CN118303946A - Orthopedic trepan control method and control equipment based on ultrasonic detection technology - Google Patents
Orthopedic trepan control method and control equipment based on ultrasonic detection technology Download PDFInfo
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Abstract
The invention relates to the technical field of orthopedic minimally invasive surgery auxiliary equipment, in particular to an orthopedic trephine control method and control equipment based on an ultrasonic detection technology. The ultrasonic transducer is arranged in the inner cavity of the hollow orthopedic trepan, the cutting depth and the residual thickness are monitored in real time by utilizing a first echo and a second echo generated by reflecting ultrasonic waves on the surface of the cut bone tissue, and the working parameters of the orthopedic trepan are adjusted according to the monitored data. The rotary speed, torque, feeding pressure and other working parameters of the surgical robot when the trepan is used can be accurately controlled, and the safety of the operation is improved, so that the frequent use of X-ray, CT and other imaging technologies in the operation can be avoided, and the radiation dose received by a patient is effectively reduced.
Description
Technical Field
The invention relates to the technical field of orthopedic minimally invasive surgery auxiliary equipment, in particular to an orthopedic trephine control method and control equipment based on an ultrasonic detection technology.
Background
Ultrasonic waves are mechanical waves of extremely short wavelength, typically shorter than 2 cm in air. It must rely on the medium for propagation and have some energy, and has different propagation speeds in different media, and can be widely used for cleaning, crushing, sterilizing, disinfecting and the like. There are many applications in medicine and industry. For example, chinese patent 2021109305062 discloses an ultrasonic osteotome for use under an intervertebral foramen scope, publication No. CN113545824A, which uses ultrasonic waves as power to drive a cutter bar to vibrate, and uses a cutter head at the front end of the cutter bar to resect bone tissue. The spine structure of the human body is complex, the shape is irregular, and great difficulty is brought to spine surgery, especially minimally invasive surgery. In spinal osteotomies, a physician needs to ensure that critical tissues such as blood vessels, spinal cord, nerves, etc., behind the bone are not damaged during the cutting process, and these sites are often out of view or blocked by other tissues from direct view. Traditional monitoring methods such as CT or X-rays, while providing structural information of the bone, do not allow for real-time monitoring and long-term imaging exposure increases the risk of the patient receiving radiation. Another chinese patent 2022230986895 discloses a tibial single plane osteotomy depth and distraction fixation system, publication No. CN219230014U, which uses a graduated pendulum saw blade to position the osteotomy depth. However, such fixation systems are only useful for pre-setting the depth of the osteotomy prior to surgery, and are not capable of monitoring the depth in real time, nor are they capable of bypassing obstructions or being used in spinal osteotomy outside the field of view.
Disclosure of Invention
Aiming at the technical problems, the invention aims to provide an orthopedic trepan control method and control equipment based on an ultrasonic detection technology, which are used for an online monitoring system of the cutting depth and the residual thickness of an orthopedic minimally invasive surgery and aim to accurately control the working parameters such as the rotating speed, the torque, the feeding pressure and the like when a surgical robot applies the trepan so as to improve the safety of the surgery and reduce the radiation dose accepted by patients.
The invention discloses an orthopaedics trephine control method based on ultrasonic detection technology, which is characterized by comprising the following steps,
Step one, initializing; the ultrasonic transducer is arranged in the inner cavity of the hollow orthopedic trepan, so that the transmitting and receiving directions of the ultrasonic transducer are both directed to the working surface at the front end of the orthopedic trepan, and the ultrasonic transducer is connected with the ultrasonic control module;
Step two, signal acquisition; aligning a working surface at the front end of the orthopedic trepan with cut bone tissue, sending an ultrasonic excitation signal to an ultrasonic transducer by an ultrasonic control module, transmitting ultrasonic waves to the working surface at the front end of the orthopedic trepan through the ultrasonic transducer, receiving ultrasonic echoes reflected by the cut bone tissue on the working surface by the ultrasonic transducer, selecting a first echo reflected by the cutting surface of the cut bone tissue in the ultrasonic echoes and a second echo reflected by the back surface of the cut bone tissue opposite to the cutting surface, converting the first echo and the second echo into ultrasonic echo signals, and transmitting the ultrasonic echo signals to an ultrasonic control module;
Step three, signal preprocessing; the ultrasonic control module filters and denoises the received ultrasonic echo signals of the first echo and the second echo to obtain clean ultrasonic signals of the first echo and the second echo;
Step four, calculating the thickness; calculating a thickness of the cut bone tissue on the orthopaedic trepan working surface using at least one of a time difference, a phase difference, and a spectral characteristic between the first echo ultrasonic signal and the second echo ultrasonic signal;
Step five, controlling working parameters; and adjusting working parameters of the orthopedic trephine according to the thickness of the cut bone tissue, driving the orthopedic trephine to operate by utilizing the working parameters, and continuously executing the second to fifth steps in the operation process of the orthopedic trephine until the thickness of the cut bone tissue is smaller than a set threshold value.
