CN111658163A - Calibration device and calibration method for loading coefficient of force feedback bone awl for spinal surgery - Google Patents
Calibration device and calibration method for loading coefficient of force feedback bone awl for spinal surgery Download PDFInfo
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- CN111658163A CN111658163A CN202010372918.4A CN202010372918A CN111658163A CN 111658163 A CN111658163 A CN 111658163A CN 202010372918 A CN202010372918 A CN 202010372918A CN 111658163 A CN111658163 A CN 111658163A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/06—Measuring instruments not otherwise provided for
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/06—Measuring instruments not otherwise provided for
- A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/06—Measuring instruments not otherwise provided for
- A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
- A61B2090/065—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension for measuring contact or contact pressure
Abstract
The invention discloses a device and a method for calibrating a loading coefficient of a force feedback bone awl in spinal surgery. Currently, deviation of pedicle bone tunnel drilling depends on doctor's judgment. The invention can realize the loading force at circumferential and axial multi-angles and different cross section positions, and adopts the strain gauge to realize the measurement of the magnitude and the direction of the loading force vector. The calibration method comprises the following steps: one end of the force feedback bone awl is clamped and fixed through a bone awl clamp, and one ends of four steel wire ropes are wound and fixed at the same cross section position of the other end of the force feedback bone awl; the four steel wire ropes simultaneously apply force to the force feedback bone cone through weights to realize loading; two strain gauges are pasted on four side faces of a rectangular section shaft section of the force feedback bone cone side by side, and the load factors of forces in multiple directions are calibrated at multiple cross section positions of the force feedback bone cone. The invention realizes the measurement of the magnitude and the direction of the deflection force vector in the process of inserting the force feedback bone awl into the spine through the calibration of the loading coefficient.
Description
Technical Field
The invention belongs to the technical field of measurement, and particularly relates to a loading coefficient calibration device and a calibration method of a spine surgery force feedback bone awl with a force sensing function.
Background
The drilling of the vertebral pedicle bone tunnel is used as a key step in spinal surgery, has important influence on the surgical effect, the drilling effect of the bone tunnel mainly depends on whether deviation occurs between an actually drilled path and a planned path or not, and the deviation force perpendicular to the axis direction of the bone awl can be generated when the deviation occurs in the path. At present, the adjustment of a doctor on a path mainly depends on hand feeling judgment, and a vector of a deviation force cannot be accurately obtained.
Disclosure of Invention
The invention aims to provide a device and a method for calibrating the loading coefficient of a spinal surgery force feedback bone cone, which can measure the deflection force vector in the process of drilling the pedicle of vertebral arch surgery bone tunnel.
The invention discloses a loading coefficient calibration device for a spine surgery force feedback bone awl. Eight strain gauges in total are arranged, four strain gauges form a group to form a Wheatstone bridge, and the output ends of the two Wheatstone bridges are connected with a data acquisition card through a signal amplifier respectively; the clamp bracket is fixed on the bottom plate of the calibration platform; the upright post is fixedly arranged at one of the three mounting positions of the bottom plate of the calibration platform; the horizontal rotating bracket and the two vertical fixing brackets are fixed on the upright post through screws; the two vertical fixed brackets are arranged up and down, and the horizontal rotating bracket is arranged between the two vertical fixed brackets; the two sliding chutes of the horizontal rotating bracket are fixedly connected with the through holes of the two cushion blocks through bolts and nuts respectively; the sliding chutes of the two vertical fixing brackets are fixedly connected with the through holes of the other two cushion blocks through bolts and nuts respectively; the bone awl fixture is fixed on the fixture bracket through a screw. The pulley assembly comprises a pulley, a bolt and a pulley bracket. The pulley and the smooth surface of the bolt fixedly connected to the pulley bracket through the threads form a revolute pair. Two pulley assemblies are arranged on each cushion block, and the pulley supports of the pulley assemblies are fixed with the cushion blocks. The axes of the pulleys of all the pulley assemblies are arranged horizontally and in parallel, and are also parallel to the arrangement direction of the sliding grooves of the horizontal rotating bracket or the vertical fixing bracket; weights are fixed at one ends of the four steel wire ropes.
Further, the fixing mode of the upright post and each mounting position of the bottom plate of the calibration platform is as follows: four through holes at the bottom of the upright post are respectively connected with four threaded holes at each mounting position of the calibration platform bottom plate through screws.
Further, the bone awl fixture comprises a base, a clamping block and a screw. The base is fixed on the clamp bracket, the through holes of two oppositely arranged clamping blocks are respectively connected with two threaded holes of the base through screws, and the through holes of the other two oppositely arranged clamping blocks are respectively connected with two sliding grooves of the base through bolts and nuts; in every two oppositely arranged clamping blocks, the through hole of one clamping block is connected with the threaded hole of the other clamping block through a screw.
