JP2013236748A - Device for bone temperature measurement and support device for bone processing - Google Patents

Abstract

PROBLEM TO BE SOLVED: To easily configure a device for bone temperature measurement for measuring a temperature of a bone when the bone is processed by a cutting tool.SOLUTION: A temperature of a drill 3 which is inserted to a jawbone B and drills a dental implant embedding hole is measured at temperature measuring parts P1 and P2 which are exposed from the jawbone B and a mucous membrane M and are at different distances from the jawbone B to be processed by the drill 3. On the basis of the temperatures measured in the respective temperature measuring parts P1 and P2, the temperature of the jawbone B in contact with the distal end of the drill 3 is estimated.

Description

  The present invention supports a bone temperature measuring device that measures the temperature of a bone when the bone is processed by the cutting tool, and supports the processing of the bone by the cutting tool according to the temperature measured by the bone temperature measuring device. The present invention relates to a bone processing support device.

  The operation of drilling bones with a cutting tool such as a drill is performed in various cases, such as when an artificial joint is attached in surgery or when a dental implant is attached in dentistry. In these operations, it is necessary to be careful not to overheat the bone, and it is known that bone cells die when exposed to a temperature of 47 ° C. or higher for 1 minute or longer.

  Therefore, by drilling a through-hole extending from the rear end to the front end of the drill bar in the drill bar and inserting a two-wire thermocouple probe into the through-hole, the temperature of the bone drilling site is increased. Monitoring has been proposed (see, for example, Patent Document 1).

Japanese National Patent Publication No. 9-502911

  However, in Patent Document 1, a drill hole having a diameter of several millimeters is provided with a through hole along the rotation axis, and a two-wire thermocouple probe is inserted into the through hole so as not to rotate integrally with the drill. . For this reason, the device of Patent Document 1 has poor feasibility, and even if possible, the manufacturing cost becomes high. Then, this invention was made | formed for the purpose of comprising easily the bone temperature measuring apparatus which measures the temperature of the bone, when a bone is processed with a blade.

  In the bone temperature measuring device of the present invention made to achieve the above object, the temperature measuring means exposes the temperature of the cutting tool whose tip is cut into the bone to process the bone, and is exposed to the outside of the living tissue. Measurement is performed at at least two points having different distances from the bone to be processed. Then, the temperature estimation means estimates the temperature of the bone or the blade tip temperature processed by the blade based on the at least two temperatures measured by the temperature measurement means. In the present invention, since the temperature of the at least two points of the blade tool exposed outside the living tissue may be measured by the temperature measuring means, the configuration becomes easy and the manufacturing cost can be reduced.

  In the bone processing support device of the present invention, the processing condition output means determines the processing conditions of the bone by the cutting tool based on the bone temperature or the cutting tool tip temperature estimated by the temperature estimating means of the bone temperature measuring device. Output. For this reason, bone overheating and the like can be easily prevented based on the output processing conditions.

It is a block diagram showing the bone processing assistance apparatus of 1st Embodiment to which this invention is applied. It is explanatory drawing expressed in detail about the temperature measurement part of the bone processing assistance apparatus. It is a flowchart showing the process in the bone processing assistance apparatus. It is explanatory drawing showing an example of the function used by the process. It is a flowchart showing the process in the bone processing assistance apparatus of 2nd Embodiment. It is a block diagram showing the bone processing assistance apparatus of 3rd Embodiment. It is a flowchart showing the process in the bone processing assistance apparatus.

[First Embodiment]
Next, embodiments of the present invention will be described with reference to the drawings. In the bone processing support device of the first embodiment shown in FIG. 1, a drill 3 is attached to the tip of a tool unit 1. The drill 3 is attached to a holder (not shown) of the tool unit 1 and is rotationally driven by a motor to drill a dental implant embedding hole (hereinafter also simply referred to as an embedding hole) in the jawbone B.

  Further, the tool unit 1 further includes an infrared camera 5 that photographs the drill 3 exposed from the jaw bone B and the mucous membrane M on the surface of the jaw bone B when the insertion hole is drilled in the jaw bone B, the drill 3, A water injection unit 7 for supplying cooling water to the jawbone B is provided. Then, the image captured by the infrared camera 5 is transmitted as temperature information to a computer 10 such as a personal computer, and based on the information, the computer 10 performs the following process on the temperature of the jawbone B processed by the drill 3 ( The temperature is substantially the same as the tip temperature of the drill 3.

As shown in FIG. 2, the computer 10 has two points exposed to the outside of the bone tissue of the jaw bone B and the mucous membrane B even when the tip of the drill 3 reaches the maximum depth D _MAX reached when the insertion hole is drilled. The temperature of the above temperature measuring parts P1, P2,... Is calculated in a non-contact manner based on the image taken by the infrared camera 5. The distances L1, L2,... From the tips of the drills 3 of the temperature measuring parts P1, P2,... Are different, and D _MAX <L1 <L2. Since the temperature measurement unit closer to the tip of the drill 3 shows a temperature closer to the temperature of the jawbone B, the computer 10 can detect the temperature of the jawbone B based on the temperatures of the plurality of temperature measurement units.