Through this scheme, with initiative ultrasonic technology be used for orthopedics minimally invasive surgery depth of cut and residual thickness on-line monitoring system, operating robot's rotational speed, moment of torsion, feeding pressure etc. working parameter when the application trepan can be accurately controlled, the security of operation has been improved to can avoid frequently using image technique, effectively reduce the radiation dose that the patient accepted.
Preferably, in the orthopedic trepan control method, physiological saline is injected into the inner cavity of the trepan in the operation process of the orthopedic trepan, so that scraps generated by cutting bone tissues by the orthopedic trepan are discharged along with the physiological saline.
Through this scheme, the piece that can in time discharge cutting bone tissue produced avoids the influence of piece to ultrasonic detection data.
In the orthopedic trepan control method, firstly, detecting the propagation speed of ultrasonic waves emitted by an ultrasonic transducer in cut bone tissues; then recording the time when the ultrasonic control module sends out ultrasonic excitation signals to the ultrasonic transducer and the time when the first echo ultrasonic signals and the second echo ultrasonic signals are received; calculating the thickness of the cut bone tissue on the working surface of the orthopedics annular saw by utilizing the time difference between the first echo ultrasonic signal and the second echo ultrasonic signal; the ultrasonic control module calculates the thickness of the cut bone tissue on the working surface of the orthopedic ring saw by adopting the following formula,
D1＝[(T2-T0)-(T1-TO)]*V2/2，
Wherein D1 represents the thickness of the cut bone tissue on the working surface of the orthopedic trepan,
T0 is the time at which the ultrasound control module sends out an ultrasound excitation signal to the ultrasound transducer,
T1 is the time at which the ultrasound control module receives the first echo ultrasound signal,
T2 is the time at which the ultrasound control module receives the second echo ultrasound signal,
V2 is the propagation velocity of the ultrasonic wave and the second echo in the bone tissue to be cut.
Through the scheme, the ultrasonic control module can calculate the thickness of the cut bone tissue according to the time difference of the echo ultrasonic signals so as to adjust the working parameters of the orthopedic trephine accordingly.
Preferably, in step four, calculating the thickness of the cut bone tissue on the working surface of the orthopaedic trepan using the phase difference between the first echo ultrasonic signal and the second echo ultrasonic signal; the ultrasonic control module extracts the phase information of the first echo ultrasonic signal and the second echo ultrasonic signal, calculates the thickness of the cut bone tissue on the working surface of the orthopaedics ring saw by adopting the following formula,
D 1＝(Φ2-Φ1)*V2/Ω
Wherein D1 represents the thickness of the cut bone tissue on the working surface of the orthopedic trepan,
Φ1 is the phase of the first echo ultrasound signal,
Φ2 is the phase of the second echo ultrasound signal,
Omega is the angular frequency of the ultrasonic wave and the first echo and the second echo
V2 is the propagation velocity of the ultrasonic wave and the second echo in the bone tissue to be cut.
Through the scheme, the ultrasonic control module can calculate the thickness of the cut bone tissue according to the phase difference of the echo ultrasonic signals so as to adjust the working parameters of the orthopedic trephine accordingly.
Preferably, in the second step, the ultrasonic excitation signal sent by the ultrasonic control module to the ultrasonic transducer is a pulse signal.
By the scheme, the power of the ultrasonic transducer can be reduced, the operation data quantity is reduced, and the operation load of the ultrasonic control module is reduced.