The calibration method of the loading coefficient calibration device for the spinal surgery force feedback bone awl comprises the following specific steps:
one end of a force feedback bone awl is clamped and fixed through a bone awl fixture, one ends of four steel wire ropes, which are not fixed with weights, are wound and fixed at the same cross section position of the other end of the force feedback bone awl, a first steel wire rope is wound around pulleys of two pulley assemblies at one end of a horizontal rotating support, a second steel wire rope is wound around pulleys of two pulley assemblies at the other end of the horizontal rotating support, a third steel wire rope is wound around pulleys of two pulley assemblies on one vertical fixing support, and a fourth steel wire rope is wound around pulleys of two pulley assemblies on the other vertical fixing support; the four steel wire ropes simultaneously apply force to the force feedback bone cone through weights to realize loading; then, two strain gauges are pasted on each side surface of the rectangular section shaft section of the force feedback bone cone, and four strain gauges on each two symmetrical side surfaces of the rectangular section shaft section form a Wheatstone bridge; finally, calibrating the loading coefficients of the forces in multiple directions at multiple cross section positions of the force feedback bone cone:
step one, force loading, deflection force loading and voltage signal acquisition in four main directions are carried out by setting the weight mass at the four ends of four steel wire ropes, and the method specifically comprises the following steps:
1.1, setting the mass of the weights on the four steel wire ropes to be the initial minimum value, namely setting a weight with equal mass at each of the four end parts of the four steel wire ropes; arranging the upright post at the mounting position on the bottom plate of the calibration platform, which is farthest away from the force feedback bone awl; adjusting the horizontal rotating bracket to be in horizontal arrangement; adjusting the positions of the cushion blocks on the sliding grooves of the horizontal rotating bracket and the vertical fixing bracket to ensure that four force directions of the four steel wire ropes acting on the force feedback bone awl are respectively four main directions, namely, the four main directions are vertically upward, vertically downward and two opposite directions vertical to the force feedback bone awl on the horizontal plane; and the data acquisition card acquires voltage signals of all the strain gages changed along with the change of the loading weights in real time.
1.2, weight masses at four end parts of four steel wire ropes are changed by adopting n weight mass setting schemes, so that the force applied by the four steel wire ropes to the force feedback bone cone is changed, a data acquisition card acquires voltage signals of strain gauges changed along with the change of loading weights in real time, and n is more than or equal to 8; in various weight mass setting schemes, the weight masses at the four end parts of the four steel wire ropes are not completely equal; compared with various weight mass setting schemes, the weight mass difference between the scheme with the least weight and the scheme with the most weight is not more than 1 Kg.
1.3, reducing the mass of the weights on the four steel wire ropes to the initial minimum value, adjusting the upright post to move to a mounting position close to the direction of the force feedback bone cone, and acquiring voltage signals of all strain gauges, which are changed along with the change of the loading weights, in real time by a data acquisition card; step 1.2 is then repeated once.
1.4, reducing the mass of the weights on the four steel wire ropes to the initial minimum value, adjusting the upright post to move to a mounting position close to the force feedback bone cone direction, and acquiring voltage signals of each strain gauge array changing along with the change of the loaded weights in real time by a data acquisition card; step 1.2 is then repeated once.
Step two, the position of each cushion block on the sliding grooves of the horizontal rotating support and the vertical fixing support and the weight mass of the four end parts of the four steel wire ropes are changed to load the deviation force and acquire voltage signals, and the method specifically comprises the following steps:
2.1 set the weight mass on four wire ropes as the initial minimum, the column is set at the mounting position farthest from the force feedback bone awl on the bottom plate of the calibration platform.
2.2 changing the positions of the cushion blocks on the sliding grooves of the horizontal rotating bracket and the vertical fixing bracket by adopting a setting scheme of m cushion block positions, wherein m is more than or equal to 8; in various cushion block position setting schemes, at least one of a vertical upward force, a vertical downward force and two opposite forces vertical to a force feedback bone cone on a horizontal plane is changed; after each cushion position setting scheme is executed, the step 1.2 is repeated once.
2.3, reducing the mass of the weights on the four steel wire ropes to the initial minimum value, and adjusting the upright post to move to a mounting position in the direction close to the force feedback bone cone; adjusting the positions of the cushion blocks on the sliding grooves of the horizontal rotating bracket and the vertical fixing bracket to ensure that four force directions of the four steel wire ropes acting on the force feedback bone awl are four main directions respectively; step 2.2 is then repeated once.
2.4, reducing the mass of the weights on the four steel wire ropes to the initial minimum value, and adjusting the upright post to move to a mounting position in the direction close to the force feedback bone taper; adjusting the positions of the cushion blocks on the sliding grooves of the horizontal rotating bracket and the vertical fixing bracket to ensure that four force directions of the four steel wire ropes acting on the force feedback bone awl are four main directions respectively; step 2.2 is then repeated once.
Step three, carrying out deflection force loading and voltage signal acquisition by changing the inclination angle of the horizontal rotating bracket relative to the horizontal plane, the positions of the cushion blocks on the sliding grooves of the horizontal rotating bracket and the vertical fixing bracket and the weight mass of the four end parts of the four steel wire ropes, and specifically comprising the following steps:
3.1, setting the mass of the weights on the two steel wire ropes to be an initial minimum value, and arranging the upright column at the mounting position, which is farthest away from the force feedback bone cone, on the bottom plate 1 of the calibration platform; the positions of the cushion blocks on the sliding grooves of the horizontal rotating support and the vertical fixing support are adjusted, so that four force directions of the four steel wire ropes acting on the force feedback bone awl are four main directions respectively.
3.2 changing the inclination angle of the horizontal rotating bracket relative to the horizontal plane by adopting k inclination angle setting schemes of the horizontal rotating bracket, wherein k is more than or equal to 8; and repeating the step 1.2 once after each horizontal rotating bracket inclination angle setting scheme is executed.
