JP2019503721A - 骨ネジ長さ決定に適した測定ユニットを含む外科パワードリル - Google Patents
骨ネジ長さ決定に適した測定ユニットを含む外科パワードリル Download PDFInfo
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Abstract
Description
長い手術時間をもたらし、
長すぎるネジの挿入は、軟組織の炎症、疼痛、および再手術をもたらし、
短すぎるネジの挿入は、骨接合不全、再手術をもたらし、
ネジ交換の必要性から、ネジスクラップ、ハードウェアコストの増加をもたらす。
一体型深さ測定装置を有する外科ドリルは、XIEの国際公開第2015/006296号パンフレットから公知である。この公知の外科ドリルは、手術中にドリルビットに沿って摺動し、その遠位端が骨の近位面に当接するスリーブを有する伸縮ロッドと、ドリルビットに対して伸縮ロッドの運動を停止するのに適した制動機構と、ドリルビットが骨を貫通するときを示す指令信号に反応して制動機構と係合するためのアクチュエータと、を備える。センサは、ドリル装置のモータによって引き出される電流を測定する。ドリルビットが骨の遠位側を通じて穴を空けるとき、骨に対してこすれるドリルビットによって発生した摩擦力が急激に低下して、モータによって引き出される電流の急速な低下をもたらす。ある期間にわたってモータによって引き出される電流の急激な低下は、センサおよびプロセッサによって測定または感知されるが、これは制動モジュールソフトウェアを実行し、センサから受信した電流データの変化を、センサパラメータ閾値に格納された所定の閾値電流変化または電流低下レベルと比較する。スリーブの遠位端を越えて延在するドリルビットの長さは、伸縮ロッドに装着されたスケールまたは深さゲージによって測定される。あるいは、スリーブの遠位端を越えて延在するドリルビットの長さは、デジタルノギスによって測定される。この公知の外科ドリルの不都合は2つの異なる測定装置を含むことであり、1つ目はモータによって引き出される電流の測定によってドリルビットが骨を出るときを検出するためのもの、2つ目は穿孔深さを判定するためのもので、結果的に複雑な電気機械測定システムとなる。
移植片、器具、または骨の表面に対して縦軸の方向にハウジングによって覆われた測定距離xと一致する、ドリルビットの切削チップの現在の位置xと、
前方移動するドリルビットの現在の速度と、
適切な移植片長さが導出される、最新のジャークおよび/または加速度ピークにおけるドリルビットの切削チップの位置と、である。
現在使用されている用語および文言の以下の定義は、本明細書を通じて使用される際に使用されるその正確な意味を説明する。
穿孔プロセスの間、スピンドル13の縦軸7の方向で骨または移植片26の表面に対するハウジング12によって覆われた距離xは、ドリルビット5が外科パワードリル2のチャック6内にしっかりと固定され、以下に詳細に説明されるように穿孔プロセスの始めに位置決めされるので、穿孔方向の骨または移植片26の表面に対するドリルビット5の切削チップ9の位置xに関連している。
本発明による装置の処理ユニット14は、デジタル技術またはアナログ技術を用いて構成されることが可能である。
1)変位可能な第2部材4が、図3、図4、および図11aから図11eに示されるように第2部材4の前端10から縦軸7の方向に延在するドリルスリーブ23を備えるか否か、または
2)ドリルスリーブが処置される骨を覆う軟組織に事前に挿入された個別の部材であるか否か、または
3)切削チップ9のゼロ位置が、たとえば骨プレートなどの移植片26に対して設定されるか否か、
という事実に依存する。ドリルビット5が、穿孔の間に骨プレートに接触または取り付けられたドリルスリーブ23の中で案内され、したがってドリルビット5の切削チップ9を骨プレートの上面に当接させない場合(図9)、骨プレートの上面に対応する高さでドリルスリーブ23の中に物理的ストップ28を提供する較正装置27は、測定の開始点を決定するために使用可能である(図8)。あるいは、ドリルビット5およびドリルスリーブ23の長さがわかっている場合、開始点はこのデータから計算されることが可能である。
変位可能な第2部材4の前端10およびドリルビット5の切削チップ9が骨の表面に当接するように、骨に対して外科パワードリル2を位置決めするステップと、
時間に対して穿孔方向の骨の表面に対するドリルビット5の切削チップ9の位置xの測定のための開始点(x=0)としての相対位置を格納するステップと、を備える