Preferably, in step one, the ultrasonic transducer includes a first transducer for transmitting ultrasonic waves and a second transducer for capturing ultrasonic waves;
In step two, the ultrasonic excitation signal sent by the ultrasonic control module to the ultrasonic transducer is a continuous signal.
Through the scheme, the working mode of the ultrasonic control module can be simplified, and the burden of the signal processing unit is lightened.
The invention relates to control equipment of an orthopedic trepan control method based on an ultrasonic detection technology, which comprises the following steps of
The ultrasonic transducer is arranged in the hollow orthopedic trepan inner cavity;
the ultrasonic control module is electrically connected with the ultrasonic transducer and comprises an ultrasonic pulse generator, an echo collecting and converting circuit and a control and signal processor, wherein the ultrasonic pulse generator is used for sending ultrasonic excitation signals to the ultrasonic transducer, the echo collecting and converting circuit is used for receiving echo signals transmitted by the ultrasonic transducer and carrying out filtering denoising treatment on the echo signals, the control and signal processor is used for calculating the thickness of cut bone tissues by using the echo signals, generating working parameters of the orthopedic trepan by using the thickness of the cut bone tissues and controlling the working state of the orthopedic trepan by using the working parameters.
Through this scheme, this controlgear utilizes ultrasonic technology on-line monitoring orthopedics minimally invasive surgery in depth of cut and residual thickness, and operating robot's rotational speed, moment of torsion, feeding pressure etc. working parameter when using the trepan can be accurate control, improves the security of operation.
Preferably, a physiological saline flushing channel and an instrument channel are arranged in the inner cavity of the orthopedic trephine, and the physiological saline flushing channel is used for injecting physiological saline into the inner cavity of the orthopedic trephine when the orthopedic trephine works.
According to the scheme, the physiological saline is utilized to discharge fragments generated during the operation of the orthopedic trephine, so that the influence of the fragments on ultrasonic detection data is avoided.
Preferably, the ultrasonic transducer includes a first transducer for transmitting ultrasonic waves and a second transducer for capturing ultrasonic waves.
Through the scheme, the working mode of the ultrasonic control module can be simplified, and the burden of the signal processing unit is lightened.
By adopting the technical scheme, the active ultrasonic technology is used for the online monitoring system of the cutting depth and the residual thickness of the minimally invasive surgery in orthopaedics, the working parameters such as the rotating speed, the torque, the feeding pressure and the like of the surgical robot when the trepan is used can be accurately controlled, the safety of the surgery is improved, the image technologies such as X-rays, CT and the like can be avoided from being frequently used in the surgery, and the radiation dose accepted by patients is effectively reduced.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description, serve to explain the principles of the invention.
Fig. 1 is a schematic diagram of the working principle of an embodiment of the present invention.
Fig. 2 is a schematic diagram of the working principle of another embodiment of the present invention.
Detailed Description
Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless it is specifically stated otherwise. The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the invention, its application, or uses. Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but are intended to be part of the specification where appropriate.
In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of exemplary embodiments may have different values. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.
As shown in fig. 1, the orthopedic trephine control method based on the ultrasonic detection technology of the invention comprises the following steps,
Step one, initializing; the ultrasonic transducer 1 is arranged in the inner cavity of the hollow orthopedic trephine 2, so that the transmitting and receiving directions of the ultrasonic transducer 1 are both directed to the working surface at the front end of the orthopedic trephine 2, and the ultrasonic transducer 1 is connected with the ultrasonic control module 3 so as to facilitate the ultrasonic transducer 1 to exchange information with the ultrasonic control module 3; meanwhile, signal connection between the ultrasonic control module 3 and a driving device of the orthopedic trephine 2 is established as shown by the broken lines in fig. 1 and 2, so that the ultrasonic control module 3 can send out control signals to control and adjust working parameters of the orthopedic trephine 2; an ultrasonic transducer is a device that converts electromagnetic energy into mechanical energy in the ultrasonic frequency range, typically made of piezoelectric ceramics or other magnetostrictive materials that resonate at the ultrasonic frequency. As shown in fig. 1, the ultrasonic transducer 1 according to one embodiment of the present invention adopts an integrated miniaturized design integrating ultrasonic transmitting and receiving functions, and is capable of simultaneously transmitting ultrasonic waves and receiving reflected signals; as shown in fig. 2, the ultrasonic transducer 1 of another embodiment of the present invention adopts a split type structure, which includes a first transducer 11 for transmitting ultrasonic waves and a second transducer 12 for capturing ultrasonic waves, the ultrasonic waves are transmitted to the front end of the orthopedic trephine 2 by the first transducer 11, and the reflected signals are received and captured by the second transducer 12. The orthopedic trephine 2 adopts a trephine with slag discharging function and hollow structure, the front end of the trephine is provided with a working surface with annular saw teeth, a physiological saline flushing channel 21 and an instrument channel 22 are arranged in the inner cavity of the orthopedic trephine 2, and the physiological saline flushing channel 21 is used for injecting physiological saline into the inner cavity of the orthopedic trephine 2 when the orthopedic trephine 2 works. Instrument channel 22 serves as a channel for other surgical instruments to enter and exit the surgical site.