3.3 reducing the mass of the weights on the four steel wire ropes to the initial minimum value, and adjusting the upright post to move to a mounting position close to the force feedback bone cone direction; adjusting the horizontal rotating bracket to be in horizontal arrangement; step 3.2 is then repeated once.
3.4, reducing the mass of the weights on the four steel wire ropes to the initial minimum value, and adjusting the upright post to move to a mounting position in the direction close to the force feedback bone cone; adjusting the horizontal rotating bracket to be in horizontal arrangement; step 3.2 is then repeated once.
3.5, setting the mass of the weights on the four steel wire ropes as an initial minimum value, and arranging the upright column at the mounting position on the bottom plate of the calibration platform, which is farthest away from the force feedback bone cone; the horizontal rotating bracket is adjusted to be horizontally arranged.
3.6 changing the inclination angle of the horizontal rotating bracket relative to the horizontal plane by adopting k inclination angle setting schemes of the horizontal rotating bracket; and repeating the step 2.2 once after each horizontal rotating bracket inclination angle setting scheme is executed.
3.7 reducing the mass of the weights on the four steel wire ropes to the initial minimum value, and adjusting the upright post to move to a mounting position close to the force feedback bone cone direction; adjusting the horizontal rotating bracket to be in horizontal arrangement; adjusting the positions of the cushion blocks on the sliding grooves of the horizontal rotating bracket and the vertical fixing bracket to ensure that four force directions of the four steel wire ropes acting on the force feedback bone awl are four main directions respectively; step 3.6 is then repeated once.
3.8 reducing the mass of the weights on the two steel wire ropes to the initial minimum value, and adjusting the upright post to move to a mounting position in the direction close to the force feedback bone cone; adjusting the horizontal rotating bracket to be in horizontal arrangement; adjusting the positions of the cushion blocks on the sliding grooves of the horizontal rotating bracket and the vertical fixing bracket to ensure that four force directions of the four steel wire ropes acting on the force feedback bone awl are four main directions respectively; step 3.6 is then repeated once.
Step four, correspondingly storing voltage signals which are acquired by different combination schemes and change along with the change of each strain gauge and are acquired by data acquisition cards under different combination schemes, wherein the voltage signals are acquired by the stand columns at the installation positions of a bottom plate of the calibration platform, the weight masses at the four end parts of the four steel wire ropes, the positions of the cushion blocks on the sliding chutes of the horizontal rotating bracket and the vertical fixing bracket, and the inclination angles of the horizontal rotating bracket relative to the horizontal plane, in the industrial personal computer one by one; then, the industrial personal computer decomposes the forces in four directions under different combination schemes into four main directions to obtain four main direction forces; then, two main directions which are perpendicular to each other are selected, two pairs of main direction forces which are parallel to each other in the four main direction forces obtained by decomposing the forces in the four directions under each combination scheme are respectively subjected to vector summation, and the two main direction forces are combined into two main direction forces in the two main directions which are perpendicular to each other; and finally, fitting linear relations between the two main direction forces combined under each combination scheme and voltage signals reflecting the corresponding main direction strain for each cross section position of the force feedback bone cone in a straight line fitting mode, wherein the slopes of the two straight lines are the loading coefficients of the two mutually perpendicular main direction forces in the corresponding main directions respectively.
The invention has the following beneficial effects:
1. the invention provides a spine surgery force feedback bone awl which has a force sensing function and can measure a deflection force vector in a pedicle surgery bone tunnel drilling process.
2. The invention provides a force feedback bone cone loading coefficient calibration device with a force sensing function for spinal surgeries, which has a simple and compact structure, is easy to assemble and disassemble and is convenient to maintain.
3. The calibration method is simple, the force loading is realized by using the pulley and the steel wire rope, and the calibration of the loading coefficient is realized by combining the strain gauge array; the invention can realize the loading force at circumferential and axial multi-angles and different cross section positions, so that the calibration position of the loading coefficient is subdivided, and the calibration result is more accurate.
4. The invention realizes the measurement of the magnitude and the direction of the deflection force vector in the process of inserting the force feedback bone awl into the spine through the calibration of the loading coefficient.
Drawings
Fig. 1 is a perspective view of the overall structure of the device of the present invention.
Fig. 2-1 is a schematic view of the force-feedback bone taper assembly of the present invention inserted into the spinal column.
Fig. 2-2 is a sectional view a-a of fig. 2-1.
Fig. 3 is a perspective view of the construction of the present invention.
Figure 4 is a perspective view of the construction of the sheave assembly of the present invention.
Detailed Description
The invention will be further explained with reference to the drawings.
As shown in fig. 1, 2-1 and 2-2, the loading coefficient calibration device of the spinal surgery force feedback bone awl is used for calibrating the loading coefficient of the force feedback bone awl component 9; the force feedback bone taper assembly 9 comprises a force feedback bone taper 9-1; the force feedback bone awl 9-1 is provided with a rectangular section shaft section, two strain gauges 9-2 are adhered to four side surfaces of the rectangular section shaft section side by side, and the two strain gauges on the opposite side form a Wheatstone bridge respectively; the output ends of the two Wheatstone bridges are respectively amplified through signal amplifiers, force measurement in four main directions (two orthogonal forces on a vertical axis and a horizontal axis, and positive and negative directions exist in each orthogonal force) is realized, and the vector magnitude and the vector direction of the deviation force are obtained through the forces in the four main directions.