  Details of the processing will be described below with reference to the flowchart of FIG. 3 is repeatedly performed while the operator (dentist) operates a switch (not shown) provided in the tool unit 1 to rotate the drill 3. As shown in FIG. 3, in this process, first, at S1, the temperatures of at least two temperature measuring units are detected as described above. In the subsequent S3, the temperature of the jawbone B in contact with the tip of the drill 3 is calculated based on the temperature of the temperature measuring unit. As this calculation method, for example, as shown in FIG. 4, curves corresponding to various combinations of the temperatures of the two temperature measuring units P1 and P2 are stored in a matrix form, and the bone temperature of the jawbone B based on the curves. A method of calculating the above is conceivable. In addition, as a method of calculating the bone temperature of the jawbone B, various algorithms can be adopted, and a method using the temperature of three or more temperature measuring units can also be adopted. The bone temperature calculated in this way is displayed on a display (not shown) connected to the computer 10 in S5, and the process proceeds to S1 described above.

  When the computer 10 executes such processing, the surgeon adjusts the rotation speed and feed speed of the drill 3 (speed at which the drill 3 is inserted along the embedding hole) based on the display, and the bone temperature May not exceed 47 ° C. In particular, in order to cut bones such as the jawbone B by minimally invasive surgery, the gingiva, skin, etc. are not incised so much, so that sufficient water injection cannot be performed and stricter temperature management is required. When drilling a dental implant embedding hole, it becomes more difficult to sufficiently inject water into the back of the drill 3, and stricter temperature control is required. On the other hand, in this embodiment, since the temperature of the bone which cannot be seen directly behind the cutting tool difficult to measure directly can be calculated accurately, the death of bone cells can be suppressed and the prognosis can be improved.

  In this embodiment, instead of displaying the bone temperature, the computer 10 may display an instruction such as whether the rotation speed or feed rate of the drill 3 can be increased or decreased. Such instructions may be given by voice or the like. Moreover, the computer 10 may instruct | indicate the processing conditions which combined the rotation speed of the drill 3, the feed rate of the drill 3, and the amount of water injection of the water injection unit 7 with a display or an audio | voice. In that case, it is possible to better suppress the bone temperature from exceeding 47 ° C. by performing an operation according to the instructed processing conditions. Furthermore, in the present embodiment, when a bone temperature is calculated, a more accurate bone temperature can be calculated by preparing a model that takes into account the rate of temperature increase of the temperature measurement unit per second.

[Second Embodiment]
In the bone processing support apparatus configured as shown in FIG. 1, if a computer 10 can transmit a signal indicating processing conditions such as the number of rotations of the drill 3 and the amount of water injected from the water injection unit 7 to the tool unit 1, the computer The ten controls can be as follows.

  That is, in the process of the second embodiment shown in FIG. 5, following the processes of S1, S3, and S5 described above, the number of revolutions of the drill 3 is detected in S13, and the amount of water injected from the water injection unit 7 is determined in S15. Detected. In subsequent S17, a combination of parameters including the bone temperature of the jawbone B, the rotation speed of the drill 3, and the water injection amount of the water injection unit 7 is determined, and the rotation speed and water injection amount for maintaining the bone temperature appropriately are calculated. Is done. In S23, the rotation speed of the drill 3 is changed to the rotation speed calculated in S17, and in S25, the water injection amount of the water injection unit 7 is changed to the water injection volume calculated in S17. Transition.

  In this embodiment, since the rotation speed and the water injection amount are automatically controlled so that the bone temperature does not exceed 47 ° C., the operator can concentrate on improving the processing accuracy, so that more ideal embedding is possible. A hole can be formed and the prognosis can be further improved. In the present embodiment, the display of the bone temperature in S5 may be omitted. Instead, a warning is displayed or displayed in S5 when the bone temperature rises beyond the limit of control based on the rotation speed or the amount of water injected. You may speak. Further, S13 and S15, or S23 and S25 may be switched in order, or may be executed in parallel by time division or use of a plurality of CPUs.

[Third Embodiment]
The bone processing support device of the third embodiment shown in FIG. 6 differs from the first and second embodiments in that the tool unit 1 is attached to the arm 21 of the robot 20. The arm 21 includes a plurality of joints, is configured to be able to move the tool unit 1 electrically in at least one direction, and has brakes at all the joints.

  In the present embodiment, a signal for instructing the machining conditions can be transmitted from the computer 10 to the tool unit 1 as in the second embodiment, and a signal for instructing the feed speed of the tool unit 1 from the computer 10 to the robot 20. It can be sent. In this case, the processing of the computer 10 is as shown in FIG. 7, for example. The process of FIG. 7 differs from the process of FIG. 5 described above in that the processes of S11, S21, and S27 are added, and the difference will be mainly described.