The normal saline flushing channel 21 is a water pipe communicated with the inner cavity of the orthopedic trephine 2, and can use 1 water pipe with water inlet and water outlet functions, and can also use one water pipe with one inlet and one outlet. During the operation of the orthopedic trephine 2, physiological saline is injected into the inner cavity of the orthopedic trephine 2 through the water pipe, so that the scraps generated by cutting bone tissues by the orthopedic trephine 2 are discharged along with the physiological saline.
Step two, signal acquisition; aligning the working surface at the front end of the orthopedic trepan 2 with the cut bone tissue, sending an ultrasonic excitation signal to an ultrasonic transducer 1 by an ultrasonic control module 3, transmitting ultrasonic waves 4 to the working surface at the front end of the orthopedic trepan 2 through the ultrasonic transducer 1, receiving ultrasonic echoes reflected by the cut bone tissue on the working surface by the ultrasonic transducer 1, selecting a first echo 5 reflected by the cut surface of the cut bone tissue in the ultrasonic echoes and a second echo 6 reflected by the back surface of the cut bone tissue opposite to the cut surface, converting the first echo 5 and the second echo 6 into ultrasonic echo signals, and transmitting the ultrasonic echo signals to the ultrasonic control module 3;
The ultrasonic wave 4 emitted by the ultrasonic transducer 1 firstly enters the physiological saline environment of the operation in the transmission process, firstly reaches the front surface of the detected bone, namely the cutting surface of the cut bone tissue after being transmitted in the physiological saline environment for a period of time, and on the cutting surface, a part of ultrasonic wave is reflected to form a first echo 5, and the first echo 5 reversely propagates back to the ultrasonic transducer 1 through the physiological saline environment, is captured by the ultrasonic transducer 1 and is converted into an ultrasonic echo signal, namely the first echo ultrasonic signal; on the cutting surface of the cut bone tissue, another part of the ultrasonic waves pass through the cutting surface and propagate in the bone tissue, and form backward scattering ultrasonic testing echo and continuous forward transmission ultrasonic waves, wherein the scattering ultrasonic testing echo is expressed as continuous ultrasonic waves after frequency modulation, and is ignored here; the penetrating ultrasonic wave will reach the back surface of the bone tissue after traveling in the bone tissue for a period of time, that is, the back surface of the cut bone tissue opposite to the cutting surface, the penetrating ultrasonic wave is reflected at the back surface of the cut bone tissue to form a second echo 6, the second echo 6 travels back in the bone tissue and reaches the front surface of the bone tissue after traveling in the bone tissue for a period of time, that is, the cutting surface, the second echo 6 passes through the cutting surface into the physiological saline environment, reaches the ultrasonic transducer 1 after traveling in the physiological saline environment for a period of time, and is captured by the ultrasonic transducer 1 as an ultrasonic echo signal, which is called a second echo ultrasonic signal;
since the propagation speed of the ultrasonic excitation signal and the first echo ultrasonic signal and the second echo ultrasonic signal in the circuit is far greater than the propagation speed of the ultrasonic wave 4, the first echo 5 and the second echo 6 in the physiological saline or bone tissue environment, the propagation time of the signals in the circuit is negligible. In this embodiment, the time of generating the ultrasonic excitation signal is used to replace the time of sending the ultrasonic wave 4 by the ultrasonic transducer 1, and the time of receiving the first echo ultrasonic signal and the second echo ultrasonic signal by the ultrasonic control module 3 is used to replace the time of capturing the first echo 5 to the second echo 6 by the ultrasonic transducer 1. The following steps are continued.