The device for calibrating the loading coefficient of the spine operation force feedback bone awl comprises a calibration platform bottom plate 1, a stand column 2, a weight 3, a horizontal rotating support 4, a steel wire rope 5, a vertical fixing support 6, a cushion block 7, a pulley assembly 8, a bone awl fixture 10, a fixture support 11, a strain gauge 9-2 and a data acquisition card. Eight strain gages 9-2 in total, wherein every two strain gages 9-2 are arranged on one side surface of the rectangular section axial segment of the force feedback bone awl 9-1, four strain gages 9-2 on every two symmetrical side surfaces of the rectangular section axial segment form a Wheatstone bridge, and the output ends of the two Wheatstone bridges are connected with a data acquisition card through signal amplifiers respectively; the clamp bracket 11 is fixed on the calibration platform bottom plate 1; the stand 2 is fixed to be set up in one of them mounted position department in the three mounted position of demarcation platform bottom plate 1, and the fixed mode of stand 2 and 1 each mounted position of demarcation platform bottom plate is: four through holes at the bottom of the upright post 2 are respectively connected with four threaded holes at each mounting position of the calibration platform base plate 1 through screws; the horizontal rotating bracket 4 and the two vertical fixing brackets 6 are fixed on the upright post through screws; the two vertical fixed brackets 6 are arranged up and down, and the horizontal rotating bracket is arranged between the two vertical fixed brackets 6; loosening the screw for fastening the horizontal rotating bracket, wherein the horizontal rotating bracket can rotate around the axis of the screw; the two sliding grooves of the horizontal rotating bracket 4 are fixedly connected with the through holes of the two cushion blocks 7 through bolts and nuts respectively; the sliding grooves of the two vertical fixing brackets 6 are fixedly connected with the through holes of the other two cushion blocks 7 through bolts and nuts respectively; the bone awl fixture 10 is secured to the fixture support 11 by screws. As shown in fig. 4, the pulley assembly 8 includes a pulley 8-1, a bolt 8-2, and a pulley bracket 8-3. The pulley and the smooth surface of the bolt fixedly connected to the pulley bracket 8-3 through threads form a revolute pair. Two pulley assemblies 8 are arranged on each cushion block 7, and pulley supports 8-3 of the pulley assemblies 8 are fixed with the cushion blocks 7. The axes of the pulleys 8-1 of all the pulley assemblies 8 are arranged horizontally and in parallel, and are also parallel to the arrangement direction of the sliding grooves of the horizontal rotating bracket 4 or the vertical fixing bracket 6; weights 3 are fixed at one ends of four steel wire ropes 5.
As shown in FIG. 3, the bone awl fixture includes a base 10-1, a clamping block 10-2, and a screw 10-3. The base 10-1 is fixed on the clamp bracket 11, the through holes of two oppositely arranged clamping blocks 10-2 are respectively connected with two threaded holes of the base through screws, and the through holes of the other two oppositely arranged clamping blocks 10-2 are respectively connected with two sliding grooves of the base through bolts and nuts; in every two oppositely arranged clamping blocks 10-2, the through hole of one clamping block is connected with the threaded hole of the other clamping block through a screw, so that the force feedback bone awl 9-1 is clamped; the two sliding grooves of the base are convenient for adjusting the distance between the two pairs of clamping blocks 10-2, so that the clamping position of the force feedback bone awl 9-1 is adjusted according to the length of the force feedback bone awl 9-1.
The calibration method of the loading coefficient calibration device for the spinal surgery force feedback bone awl comprises the following specific steps:
one end of a force feedback bone awl 9-1 is clamped and fixed through a bone awl fixture, one ends of four steel wire ropes with unfixed weights are wound and fixed at the same cross section position of the other end of the force feedback bone awl 9-1, a first steel wire rope is wound around pulleys of two pulley assemblies at one end of a horizontal rotating support, a second steel wire rope is wound around pulleys of two pulley assemblies at the other end of the horizontal rotating support, a third steel wire rope is wound around pulleys of two pulley assemblies on one vertical fixing support, and a fourth steel wire rope is wound around pulleys of two pulley assemblies on the other vertical fixing support; the four steel wire ropes simultaneously apply force to the force feedback bone awl 9-1 through the weight 3 to realize loading; then, two strain gauges 9-2 are pasted on each side surface of the rectangular section shaft section of the force feedback bone awl 9-1, and four strain gauges 9-2 on each two symmetrical side surfaces of the rectangular section shaft section form a Wheatstone bridge; finally, calibrating the loading coefficients of the forces in multiple directions at multiple cross section positions of the force feedback bone cone 9-1:
step one, force loading, deflection force loading and voltage signal acquisition in four main directions are carried out by setting the mass of weights 3 at four ends of four steel wire ropes, and the method specifically comprises the following steps:
1.1, setting the mass of the weights 3 on the four steel wire ropes to be the initial minimum value, namely setting one weight 3 with the same mass (20g) at each of the four end parts of the four steel wire ropes; arranging the upright post 2 at the mounting position on the bottom plate 1 of the calibration platform, which is farthest from the force feedback bone awl 9-1; the horizontal rotating bracket 4 is adjusted to be arranged horizontally; adjusting the positions of the cushion blocks on the sliding grooves of the horizontal rotating bracket and the vertical fixing bracket to ensure that four force directions of the four steel wire ropes acting on the force feedback bone awl 9-1 are respectively four main directions, namely, a vertical upward direction, a vertical downward direction and two opposite directions vertical to the force feedback bone awl 9-1 on a horizontal plane; the data acquisition card acquires voltage signals which change along with the change of each strain gauge.
