to judge that bone reaming at that time is performed the operation the locating stage
Corresponding bone density distribution situation.
Preferably, the power that reaming tool is suffered in reaming procedure is divided into 3 coordinate directions of rectangular coordinate system in space
On power, be respectively as follows: extruding force Fx, cutting force Fy and Fz；In the step (1), the real-time stress that sensor obtains is fed back
Including cutting force Fy and Fz, the real-time function in the step (3) include: Fymax (t), Fzmax (t), Fymin (t) and
Fzmin(t)。
Preferably, the cutting force Fy points are positive negative direction, in the analytical judgment of the step (4), if the step
(3) real-time function in meets:Positive force is all represented, andPositive force is all represented, then judges to occur just
It is greater than 2 times of the density that the side bone of negative sense Fy occurs to the density of the side bone of Fy；The Fz points are positive negative direction,
In the analytical judgment of the step (4), if the real-time function in the step (3) meets:Positive force is all represented, andPositive force is all represented, then judges that the density for the side bone that positive Fz occurs is greater than the side bone that negative sense Fz occurs
2 times of density.
Preferably, in the analytical judgment of the step (4), if the real-time function in the step (3) meets:Negative force is all represented, andNegative force is all represented, then judges the density that the side bone of negative sense Fy occurs
Greater than 2 times of the density for the side bone that forward direction Fy occurs；In the analytical judgment of the step (4), if in the step (3)
Real-time function meet:Negative force is all represented, andNegative force is all represented, then judges to occur negative sense Fz's
The density of side bone is greater than 2 times of the density that the side bone of forward direction Fz occurs.
Preferably, the cutting force Fy points are positive negative direction, in the analytical judgment of the step (4), if the step
(3) real-time function in meets:Positive force is all represented, and, wherein, then judge that the density for the side bone that positive Fy occurs is the 1-2 that the density of side bone of negative sense Fy occurs
Times；The Fz points are positive negative direction, in the analytical judgment of the step (4), if the real-time function in the step (3) is full
Foot:Positive force is all represented, and, wherein, then judge to occur just
Density to the side bone of Fz is 1-2 times of the density of the side bone of generation negative sense Fz.
Preferably, in the analytical judgment of the step (4), if the real-time function in the step (3) meets:Negative force is all represented, and, wherein, then judge that negative sense occurs
The density of the side bone of Fy is 1-2 times of the density of the side bone of generation forward direction Fy；Analytical judgment in the step (4)
In, if the real-time function in the step (3) meets:Negative force is all represented, and, wherein, then judge that the density that the side bone of negative sense Fz occurs is to occur
1-2 times of the density of the side bone of positive Fz.
Preferably, the cutting force Fy points are positive negative direction, in the analytical judgment of the step (4), if the step
(3) real-time function in meets:Positive force is all represented,All represent negative force；Alternatively,All
Negative force is represented,Positive force is all represented, then judge the density that the side bone of negative sense Fy occurs and forward direction Fy occurs
The density of side bone be identical；The Fz points are positive negative direction, in the analytical judgment of the step (4), if described
Real-time function in step (3) meets:Positive force is all represented,All represent negative force；Alternatively,Negative force is all represented,All represent positive force, then judge occur negative sense Fz side bone density with
It is identical that the density of the side bone of forward direction Fz, which occurs,.
Preferably, in the analytical judgment of the step (4), if the real-time function in the step (3) meets:Positive force is all represented,Negative force is all represented, and=；Alternatively,
Negative force is all represented,Positive force is all represented, and=, then judge the side that negative sense Fy occurs
The density of bone and the density for the side bone that forward direction Fy occurs are identical；In the analytical judgment of the step (4), if institute
The real-time function stated in step (3) meets:Positive force is all represented,Negative force is all represented, and=；Alternatively,Negative force is all represented,Positive force is all represented, and=, then judge that the density of the density that the side bone of negative sense Fz occurs and the side bone that forward direction Fz occurs is identical
's.
Preferably, in the step (2), m is greater than or equal to 1；To acquired by the step (2) in the step (3)
The processing of data, including denoising and Passivation Treatment.
Preferably, it is characterised in that: 4≤m≤6.