Step three, signal preprocessing; the ultrasonic control module 3 filters and denoises the ultrasonic echo signals of the first echo and the second echo to obtain clean first echo ultrasonic signals and second echo ultrasonic signals; the filtering and denoising methods and techniques are well known in the art and will not be described in detail herein.
Step four, calculating the thickness; and calculating the thickness of the cut bone tissue on the working surface of the orthopedic trephine 2 by using at least one of the time difference and the phase difference between the first echo ultrasonic signal and the second echo ultrasonic signal. The time difference method and the phase difference method can be used independently, or the time difference method and the phase difference method can be used simultaneously and a weighting algorithm is adopted to obtain a final result, so that errors possibly existing in a single algorithm can be reduced.
The first embodiment of the present invention will be described by taking a time difference method as an example.
If the thickness of the cut bone tissue on the working surface of the orthopedic trepan 2 is to be calculated by a time difference method, in the second step, firstly, the propagation speed of the ultrasonic wave emitted by the ultrasonic transducer in the cut bone tissue is detected, and due to the individual difference, the ultrasonic wave propagation speed in the cut bone tissue of different patients and different operation positions has certain difference due to the reasons of ultrasonic frequency, power setting and the like, the accurate detection of the propagation speed of the ultrasonic wave is beneficial to accurately measuring the thickness of the cut bone tissue. Of course, if the difference is not large, the average value of the propagation speed of the ultrasonic wave in the bone tissue calculated from the statistical data may be directly used.
After obtaining data of the propagation speed of the ultrasonic wave in the bone tissue, the time at which the ultrasonic control module 3 transmits the ultrasonic excitation signal to the ultrasonic transducer 1 and the time at which the first echo ultrasonic signal and the second echo ultrasonic signal are received are then recorded. As described above, the present embodiment replaces the time when the ultrasonic transducer 1 emits the ultrasonic wave 4 with the time when the ultrasonic control module 3 emits the ultrasonic excitation signal to the ultrasonic transducer 1, and replaces the time when the ultrasonic transducer 1 captures the first echo 5 to the second echo 6 with the time when the ultrasonic control module 3 receives the first echo ultrasonic signal and the second echo ultrasonic signal. The error thus generated is very small and can be ignored or compensated for by a compensation algorithm.
Specifically, in step four, the thickness of the cut bone tissue on the working surface of the orthopaedic trephine 2 is calculated using the time difference between the first echo ultrasonic signal and the second echo ultrasonic signal; the ultrasonic control module 3 calculates the thickness of the cut bone tissue on the working surface of the orthopedic trephine 2 by adopting the following formula, d1= [ (T2-T0) - (T1-TO) ]. V2/2,
Wherein D1 represents the thickness of the cut bone tissue on the working surface of the orthopedic trephine 2,
T0 is the time at which the ultrasound control module 3 sends out an ultrasound excitation signal to the ultrasound transducer 1,
T1 is the time when the ultrasound control module 3 receives the first echo ultrasound signal,
T2 is the time when the ultrasound control module 3 receives the second echo ultrasound signal,
V2 is the propagation velocity of the ultrasonic wave 4 and the second echo 6 in the bone tissue to be cut.
T2-T0 is the length of time it takes from the emission of the ultrasonic wave 4 to the second echo to the ultrasonic transducer 1; T1-TO is the length of time it takes from the ultrasound wave 4 TO the first echo TO the ultrasound transducer 1; the subtraction is the total time spent by the second echo in the cut bone tissue, the propagation distance of the second echo in the bone tissue can be obtained by multiplying the total time spent by the second echo in the cut bone tissue by the propagation speed of the ultrasonic wave in the bone tissue, and the thickness of the cut bone tissue can be obtained by dividing the propagation distance of the second echo in the bone tissue by 2 because the propagation distance of the reflected wave is twice the thickness.