1.2, changing the mass of weights 3 at four end parts of four steel wire ropes by adopting n weight mass setting schemes, so as to change the force applied by the four steel wire ropes to the force feedback bone awl 9-1, and acquiring voltage signals changed along with the change of each strain gauge by a data acquisition card; n is more than or equal to 8, and in the mass setting schemes of various weights, the weights 3 at the four end parts of the four steel wire ropes are not completely equal in mass; compared with various weight mass setting schemes, the weight mass difference between the scheme with the least weight and the scheme with the most weight is not more than 1 Kg.
1.3, the mass of the weights 3 on the four steel wire ropes is reduced to the initial minimum value, the upright post 2 is adjusted to move to a mounting position in the direction close to the force feedback bone awl 9-1, and a data acquisition card acquires voltage signals which change along with the change of each strain gauge; step 1.2 is then repeated once.
1.4, reducing the mass of the weights 3 on the four steel wire ropes to the initial minimum value, adjusting the upright post 2 to move to a mounting position in the direction close to the force feedback bone awl 9-1, and acquiring voltage signals changed along with the change of each strain gauge by a data acquisition card; step 1.2 is then repeated once.
Step two, the position of each cushion block on the sliding grooves of the horizontal rotating support and the vertical fixing support and the mass of the weights 3 at the four end parts of the four steel wire ropes are changed to load the deviation force and acquire voltage signals, and the method specifically comprises the following steps:
2.1 the mass of the weights 3 on the four steel wire ropes is set to be the initial minimum value, and the upright post 2 is arranged at the mounting position, farthest away from the force feedback bone awl 9-1, on the bottom plate 1 of the calibration platform.
2.2 changing the positions of the cushion blocks on the sliding grooves of the horizontal rotating bracket and the vertical fixing bracket by adopting a setting scheme of m cushion block positions, wherein m is more than or equal to 8; in various cushion block position setting schemes, at least one of a vertical upward force, a vertical downward force and two opposite forces vertical to the force feedback bone awl 9-1 on a horizontal plane is changed; wherein, two different positions of a cushion block on the sliding groove of the horizontal rotating bracket or the vertical fixing bracket are two cushion block position setting schemes. After each cushion position setting scheme is executed, the step 1.2 is repeated once.
2.3, reducing the mass of the weights 3 on the four steel wire ropes to the initial minimum value, and adjusting the upright post 2 to move to an installation position in the direction close to the force feedback bone cone 9-1; adjusting the positions of the cushion blocks on the sliding grooves of the horizontal rotating bracket and the vertical fixing bracket to ensure that four force directions of the four steel wire ropes acting on the force feedback bone awl 9-1 are four main directions respectively; step 2.2 is then repeated once.
2.4, reducing the mass of the weights 3 on the four steel wire ropes to the initial minimum value, and adjusting the upright post 2 to move to a mounting position in the direction close to the force feedback bone cone 9-1; adjusting the positions of the cushion blocks on the sliding grooves of the horizontal rotating bracket and the vertical fixing bracket to ensure that four force directions of the four steel wire ropes acting on the force feedback bone awl 9-1 are four main directions respectively; step 2.2 is then repeated once.
Step three, the deflection force loading and the voltage signal acquisition are carried out by changing the inclination angle of the horizontal rotating bracket 4 relative to the horizontal plane, the positions of the cushion blocks on the sliding grooves of the horizontal rotating bracket and the vertical fixing bracket and the mass of the weights 3 at the four end parts of the four steel wire ropes, and the method specifically comprises the following steps:
3.1, setting the mass of the weights 3 on the four steel wire ropes as an initial minimum value, and arranging the upright post 2 at the mounting position, which is farthest away from the force feedback bone awl 9-1, on the bottom plate 1 of the calibration platform; the positions of the cushion blocks on the sliding grooves of the horizontal rotating bracket and the vertical fixing bracket are adjusted, so that four force directions of the four steel wire ropes acting on the force feedback bone awl 9-1 are four main directions respectively.
3.2 changing the inclination angle of the horizontal rotating bracket 4 relative to the horizontal plane by adopting an inclination angle setting scheme of k horizontal rotating brackets 4, wherein k is more than or equal to 8; after each inclination setting scheme of the horizontal rotating bracket 4 is executed, the step 1.2 is repeated once.
3.3, reducing the mass of the weights 3 on the four steel wire ropes to the initial minimum value, and adjusting the upright post 2 to move to an installation position in the direction close to the force feedback bone cone 9-1; the horizontal rotating bracket 4 is adjusted to be arranged horizontally; step 3.2 is then repeated once.
3.4, reducing the mass of the weights 3 on the four steel wire ropes to the initial minimum value, and adjusting the upright post 2 to move to a mounting position in the direction close to the force feedback bone cone 9-1; the horizontal rotating bracket 4 is adjusted to be arranged horizontally; step 3.2 is then repeated once.
3.5, setting the mass of the weights 3 on the four steel wire ropes as an initial minimum value, and arranging the upright post 2 at the mounting position, which is farthest away from the force feedback bone awl 9-1, on the bottom plate 1 of the calibration platform; the horizontal rotary bracket 4 is adjusted to a horizontal setting.
3.6 changing the inclination angle of the horizontal rotating bracket 4 relative to the horizontal plane by adopting k inclination angle setting schemes of the horizontal rotating bracket 4; after each tilt angle setting scheme of the horizontal rotary support 4 is executed, the step 2.2 is repeated once.