変位可能な第2部材4の前端10が、処置される骨を覆う軟組織に挿入されるドリルスリーブ23に当接するように、骨に対して外科パワードリル2を位置決めするステップと、
ドリルビット5の切削チップ9が骨の表面に当接するように、変位可能な第2部材4に対して外科パワードリル2のチャック6内に固定されたドリルビット5の切削チップ9を調整するステップと、
時間に対して穿孔方向の骨または移植片の表面に対するドリルビット5の切削チップ9の位置xの測定のための開始点(x=0)としての相対位置を格納するステップと、を備える。
第2部材4の前端10が較正装置27の表面29に接触し、ドリルビット5の切削チップ9が較正装置27の表面29から突起しているストップ28に当接するように、較正装置27(図7および図8)を用いて変位可能な第2部材4に対してチャック6内に固定されたドリルビット5を位置決めするステップと、
時間に対して穿孔方向の骨または移植片26の表面に対するドリルビット5の切削チップ9の位置xの測定のための開始点(x=0)としての相対位置を格納するステップと、
変位可能な第2部材4の前端10が移植片26の表面に当接するように、たとえば骨プレートなどの移植片26に対して外科パワードリル2を位置決めするステップ(図9)と、を備える。
Claims (53)
- 骨に穴を穿孔するための、骨ネジ長さを決定するように構成された装置(25)であって、装置(25)は、
モータおよびモータによって駆動されるスピンドル(13)が収容されたハウジング(12)であって、スピンドル(13)は縦軸(7)を有し、ドリルビット(5)を締め付けるためのチャック(6)を備える、ハウジング(12)
を備える外科パワードリル(2)と、
ハウジング(12)に取り外し可能に取付または固定された測定装置(1)であって、測定装置(1)は、穿孔プロセスの間、移植片(26)または骨の表面に対して縦軸(7)の方向にハウジング(12)によって覆われた距離(x)を測定するように構成されている、測定装置(1)と、
を備え、
測定装置(1)は、時間に対して移植片(26)または骨の表面に対して縦軸(7)の方向にハウジング(12)によって覆われた距離(x)を記録するための処理ユニット(14)を備え、
処理ユニット(14)は、任意の瞬間の覆われた距離(x)の時間に関する少なくとも一次および二次微分を決定するため、および時間に対する最高次の微分の少なくともグラフを記録するための、1つ以上の微分器を備え、
処理ユニット(14)は、時間に対する最高次の微分のグラフに生じる1つ以上のピークを分析するためのピーク検出器をさらに備え、
測定装置(1)は、変位評価のためのレーザー装置または超音波位置センサを備える、
装置(25)。 - 骨に穴を穿孔するための、骨ネジまたはガイドワイヤの長さを決定するように構成された装置(25)であって、装置(25)は、
モータおよびモータによって駆動されるスピンドル(13)が収容されたハウジング(12)であって、スピンドル(13)は縦軸(7)を有し、ドリルビット(5)を締め付けるためのチャック(6)を備える、ハウジング(12)
を備える外科パワードリル(2)と、
ハウジング(12)に取り外し可能に取付または固定された測定装置(1)であって、測定装置(1)は、穿孔プロセスの間、移植片(26)、器具、または骨の表面に対して縦軸(7)の方向にハウジング(12)によって覆われた距離(x)を測定するように構成されている、測定装置(1)と、
を備え、
測定装置(1)は無線データ伝送装置(17)を備え、
装置(25)は、無線データ受信装置を含み、時間に対して移植片(26)または骨の表面に対して縦軸(7)の方向にハウジング(12)によって覆われた距離(x)を記録するように構成された、処理ユニット(14)を備え、
処理ユニット(14)は、任意の瞬間の覆われた距離(x)の時間に関する少なくとも一次および二次微分を決定するため、および時間に対する最高次の微分の少なくともグラフを記録するための、1つ以上の微分器を備え、処理ユニット(14)は、時間に対する最高次の微分のグラフに生じる1つ以上のピークを分析するためのピーク検出器をさらに備え、測定装置(1)は、変位評価のためのレーザー装置または超音波位置センサを備える、
ことを特徴とする、