By adopting the calculation method, when the working surface of the orthopedic ring saw 2 does not contact the surface of the bone tissue to be cut, the original thickness of the bone tissue before cutting is calculated, after the orthopedic ring saw 2 starts to cut, the thickness of the bone tissue gradually decreases along with the cutting of the orthopedic ring saw 2, at the moment, the thickness of the rest part of the bone tissue to be cut can be obtained by calculating through the method, the thickness of the bone tissue to be cut can be obtained by subtracting the original thickness from the thickness of the rest part, and the cutting depth and the rest thickness of the bone tissue in the minimally invasive orthopedics operation can be monitored on line in real time by continuously repeating the calculation process in the operation process, and the monitoring data are used for controlling and adjusting the working parameters of the orthopedic ring saw 2.
Step five, controlling working parameters; the working parameters of the orthopedic trephine 2 are adjusted according to the thickness of the cut bone tissue, and the orthopedic trephine 2 is driven to operate by utilizing the working parameters, wherein the working parameters of the orthopedic trephine 2 comprise rotating speed, torque, axial moving speed and axial propelling pressure. The steps two to five are continuously executed during the operation of the orthopedic trephine 2 until the thickness of the cut bone tissue is less than the set threshold value.
In addition, as a second embodiment of the present invention, the thickness of the cut bone tissue on the working surface of the orthopaedic trephine 2 may also be calculated using a phase difference method.
In this embodiment, in the second step, the propagation speed of the ultrasonic wave emitted from the ultrasonic transducer in the cut bone tissue is first detected.
Then, in the fourth step, the thickness of the cut bone tissue on the working surface of the orthopedic trephine 2 is calculated by using the phase difference between the first echo ultrasonic signal and the second echo ultrasonic signal; the ultrasonic control module 3 extracts the phase information of the first echo ultrasonic signal and the second echo ultrasonic signal, and calculates the thickness of the cut bone tissue on the working surface of the orthopedic trepan 2 by adopting the following formula,
D 1＝(Φ2-Φ1)*V2/Ω
Wherein D1 represents the thickness of the cut bone tissue on the working surface of the orthopedic trephine 2,
Φ1 is the phase of the first echo ultrasound signal,
Φ2 is the phase of the second echo ultrasound signal,
Omega is the angular frequency of the ultrasonic wave 4 and the first echo 5 and the second echo 6,
V2 is the propagation velocity of the ultrasonic wave 4 and the second echo 6 in the bone tissue to be cut.
In the operation, when the orthopedic trephine 2 approaches to penetrating bone tissue, the rotating speed is properly reduced, the axial moving speed of the orthopedic trephine 2 is slowed down, the damage to peripheral tissues such as periosteum and bone marrow can be effectively reduced, and when the orthopedic trephine 2 is detected to completely penetrate the bone tissue, the damage to the peripheral tissues is prevented because of immediate stopping. For this purpose, the operating parameters for controlling the operation of the orthopaedic trephine 2 include at least the rotational speed and the axial displacement speed and the distance. In the operation, the cutting depth and the residual thickness are monitored on line by adopting the method, and parameters such as the rotating speed, the axial moving speed and the like of the orthopedic trephine 2 are adjusted at any time according to the change of the thickness.
As a further development of the invention, in step two, the ultrasonic excitation signal emitted by the ultrasonic control module 3 to the ultrasonic transducer 1 is a pulsed signal, that is to say, within a period of one working cycle, one or several ultrasonic pulse excitation signals are emitted, which can be satisfied by the ultrasonic transducer 1 receiving and capturing the first echo and the second echo and calculating the thickness of the cut bone tissue.
In another embodiment of the present invention, the pulse signal is more suitable for the embodiment of fig. 1, so that the transmitting and receiving integrated ultrasonic transducer 1 can transmit and receive ultrasonic waves in a time-division manner, and the ultrasonic control module 3 can conveniently process signals; the embodiment of fig. 2, which uses split ultrasonic transducers, the transmission of ultrasonic waves and the reception of echoes by the first transducer 11 and the second transducer 12 respectively, is more suitable for transmitting continuous ultrasonic waves, and the ultrasonic excitation signal sent by the ultrasonic control module 3 to the first transducer 11 of the ultrasonic transducers is a continuous signal, and the continuous ultrasonic waves are transmitted by the first transducer 11 to the front end of the orthopedic trephine 2.
As shown in FIG. 1, the control device of the orthopedic trepan control method based on the ultrasonic detection technology comprises
The ultrasonic transducer 1 is arranged in the inner cavity of the hollow orthopedic trepan 2, and the ultrasonic transducer 1 can emit ultrasonic waves and can receive and capture the ultrasonic waves; the orthopedic trephine 2 is operated by a mechanical arm driven by a motor.