  That is, in this process, following the processes of S1, S3, and S5 described above, the feed speed of the tool unit 1 by the robot 20 is detected in S11, the rotation speed of the drill 3 is detected in S13, and the water injection unit in S15. The amount of water injected from 7 is detected. In subsequent S17, a combination of parameters including the bone temperature of the jawbone B, the feed speed by the robot 20, the rotation speed of the drill 3, and the amount of water injected by the water injection unit 7 is determined, and the above-described feed for maintaining the bone temperature appropriately. Speed, number of rotations, and water injection amount are calculated.

  In S21, the feed speed by the robot 20 is changed to the feed speed calculated in S17, the rotation speed of the drill 3 is changed to the rotation speed calculated in S17 in S23, and the injection of the water injection unit 7 is performed in S25. The amount of water is changed to the amount of water injection calculated in S17, and the process proceeds to S27. In S27, the tool unit 1 is displaced at the feed speed changed in S21, the bone machining by the drill 3 is executed, and the process proceeds to S1 described above.

  In this embodiment, the feeding speed, the number of rotations, and the amount of water injected are automatically controlled so that the bone temperature does not exceed 47 ° C., so that the operation can be completed automatically and in the shortest time, and the prognosis is further improved. can do. In the present embodiment, S11, S13, S15, or S21, S23, S25 may be switched in order, or may be executed in parallel by time division or use of a plurality of CPUs.

[Other Embodiments]
In each of the above-described embodiments, the drill 3 is a cutting tool and a rotating tool, the jaw bone B and the mucous membrane M are living tissue, the jaw bone B is a bone, the infrared camera 5 is a temperature measuring means, and the computer 10 is a temperature estimating means and processing. Each of the processes of the computer 10 corresponds to a condition output means, and S3 corresponds to a temperature estimation means, and S5, S21, S23, and S25 correspond to processing condition output means, respectively. That is, among the configurations of the bone processing support device of each of the embodiments described above, the configuration related to S1 and S3 corresponds to an example of the bone temperature measuring device of the present invention.

  The present invention is not limited to the above embodiments, and can be implemented in various forms without departing from the gist of the present invention. For example, the water injection unit may be configured separately from the tool unit. Further, the present invention can be applied to various fields such as an operation for inserting an artificial joint, in addition to an operation for implanting a dental implant. Furthermore, various tools other than a drill can be applied as the cutting tool. For example, the cutting tool may be a milling cutting tool for cutting the bone surface or a blade for cutting bone. For a blade tool that does not rotate only by vibration, such as a blade, the temperature measurement means can be configured by a thermocouple or the like fixed to a portion of the blade tool exposed to the outside of the living tissue. Further, as the temperature measuring means in each of the above embodiments, for example, a thermopile element can be used in addition to the infrared camera 5.

DESCRIPTION OF SYMBOLS 1 ... Tool unit 3 ... Drill 5 ... Infrared camera 7 ... Water injection unit 10 ... Computer 20 ... Robot 21 ... Arm B ... Jaw bone M ... Mucosa

Claims (7)

The tip is cut into the bone, the temperature of the blade (3) for processing the bone (B) is exposed to the outside of the living tissue (B, M), and the distance from the bone processed by the blade is at least different Temperature measuring means (5) for measuring at two points;
Temperature estimating means (10, S3) for estimating the temperature of the bone or the cutting tool tip temperature processed by the cutting tool based on the temperature of the at least two points measured by the temperature measuring means;
A bone temperature measuring device comprising:   The bone temperature measuring device according to claim 1, wherein the temperature measuring means is relatively fixed to a tool unit (1) that holds the cutting tool movably. The cutting tool is a rotating tool (3) rotatably held by the tool unit,
The bone temperature measuring device according to claim 2, wherein the temperature measuring unit measures the temperature without contact with the rotary tool. The rotating tool is a drill (3);
The said temperature measurement means measures the said temperature at the time of drilling a dental implant embedding hole in a jawbone (B) with the said drill, The bone temperature measuring apparatus of Claim 3 characterized by the above-mentioned. The bone temperature measuring device according to any one of claims 1 to 4,
Processing condition output means (10, S5, S21, S23, S25) for outputting the bone processing conditions by the blade based on the bone temperature or the blade tip temperature estimated by the temperature estimation means of the bone temperature measuring device. When,
A bone processing support device characterized by comprising: The cutting tool is held by a tool unit (1) that holds the cutting tool movably, and includes a water injection unit (7) that supplies cooling water to the cutting tool, either integrally or separately from the tool unit,
The machining condition output means (10, S23, S25) outputs a signal instructing a motion condition of the cutting tool or a supply amount of the cooling water to the tool unit or the water injection unit as the machining condition. The bone processing support device according to claim 5. The cutting tool holds the cutting tool movably and is held by a tool unit configured to be held by the robot (20) so that the position thereof can be adjusted, and a water injection unit (7) for supplying cooling water to the cutting tool. Comprising the tool unit integrally or separately.
The machining condition output means (10, S21, S23, S25) sends a signal indicating the movement condition of the cutting tool or the position of the tool unit or the supply amount of the cooling water to the tool unit, the robot or the water injection unit. The bone processing support apparatus according to claim 5, wherein the processing condition is output as a processing condition.