Beneficial effects of the present invention:
The present invention can provide in real time the bone density distributed intelligence at reaming position in bone reaming operation, and the distribution of bone density is closed
It is the mechanical state of marrow, the influence count for much to bone reaming operation.The mechanics of qualitative discrimination marrow point
Cloth facilitates the decision in operation, if Density Distribution is uneven, operation may need to adjust the dosage and distribution of bone cement.
The present invention can improve prompt and the impulse of bone reaming surgical procedure, mitigate the psychological pressure for applying art doctor and
Operating burden improves the efficiency and safety of operation.
Specific embodiment
The invention will be further described with the following Examples.
The judgment method of bone density distribution in a kind of bone reaming operation of the present embodiment comprising following steps:
(1) real-time stress that the reaming tool in bone reaming surgical procedure is obtained by sensor is fed back；
(2) in the step (1), in the force feedback in m swing circle of reaming tool, reaming tool is extracted each
The value of the maxima and minima of the absolute value of stress in swing circle, m is chosen according to required measurement accuracy；
(3) data acquired by the step (2) are handled, asks real-time function relationship and the institute of the maximum value and time
State the real-time function relationship of minimum value and time；
(4) by analyzing the feature of the real-time function in the step (3), to judge that bone reaming at that time is performed the operation the locating stage
Corresponding bone density distribution situation.
The present embodiment can provide in real time the bone density distributed intelligence at reaming position in bone reaming operation, and bone density
Distribution relation the mechanical state of marrow, to bone reaming operation the influence count for much.Qualitative discrimination marrow
Mechanics distribution, facilitates the decision in operation, if Density Distribution is uneven, operation may need to adjust the dosage of bone cement and divide
Cloth.
Preferably, the power that reaming tool is suffered in reaming procedure is divided into 3 coordinate directions of rectangular coordinate system in space
On power, be respectively as follows: extruding force Fx, cutting force Fy and Fz；In the step (1), the real-time stress that sensor obtains is fed back
Including cutting force Fy and Fz, the real-time function in the step (3) include: Fymax (t), Fzmax (t), Fymin (t) and
Fzmin(t).Above-mentioned Fy and Fz is used equally for analyzing and determining the corresponding bone density distribution of the operation of bone reaming at that time locating stage
Situation.
Preferably, the cutting force Fy points are positive negative direction, in the analytical judgment of the step (4), if the step
(3) real-time function in meets:Positive force is all represented, andPositive force is all represented, then judges to occur just
It is greater than 2 times of the density that the side bone of negative sense Fy occurs to the density of the side bone of Fy；The Fz points are positive negative direction,
In the analytical judgment of the step (4), if the real-time function in the step (3) meets:Positive force is all represented, andPositive force is all represented, then judges that the density for the side bone that positive Fz occurs is greater than the side bone that negative sense Fz occurs
2 times of density；If the real-time function in the step (3) meets:Negative force is all represented, andAll generations
Table negative force then judges that the density that the side bone of negative sense Fy occurs is greater than 2 times of the density that the side bone of forward direction Fy occurs；
If the real-time function in the step (3) meets:Negative force is all represented, andNegative force is all represented, then
The density that the side bone of negative sense Fz occurs for judgement is greater than 2 times of the density that the side bone of forward direction Fz occurs.This method energy
Larger difference present in the density of the simple and effective side bone for judging that positive Fy occurs and the side bone that negative sense Fy occurs
It is different, meanwhile, this method simple and effective can also judge that the side bone of positive Fz occurs and the side bone of negative sense Fz occurs
Density present in larger difference.
Preferably, the cutting force Fy points are positive negative direction, in the analytical judgment of the step (4), if the step
(3) real-time function in meets:Positive force is all represented, and, wherein, then judge that the density for the side bone that positive Fy occurs is the 1-2 that the density of side bone of negative sense Fy occurs
Times；The Fz points are positive negative direction, in the analytical judgment of the step (4), if the real-time function in the step (3) is full
Foot:Positive force is all represented, and, wherein, then judge to occur just
Density to the side bone of Fz is 1-2 times of the density of the side bone of generation negative sense Fz；If real-time in the step (3)
Function meets:Negative force is all represented, and, wherein, then judge
The density of the side bone of generation negative sense Fy is 1-2 times of the density of the side bone of generation forward direction Fy；If in the step (3)
Real-time function meet:Negative force is all represented, and, wherein,
Then judge that the density that the side bone of negative sense Fz occurs is 1-2 times of the density of the side bone of generation forward direction Fz.This method
Difference present in the density of the simple and effective side bone that judge that positive Fy occurs of energy and the side bone that negative sense Fy occurs,
Meanwhile this method simple and effective can also judge to occur the close of the side bone of positive Fz and the side bone that negative sense Fz occurs
The existing difference of degree.