The ultrasonic control module 3 is electrically connected with the ultrasonic transducer 1, and comprises an ultrasonic pulse generator 31 for sending ultrasonic excitation signals to the ultrasonic transducer 1, an echo collection and conversion circuit 32 for receiving echo signals transmitted by the ultrasonic transducer 1 and performing filtering and denoising treatment on the echo signals, and a control and signal processor 33, wherein the control and signal processor 33 calculates the thickness of cut bone tissues by using the echo signals, generates working parameters of the orthopedic trepan 2 by using the thickness of the cut bone tissues, and controls the working state of the orthopedic trepan 2 by using the working parameters.
As shown in fig. 2, the ultrasonic transducer 1 comprises a first transducer 11 for transmitting ultrasonic waves and a second transducer 12 for capturing ultrasonic waves, and is a further improvement of the control device of the orthopedic trepan control method based on the ultrasonic detection technology. The first transducer 11 and the second transducer 12 are arranged in parallel or in tandem in the inner cavity of the orthopedic trephine 2.
The working principle of the control device according to the invention is as described above and is not repeated here.
While certain specific embodiments of the invention have been described in detail by way of example, it will be appreciated by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the invention. It will be appreciated by those skilled in the art that modifications may be made to the above embodiments without departing from the scope and spirit of the invention. The scope of the invention is defined by the appended claims.
Claims (9)
1. An orthopaedics trepan control method based on ultrasonic detection technology is characterized by comprising the following steps,
Step one, initializing; the ultrasonic transducer (1) is arranged in the inner cavity of the hollow orthopedic trephine (2), so that the transmitting and receiving directions of the ultrasonic transducer (1) are both directed to the working surface at the front end of the orthopedic trephine (2), and the ultrasonic transducer (1) is connected with the ultrasonic control module (3);
Step two, signal acquisition; aligning a working surface at the front end of the orthopedic trepan (2) with cut bone tissue, sending an ultrasonic excitation signal to an ultrasonic transducer (1) by an ultrasonic control module (3), transmitting ultrasonic waves (4) to the working surface at the front end of the orthopedic trepan (2) through the ultrasonic transducer (1), receiving ultrasonic echoes reflected by the cut bone tissue on the working surface by the ultrasonic transducer (1), selecting a first echo (5) reflected by the cut surface of the cut bone tissue in the ultrasonic echoes and a second echo (6) reflected by the back surface of the cut bone tissue opposite to the cut surface, converting the first echo (5) and the second echo (6) into ultrasonic echo signals, and transmitting the ultrasonic echo signals to the ultrasonic control module (3);
Step three, signal preprocessing; the ultrasonic control module (3) filters and denoises the received ultrasonic echo signals of the first echo and the second echo to obtain clean first echo ultrasonic signals and second echo ultrasonic signals;
step four, calculating the thickness; calculating the thickness of the cut bone tissue on the working surface of the orthopedic trephine (2) by using at least one of the time difference and the phase difference between the first echo ultrasonic signal and the second echo ultrasonic signal;
Step five, controlling working parameters; and adjusting the working parameters of the orthopedic trephine (2) according to the thickness of the cut bone tissue, and driving the orthopedic trephine (2) to operate by utilizing the working parameters, and continuously executing the second to fifth steps in the operation process of the orthopedic trephine (2) until the thickness of the cut bone tissue is smaller than a set threshold value.
2. The orthopedic trepan control method based on the ultrasonic detection technology according to claim 1, wherein the method comprises the following steps:
during the operation of the orthopedic trephine (2), physiological saline is injected into the inner cavity of the trephine, so that the scraps generated by cutting bone tissues by the orthopedic trephine (2) are discharged along with the physiological saline.