装置(25)。 - 処理ユニット(14)が、モニタを有するコンピュータ、タブレットコンピュータ、スマートフォン、スマートウォッチ、またはスマートグラスのうちの1つであり、処理ユニット(14)は、少なくとも1つの一次および二次微分器を形成するように、覆われた距離(x)の時間に関する少なくとも一次および二次微分を計算するように適切にプログラムされており、処理ユニット(14)は、ピーク検出器を形成するように適切にプログラムされている、請求項2に記載の装置。
- ピーク検出器が、決められた加速度の最大値が所定の閾値を超過するときに加速度ピークを特定するように構成されている、請求項1または3に記載の装置。
- 処理ユニット(14)が、穿孔プロセスの間、縦軸(7)の方向で移植片(26)または骨の表面に対してハウジング(12)によって覆われた距離(x)の時間に関する三次微分を決定するための三次微分器を備える、請求項1から4のいずれか一項に記載の装置。
- ピーク検出器が、決定されたジャークの最大値がジャークの所定の閾値を超過したときにジャークピークを特定するように構成されている、請求項1から5のいずれか一項に記載の装置。
- 処理ユニット(14)が、穿孔プロセスの間の時間に対して移植片(26)または骨の表面に対する縦軸(7)の方向にハウジング(12)によって覆われた距離(x)を記録するためのプロセッサレジスタを有するマイクロプロセッサまたは中央処理ユニットを備え、マイクロプロセッサまたは中央処理ユニットは、少なくとも1つの一次および二次微分器を形成するように、移植片(26)または骨の表面に対する縦軸(7)の方向にハウジング(12)によって覆われた距離(x)の時間に関する少なくとも一次および二次微分を計算するように適切にプログラムされており、マイクロプロセッサまたは中央処理ユニットは、ピーク検出器を形成するように適切にプログラムされている、請求項1から6のいずれか一項に記載の装置。
- マイクロプロセッサまたは中央処理ユニットのプロセッサレジスタが、加速度および/またはジャークの閾値を決定するために、穿孔プロセスの間に決定された加速度および/またはジャークピーク値を一時的に格納する、請求項7に記載の装置。
- マイクロプロセッサまたは中央処理ユニットが、微分を計算し、ピークを検出し、現在の距離(x)および/または現在の速度をリアルタイムで出力するようにプログラムされている、請求項7または8に記載の装置。
- 測定装置(1)が、取付手段、好ましくは外科パワードリル(2)のハウジング(12)に取り外し可能に装着可能なアダプタ(15)を備える、請求項1から9のいずれか一項に記載の装置。
- 測定装置(1)が、測定装置(1)をハウジング(12)に取り外し可能に装着するためのクランプを備える、請求項1から10のいずれか一項に記載の装置。
- アダプタ(15)が、ハウジング(12)に取り付け可能な骨格、好ましくは圧入またはクランプカラーによってハウジング(12)に固定される環状骨格として構成される、請求項10または11に記載の装置。
- 測定装置(1)が、無線データ伝送装置(17)、好ましくは信号調整器を有するBluetoothモジュールを備える、請求項1または3から12のいずれか一項に記載の装置。
- 測定装置(1)が、処理ユニット(14)および好ましくは無線通信装置を収容するためのケーシング(16)を備える、請求項1から13のいずれか一項に記載の装置。
- 処理ユニット(14)を収容するケーシング(16)が滅菌可能である、請求項1から14のいずれか一項に記載の装置。
- 測定装置(1)が、電源(22)を備え、好ましくは外科パワードリル(2)の電動モータにさらに電力を供給するためにケーシング(16)内に配置可能またはハウジング(12)内に配置可能な1つ以上の充電式または非充電式電池を備える、請求項1から15のいずれか一項に記載の装置。
- 測定装置(1)が、ハウジング(12)に対して固定位置にある第1部材(3)と、
本質的に第1部材(3)に対してスピンドル(13)の縦軸(7)の方向に変位可能であって、骨または移植片(26)の表面に当接するのに適した前端(10)を備える、縦の第2部材(4)と、
を備える、請求項1から16のいずれか一項に記載の装置。 - レーザー装置が、レーザーモジュール(18)と少なくとも2つの電子光センサ(19)、好ましくは変位評価のためのレーザー三角測量を実行するための電荷結合素子(CCD)を備える、請求項1から17のいずれか一項に記載の装置。
- レーザー装置が、ドリルビット(5)に沿って摺動可能であって、移植片(26)、骨、または器具に当接するように構成された、反射器(20)を備える、請求項1から18のいずれか一項に記載の装置。