3.7, reducing the mass of the weights 3 on the four steel wire ropes to the initial minimum value, and adjusting the upright post 2 to move to an installation position in the direction close to the force feedback bone cone 9-1; the horizontal rotating bracket 4 is adjusted to be arranged horizontally; adjusting the positions of the cushion blocks on the sliding grooves of the horizontal rotating bracket and the vertical fixing bracket to ensure that four force directions of the four steel wire ropes acting on the force feedback bone awl 9-1 are four main directions respectively; step 3.6 is then repeated once.
3.8, reducing the mass of the weights 3 on the four steel wire ropes to the initial minimum value, and adjusting the upright post 2 to move to a mounting position in the direction close to the force feedback bone cone 9-1; the horizontal rotating bracket 4 is adjusted to be arranged horizontally; adjusting the positions of the cushion blocks on the sliding grooves of the horizontal rotating bracket and the vertical fixing bracket to ensure that four force directions of the four steel wire ropes acting on the force feedback bone awl 9-1 are four main directions respectively; step 3.6 is then repeated once.
Step four, the mounting position of the upright post 2 on the bottom plate of the calibration platform, the mass of weights 3 at the four end parts of the four steel wire ropes, the positions of the cushion blocks on the sliding grooves of the horizontal rotating bracket and the vertical fixing bracket and the inclination angle of the horizontal rotating bracket 4 relative to the horizontal plane are adjusted by the tee joint, so that the four steel wire ropes can adjust the directions and the sizes of four acting forces at different cross section positions of the force feedback bone cone 9-1, the force loading of the force feedback bone cone in four main directions and the loading of multiple directional deflection forces at different cross section positions are realized, and corresponding voltage signals which change along with the change of each strain gauge under various force sizes and direction loading are collected by a data acquisition card; therefore, different combination schemes of the installation position of the upright post 2 on the bottom plate of the calibration platform, the mass of the weights 3 at the four end parts of the four steel wire ropes, the positions of the cushion blocks on the sliding grooves of the horizontal rotating bracket and the vertical fixing bracket and the inclination angle of the horizontal rotating bracket 4 relative to the horizontal plane and voltage signals which are acquired by the data acquisition card under different combination schemes and change along with the change of each strain gauge are stored in the industrial personal computer in a one-to-one correspondence manner; then, the industrial personal computer decomposes the forces in four directions under different combination schemes into four main directions to obtain four main direction forces; then, two main directions which are perpendicular to each other are selected, two pairs of main direction forces which are parallel to each other in the four main direction forces obtained by decomposing the forces in the four directions under each combination scheme are respectively subjected to vector summation, and the two main direction forces are combined into two main direction forces in the two main directions which are perpendicular to each other; finally, for each cross section position of the force feedback bone cone 9-1, a linear relation between two main direction forces obtained by combining under each combination scheme and voltage signals reflecting the strain of the corresponding main direction is fitted in a straight line fitting mode, and the slopes of the two straight lines are the loading coefficients of the two mutually perpendicular main direction forces in the corresponding main directions respectively, so that the calibration of the loading coefficients of the forces in multiple directions at the multiple cross section positions of the force feedback bone cone 9-1 is completed.
In practical application, the force feedback bone awl 9-1 has a load force after being inserted into the spine 9-3; the data acquisition card acquires voltage signals reflecting the strain of the two main directions selected in the step four and transmits the voltage signals to the industrial personal computer; and (3) multiplying the voltage signals reflecting the two main direction strains selected in the fourth step by the calibrated loading coefficients in the two main directions (the loading coefficient at the position of the nearest cross section of the force feedback bone cone 9-1 is adjusted according to different insertion depths in an operation to obtain more accurate deflection force) respectively by the industrial personal computer to obtain two main direction forces, then carrying out vector summation on the two main direction forces to obtain the magnitude and the direction of the deflection force borne by the force feedback bone cone 9-1 in the operation process, when the magnitude of the deflection force exceeds a set threshold, providing alarm sound by the industrial personal computer and displaying the magnitude and the direction of the deflection force on an interface, and carrying out feedback adjustment on the force feedback bone cone 9-1 by a doctor according to the deflection angle of the deflection force until the deflection force is reduced to be within the set threshold.
Claims (4)
1. Spinal surgery force feedback bone awl's loading coefficient calibration device, including demarcation platform bottom plate, stand, weight, wire rope, vertical fixed bolster, loose pulley assembly, bone awl anchor clamps and anchor clamps support, its characterized in that: the device also comprises a horizontal rotating bracket, a cushion block, a strain gauge and a data acquisition card; eight strain gauges in total are arranged, four strain gauges form a group to form a Wheatstone bridge, and the output ends of the two Wheatstone bridges are connected with a data acquisition card through a signal amplifier respectively; the clamp bracket is fixed on the bottom plate of the calibration platform; the upright post is fixedly arranged at one of the three mounting positions of the bottom plate of the calibration platform; the horizontal rotating bracket and the two vertical fixing brackets are fixed on the upright post through screws; the two vertical fixed brackets are arranged up and down, and the horizontal rotating bracket is arranged between the two vertical fixed brackets; the two sliding chutes of the horizontal rotating bracket are fixedly connected with the through holes of the two cushion blocks through bolts and nuts respectively; the sliding chutes of the two vertical fixing brackets are fixedly connected with the through holes of the other two cushion blocks through bolts and nuts respectively; the bone awl fixture is fixed on the fixture bracket through a screw; the pulley assembly comprises a pulley, a bolt and a pulley bracket; the pulley and the smooth surface of the bolt fixedly connected to the pulley bracket through threads form a revolute pair; each cushion block is provided with two pulley assemblies, and a pulley bracket of each pulley assembly is fixed with the cushion block; the axes of the pulleys of all the pulley assemblies are arranged horizontally and in parallel, and are also parallel to the arrangement direction of the sliding grooves of the horizontal rotating bracket or the vertical fixing bracket; weights are fixed at one ends of the four steel wire ropes.