Preferably, the cutting force Fy points are positive negative direction, in the analytical judgment of the step (4), if the step
(3) real-time function in meets:Positive force is all represented,All represent negative force；Alternatively,All
Negative force is represented,Positive force is all represented, then judge the density that the side bone of negative sense Fy occurs and forward direction Fy occurs
The density of side bone be identical；The Fz points are positive negative direction, in the analytical judgment of the step (4), if described
Real-time function in step (3) meets:Positive force is all represented,All represent negative force；Alternatively,Negative force is all represented,All represent positive force, then judge occur negative sense Fz side bone density with
It is identical that the density of the side bone of forward direction Fz, which occurs,.This method can the simple and effective side seam for judging that positive Fy occurs
Difference is substantially not present in the density of the side bone of head and generation negative sense Fy, meanwhile, this method simple and effective can judge to set out
Difference is substantially not present in the side bone of raw forward direction Fz and the density for the side bone that negative sense Fz occurs.
Preferably, the processing in the step (3) to data acquired by the step (2), including denoising and passivation
Processing.These are conducive to the bone density distributed intelligence for more precisely analyzing and determining reaming position to the processing of data.
Preferably, m=5.This value is conducive to the bone density distributed intelligence for more precisely analyzing and determining reaming position.
The present embodiment can improve prompt and the impulse of bone reaming surgical procedure, mitigate the psychological pressure for applying art doctor
And operating burden, improve the efficiency and safety of operation.
Finally it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than the present invention is protected
The limitation of range is protected, although explaining in detail referring to preferred embodiment to the present invention, those skilled in the art are answered
Work as understanding, it can be with modification or equivalent replacement of the technical solution of the present invention are made, without departing from the reality of technical solution of the present invention
Matter and range.
Claims (10)
1. a kind of judgment method of the bone density distribution in bone reaming operation, it is characterised in that: the following steps are included:
(1) real-time stress that the reaming tool in bone reaming surgical procedure is obtained by sensor is fed back；
(2) in the step (1), in the force feedback in m swing circle of reaming tool, reaming tool is extracted in each rotation
The value of the maxima and minima of the absolute value of the interim stress of turn-week, m is chosen according to required measurement accuracy；
(3) data acquired by the step (2) are handled, asks real-time function relationship and the institute of the maximum value and time
State the real-time function relationship of minimum value and time；
(4) by analyzing the feature of the real-time function in the step (3), to judge that bone reaming at that time is performed the operation the locating stage
Corresponding bone density distribution situation.
2. the judgment method of the bone density distribution in a kind of bone reaming operation as described in claim 1, it is characterised in that:
Reaming tool power suffered in reaming procedure is divided into the power on 3 coordinate directions of rectangular coordinate system in space, is respectively as follows: crowded
Pressure Fx, cutting force Fy and Fz；In the step (1), the real-time stress feedback that sensor obtains includes cutting force Fy and Fz, institute
Stating the real-time function in step (3) includes: Fymax (t), Fzmax (t), Fymin (t) and Fzmin (t).
3. the judgment method of the bone density distribution in a kind of bone reaming operation as claimed in claim 2, it is characterised in that: institute
Cutting force Fy points are stated for positive negative direction, in the analytical judgment of the step (4), if the real-time function in the step (3) is full
Foot:Positive force is all represented, andPositive force is all represented, then judges the density for the side bone that positive Fy occurs
Greater than 2 times of the density for the side bone that negative sense Fy occurs；The Fz points are positive negative direction, are sentenced in the analysis of the step (4)
In disconnected, if the real-time function in the step (3) meets:Positive force is all represented, andPositive force is all represented,
Then judge that the density that the side bone of positive Fz occurs is greater than 2 times of the density that the side bone of negative sense Fz occurs.