3. The orthopedic trepan control method based on the ultrasonic detection technology according to claim 1 or 2, characterized in that:
Firstly, detecting the propagation speed of ultrasonic waves emitted by an ultrasonic transducer in cut bone tissues; then recording the time when the ultrasonic control module (3) sends out ultrasonic excitation signals to the ultrasonic transducer (1) and the time when the first echo ultrasonic signals and the second echo ultrasonic signals are received;
Calculating the thickness of the cut bone tissue on the working surface of the orthopedic trephine (2) by utilizing the time difference between the first echo ultrasonic signal and the second echo ultrasonic signal; the ultrasonic control module (3) calculates the thickness of the cut bone tissue on the working surface of the orthopedic trephine (2) by adopting the following formula,
D1＝[(T2-T0)-(T1-TO)]*V2/2，
Wherein D1 represents the thickness of the cut bone tissue on the working surface of the orthopedic trephine (2),
T0 is the time when the ultrasonic control module (3) sends out ultrasonic excitation signals to the ultrasonic transducer (1),
T1 is the time when the ultrasonic control module (3) receives the first echo ultrasonic signal,
T2 is the time at which the ultrasound control module (3) receives the second echo ultrasound signal,
V2 is the propagation velocity of the ultrasonic wave (4) and the second echo (6) in the bone tissue to be cut.
4. The orthopedic trepan control method based on the ultrasonic detection technology according to claim 1 or 2, characterized in that:
firstly, detecting the propagation speed of ultrasonic waves emitted by an ultrasonic transducer in cut bone tissues;
calculating the thickness of the cut bone tissue on the working surface of the orthopedic trephine (2) by utilizing the phase difference between the first echo ultrasonic signal and the second echo ultrasonic signal; the ultrasonic control module (3) extracts the phase information of the first echo ultrasonic signal and the second echo ultrasonic signal, calculates the thickness of the cut bone tissue on the working surface of the orthopedic trepan (2) by adopting the following formula,
D 1＝(Φ2-Φ1)*V2/Ω
Wherein D1 represents the thickness of the cut bone tissue on the working surface of the orthopedic trephine (2),
Φ1 is the phase of the first echo ultrasound signal,
Φ2 is the phase of the second echo ultrasound signal,
Omega is the angular frequency of the ultrasonic wave (4), the first echo (5) and the second echo (6),
V2 is the propagation velocity of the ultrasonic wave (4) and the second echo (6) in the bone tissue to be cut.
5. The orthopedic trepan control method based on the ultrasonic detection technology according to claim 1 or 2, characterized in that:
In the second step, the ultrasonic excitation signal sent by the ultrasonic control module (3) to the ultrasonic transducer (1) is a pulse signal.
6. The orthopedic trepan control method based on the ultrasonic detection technology according to claim 1 or 2, characterized in that:
in step one, the ultrasonic transducer (1) comprises a first transducer (11) for emitting ultrasonic waves and a second transducer (12) for capturing ultrasonic waves;
In the second step, the ultrasonic excitation signal sent by the ultrasonic control module (3) to the ultrasonic transducer (1) is a continuous signal.
7. A control device for an orthopedic trepan control method based on ultrasonic detection technology according to any one of claims 1-2, characterized in that:
The control device comprises
The ultrasonic transducer (1) is arranged in the inner cavity of the hollow orthopedic trephine (2);
The ultrasonic control module (3) is electrically connected with the ultrasonic transducer (1), and comprises an ultrasonic pulse generator (31) for sending ultrasonic excitation signals to the ultrasonic transducer (1), an echo collection and conversion circuit (32) for receiving echo signals transmitted by the ultrasonic transducer (1) and performing filtering and denoising treatment on the echo signals, and a control and signal processor (33), wherein the control and signal processor (33) calculates the thickness of cut bone tissues by using the echo signals, generates working parameters of the orthopedic trepan (2) by using the thickness of the cut bone tissues, and controls the working state of the orthopedic trepan (2) by using the working parameters.
8. The control device of the orthopedic trepan control method based on the ultrasonic detection technology according to claim 7, wherein:
the orthopedic trephine (2) is characterized in that a physiological saline flushing channel (21) and an instrument channel (22) are arranged in the inner cavity of the orthopedic trephine (2), and the physiological saline flushing channel (21) is used for injecting physiological saline into the inner cavity of the orthopedic trephine (2) when the orthopedic trephine (2) works.
9. The control device of the orthopedic trepan control method based on the ultrasonic detection technology according to claim 5 or 6, characterized in that: the ultrasonic transducer (1) comprises a first transducer (11) for emitting ultrasonic waves and a second transducer (12) for capturing ultrasonic waves.
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| Publication Number | Publication Date |
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