2. The device for calibrating the loading coefficient of the force feedback bone awl for the spinal surgery according to claim 1, wherein: the fixing mode of the upright post and each mounting position of the calibration platform bottom plate is as follows: four through holes at the bottom of the upright post are respectively connected with four threaded holes at each mounting position of the calibration platform bottom plate through screws.
3. The device for calibrating the loading coefficient of the force feedback bone awl for the spinal surgery according to claim 1, wherein: the bone awl clamp comprises a base, a clamping block and a screw; the base is fixed on the clamp bracket, the through holes of two oppositely arranged clamping blocks are respectively connected with two threaded holes of the base through screws, and the through holes of the other two oppositely arranged clamping blocks are respectively connected with two sliding grooves of the base through bolts and nuts; in every two oppositely arranged clamping blocks, the through hole of one clamping block is connected with the threaded hole of the other clamping block through a screw.
4. The calibration method of the loading coefficient calibration device of the spinal surgery force feedback bone cone according to the claim 1, 2 or 3, is characterized in that: the method comprises the following specific steps:
one end of a force feedback bone awl is clamped and fixed through a bone awl fixture, one ends of four steel wire ropes, which are not fixed with weights, are wound and fixed at the same cross section position of the other end of the force feedback bone awl, a first steel wire rope is wound around pulleys of two pulley assemblies at one end of a horizontal rotating support, a second steel wire rope is wound around pulleys of two pulley assemblies at the other end of the horizontal rotating support, a third steel wire rope is wound around pulleys of two pulley assemblies on one vertical fixing support, and a fourth steel wire rope is wound around pulleys of two pulley assemblies on the other vertical fixing support; the four steel wire ropes simultaneously apply force to the force feedback bone cone through weights to realize loading; then, two strain gauges are pasted on each side surface of the rectangular section shaft section of the force feedback bone cone, and four strain gauges on each two symmetrical side surfaces of the rectangular section shaft section form a Wheatstone bridge; finally, calibrating the loading coefficients of the forces in multiple directions at multiple cross section positions of the force feedback bone cone:
step one, force loading, deflection force loading and voltage signal acquisition in four main directions are carried out by setting the weight mass at the four ends of four steel wire ropes, and the method specifically comprises the following steps:
1.1, setting the mass of the weights on the four steel wire ropes to be the initial minimum value, namely setting a weight with equal mass at each of the four end parts of the four steel wire ropes; arranging the upright post at the mounting position on the bottom plate of the calibration platform, which is farthest away from the force feedback bone awl; adjusting the horizontal rotating bracket to be in horizontal arrangement; adjusting the positions of the cushion blocks on the sliding grooves of the horizontal rotating bracket and the vertical fixing bracket to ensure that four force directions of the two steel wire ropes acting on the force feedback bone awl are respectively four main directions, namely, the vertical direction is upward, the vertical direction is downward and two opposite directions vertical to the force feedback bone awl on the horizontal plane; the data acquisition card acquires voltage signals which change along with the change of each strain gauge;
1.2, the weight mass at the four end parts of the four steel wire ropes is changed by adopting n weight mass setting schemes, so that the force applied by the two steel wire ropes to the force feedback bone cone is changed, a data acquisition card acquires voltage signals changed along with the change of each strain gauge, and n is more than or equal to 8; in various weight mass setting schemes, the weight masses at the four end parts of the four steel wire ropes are not completely equal; compared with various weight mass setting schemes, the weight mass difference between the scheme with the least weight and the scheme with the most weight is not more than 1 Kg;
1.3, reducing the mass of the weights on the four steel wire ropes to the initial minimum value, adjusting the upright post to move to a mounting position close to the direction of the force feedback bone cone, and acquiring voltage signals changed along with the change of each strain gauge by a data acquisition card; then repeating step 1.2 once;
1.4, reducing the mass of the weights on the four steel wire ropes to the initial minimum value, adjusting the upright post to move to a mounting position close to the direction of the force feedback bone cone, and acquiring voltage signals changed along with the change of each strain gauge by a data acquisition card; then repeating step 1.2 once;
step two, the position of each cushion block on the sliding grooves of the horizontal rotating support and the vertical fixing support and the weight mass of the four end parts of the four steel wire ropes are changed to load the deviation force and acquire voltage signals, and the method specifically comprises the following steps:
2.1, setting the mass of the weights on the four steel wire ropes as an initial minimum value, and arranging the upright column at the mounting position on the bottom plate of the calibration platform, which is farthest away from the force feedback bone cone;
2.2 changing the positions of the cushion blocks on the sliding grooves of the horizontal rotating bracket and the vertical fixing bracket by adopting a setting scheme of m cushion block positions, wherein m is more than or equal to 8; in various cushion block position setting schemes, at least one of a vertical upward force, a vertical downward force and two opposite forces vertical to a force feedback bone cone on a horizontal plane is changed; repeating the step 1.2 once after each cushion block position setting scheme is executed;