4. the judgment method of the bone density distribution in a kind of bone reaming operation as claimed in claim 3, it is characterised in that:
In the analytical judgment of the step (4), if the real-time function in the step (3) meets:Negative force is all represented, andNegative force is all represented, then judges that the density that the side bone of negative sense Fy occurs is greater than the side bone that forward direction Fy occurs
2 times of density；In the analytical judgment of the step (4), if the real-time function in the step (3) meets:All generations
Table negative force, andNegative force is all represented, then judges that the density that the side bone of negative sense Fz occurs is greater than and forward direction Fz occurs
2 times of density of side bone.
5. the judgment method of the bone density distribution in a kind of bone reaming operation as claimed in claim 2, it is characterised in that: institute
Cutting force Fy points are stated for positive negative direction, in the analytical judgment of the step (4), if the real-time function in the step (3) is full
Foot:Positive force is all represented, and, wherein, then judge that positive Fy occurs
The density of side bone be 1-2 times of density of side bone that negative sense Fy occurs；The Fz points are positive negative direction, described
In the analytical judgment of step (4), if the real-time function in the step (3) meets:Positive force is all represented, and, wherein, then judge that the density for the side bone that positive Fz occurs is to occur to bear
To 1-2 times of the density of the side bone of Fz.
6. the judgment method of the bone density distribution in a kind of bone reaming operation as claimed in claim 5, it is characterised in that:
In the analytical judgment of the step (4), if the real-time function in the step (3) meets:Negative force is all represented, and, wherein, then judge that it is to occur just that the density of the side bone of negative sense Fy, which occurs,
To 1-2 times of the density of the side bone of Fy；In the analytical judgment of the step (4), if the real-time letter in the step (3)
Number meets:Negative force is all represented, and, wherein, then judge to occur negative
Density to the side bone of Fz is 1-2 times of the density of the side bone of generation forward direction Fz.
7. the judgment method of the bone density distribution in a kind of bone reaming operation as claimed in claim 2, it is characterised in that: institute
Cutting force Fy points are stated for positive negative direction, in the analytical judgment of the step (4), if the real-time function in the step (3) is full
Foot:Positive force is all represented,All represent negative force；Alternatively,Negative force is all represented,All
Positive force is represented, then judges that the density of the density that the side bone of negative sense Fy occurs and the side bone that forward direction Fy occurs is identical
's；The Fz points are positive negative direction, in the analytical judgment of the step (4), if the real-time function in the step (3) is full
Foot:Positive force is all represented,All represent negative force；Alternatively,Negative force is all represented,All generations
Table positive force then judges that the density of the density that the side bone of negative sense Fz occurs and the side bone that forward direction Fz occurs is identical
's.
8. the judgment method of the bone density distribution in a kind of bone reaming operation as claimed in claim 7, it is characterised in that:
In the analytical judgment of the step (4), if the real-time function in the step (3) meets:Positive force is all represented,Negative force is all represented, and=；Alternatively,Negative force is all represented,It all represents just
Xiang Li, and=, then judge the side bone of the density that the side bone of negative sense Fy occurs and generation forward direction Fy
Density be identical；In the analytical judgment of the step (4), if the real-time function in the step (3) meets:Positive force is all represented,Negative force is all represented, and=；Alternatively,It all represents negative
Xiang Li,Positive force is all represented, and=, then judge density and hair that the side bone of negative sense Fz occurs
The density of the side bone of raw forward direction Fz is identical.
9. the judgment method of the bone density distribution in a kind of bone reaming operation as described in claim 1, it is characterised in that:
In the step (2), m is greater than or equal to 1；Processing in the step (3) to data acquired by the step (2), including
Denoising and Passivation Treatment.
10. the judgment method of the bone density distribution in a kind of bone reaming operation as claimed in claim 9, it is characterised in that: 4
≤m≤6。
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| CN115205293A (en) * | 2022-09-15 | 2022-10-18 | 博志生物科技(深圳)有限公司 | Bone cement flow prediction method, device, equipment and storage medium |
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