2.3, reducing the mass of the weights on the four steel wire ropes to the initial minimum value, and adjusting the upright post to move to a mounting position in the direction close to the force feedback bone cone; adjusting the positions of the cushion blocks on the sliding grooves of the horizontal rotating bracket and the vertical fixing bracket to ensure that four force directions of the four steel wire ropes acting on the force feedback bone awl are four main directions respectively; then repeating the step 2.2 once;
2.4, reducing the mass of the weights on the four steel wire ropes to the initial minimum value, and adjusting the upright post to move to a mounting position in the direction close to the force feedback bone taper; adjusting the positions of the cushion blocks on the sliding grooves of the horizontal rotating bracket and the vertical fixing bracket to ensure that four force directions of the four steel wire ropes acting on the force feedback bone awl are four main directions respectively; then repeating the step 2.2 once;
step three, carrying out deflection force loading and voltage signal acquisition by changing the inclination angle of the horizontal rotating bracket relative to the horizontal plane, the positions of the cushion blocks on the sliding grooves of the horizontal rotating bracket and the vertical fixing bracket and the weight mass of the four end parts of the four steel wire ropes, and specifically comprising the following steps:
3.1, setting the mass of the weights on the four steel wire ropes as an initial minimum value, and arranging the upright column at the mounting position, which is farthest away from the force feedback bone cone, on the bottom plate 1 of the calibration platform; adjusting the positions of the cushion blocks on the sliding grooves of the horizontal rotating bracket and the vertical fixing bracket to ensure that four force directions of the four steel wire ropes acting on the force feedback bone awl are four main directions respectively;
3.2 changing the inclination angle of the horizontal rotating bracket relative to the horizontal plane by adopting k inclination angle setting schemes of the horizontal rotating bracket, wherein k is more than or equal to 8; repeating the step 1.2 once after each inclination angle setting scheme of the horizontal rotating bracket is executed;
3.3 reducing the mass of the weights on the four steel wire ropes to the initial minimum value, and adjusting the upright post to move to a mounting position close to the force feedback bone cone direction; adjusting the horizontal rotating bracket to be in horizontal arrangement; then repeating step 3.2 once;
3.4, reducing the mass of the weights on the four steel wire ropes to the initial minimum value, and adjusting the upright post to move to a mounting position in the direction close to the force feedback bone cone; adjusting the horizontal rotating bracket to be in horizontal arrangement; then repeating step 3.2 once;
3.5, setting the mass of the weights on the four steel wire ropes as an initial minimum value, and arranging the upright column at the mounting position on the bottom plate of the calibration platform, which is farthest away from the force feedback bone cone; adjusting the horizontal rotating bracket to be in horizontal arrangement;
3.6 changing the inclination angle of the horizontal rotating bracket relative to the horizontal plane by adopting k inclination angle setting schemes of the horizontal rotating bracket; repeating the step 2.2 once after each inclination angle setting scheme of the horizontal rotating bracket is executed;
3.7 reducing the mass of the weights on the four steel wire ropes to the initial minimum value, and adjusting the upright post to move to a mounting position close to the force feedback bone cone direction; adjusting the horizontal rotating bracket to be in horizontal arrangement; adjusting the positions of the cushion blocks on the sliding grooves of the horizontal rotating bracket and the vertical fixing bracket to ensure that four force directions of the four steel wire ropes acting on the force feedback bone awl are four main directions respectively; then repeating step 3.6 once;
3.8 reducing the mass of the weights on the four steel wire ropes to the initial minimum value, and adjusting the upright post to move to a mounting position in the direction close to the force feedback bone cone; adjusting the horizontal rotating bracket to be in horizontal arrangement; adjusting the positions of the cushion blocks on the sliding grooves of the horizontal rotating bracket and the vertical fixing bracket to ensure that four force directions of the four steel wire ropes acting on the force feedback bone awl are four main directions respectively; then repeating step 3.6 once;
step four, correspondingly storing voltage signals which are acquired by different combination schemes and change along with the change of each strain gauge and are acquired by data acquisition cards under different combination schemes, wherein the voltage signals are acquired by the stand columns at the installation positions of a bottom plate of the calibration platform, the weights at the four end parts of the four steel wire ropes, the positions of the cushion blocks on sliding grooves of the horizontal rotating bracket and the vertical fixing bracket, and the inclination angles of the horizontal rotating bracket relative to the horizontal plane, in the industrial personal computer one by one; then, the industrial personal computer decomposes the forces in four directions under different combination schemes into four main directions to obtain four main direction forces; then, two main directions which are perpendicular to each other are selected, two pairs of main direction forces which are parallel to each other in the four main direction forces obtained by decomposing the forces in the four directions under each combination scheme are respectively subjected to vector summation, and the two main direction forces are combined into two main direction forces in the two main directions which are perpendicular to each other; and finally, fitting linear relations between the two main direction forces combined under each combination scheme and voltage signals reflecting the corresponding main direction strain for each cross section position of the force feedback bone cone in a straight line fitting mode, wherein the slopes of the two straight lines are the loading coefficients of the two mutually perpendicular main direction forces in the corresponding main directions respectively.
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| WO2008070452A2 (en) * | 2006-11-21 | 2008-06-12 | Cayenne Medical, Inc. | Suture management and tensioning devices |
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