- 処理ユニット(14)が、好ましくは安全マージン、ネジ頭の長さ、チップセクション長さ、およびネジ長さインクリメントを含む、骨ネジ長さに関するデータを格納するためのデータメモリを備える、請求項1から19のいずれか一項に記載の装置。
- 測定装置(1)が、ディスプレイまたはラウドスピーカーを追加で備える、請求項1から20のいずれか一項に記載の装置。
- 装置(25)が、較正装置(27)を追加で備える、請求項1から21のいずれか一項に記載の装置。
- 変位可能な第2部材(4)が、第2部材(4)の前端(10)まで縦軸(7)の方向に延在するドリルスリーブ(23)を備える、請求項17から22のいずれか一項に記載の装置。
- 第1部材(3)がディスプレイ(30)を備える、請求項1から23のいずれか一項に記載の装置。
- 測定装置(1)の第1部材(3)が、外科パワードリル(2)のハウジング(12)に配置された中空空間(32)内に挿入可能である、請求項1から24のいずれか一項に記載の装置。
- 第1部材(3)が、外科パワードリル(2)を駆動するための電源(22)および/またはモータを追加で備える電子モジュール(31)の一部であり、電源(22)が、第1部材(3)および好ましくはモータに電気エネルギーを供給するように構成されている、請求項1から25のいずれか一項に記載の装置。
- 中空空間(32)が、ハウジング(12)のハンドル(33)内に配置され、電子モジュール(31)を受容するように構成されている、請求項25または26に記載の装置。
- ハウジング(12)が、ディスプレイ(30)を覆うための滅菌可能な窓(45)を含む頂部部品(35)を備える、請求項24から27のいずれか一項に記載の装置。
- 頂部部品(35)が、ハウジング(12)と一体であり、ディスプレイ(30)用のケーシング(16)を形成する、請求項28に記載の装置。
- ハウジング(12)が、レーザーモジュール(18)によって発射されたレーザービームおよび電子光センサ(19)によって受光可能な反射ビーム用の窓を提供するために、少なくとも1つの滅菌窓(42、43)を備える、請求項25から29のいずれか一項に記載の装置。
- 処理ユニット(14)が、外科パワードリル(2)のスピンドル(13)の回転速度を制御するように適切にプログラムされている、請求項1から30のいずれか一項に記載の装置。
- 第1部材(3)が、第1部材(3)に供給するための電源(22)を追加で備える電子モジュール(31)の一部である、請求項1から25のいずれか一項に記載の装置。
- ケーシング(16)が、アダプタ(15)によってハウジング(12)に取り付け可能であり、電子モジュール(31)を受容するように構成された空洞(38)を備える、請求項14から32のいずれか一項に記載の装置。
- ケーシング(16)が、ケーシング(16)の後端に配置され、ディスプレイ(30)を覆うための滅菌可能な後窓(45)を含む、蓋(51)を備える、請求項14から33のいずれか一項に記載の装置。
- ケーシング(16)が、レーザーモジュール(18)によって発射されたレーザービームおよび電子光センサ(19)によって受光可能な反射ビーム用の窓を提供するために、少なくとも1つの滅菌前窓(47)を備える、請求項14から34のいずれか一項に記載の装置。
- 測定装置(1)が、レーザーモジュール(18)によって発射されたレーザービームがスピンドル(13)の縦軸(7)に対してオフセット角で配向されるようにハウジング(12)に対して位置決めされている、請求項1から35のいずれか一項に記載の装置。
- 測定装置(1)の第1部材(3)が、スピンドル(13)の縦軸(7)に対して偏心して位置決めされている、請求項1から36のいずれか一項に記載の装置。
- 測定装置(1)が、滅菌された可撓性カバーを有する少なくとも1つの押しボタン(54)を備える、請求項1から37のいずれか一項に記載の装置。
- ケーシング(16)が透明である、請求項14から38のいずれか一項に記載の装置。
- ケーシング(16)が、空洞(38)内への電子モジュール(31)の挿入を容易にする漏斗として構成されている、請求項14から39のいずれか一項に記載の装置。
- 変位可能な第2部材(4)が、可変径を有する円筒形構造に取り付けられる締め付け部(56)を備える、請求項1から40のいずれか一項に記載の装置。
- 変位可能な第2部材(4)の締め付け部(56)が、ドリルビット(5)に摩擦嵌合を提供するように構成されている、請求項41に記載の装置。
- 変位可能な第2部材(4)が、反射面(58)と、情報またはトリガ事象を処理ユニット(14)に提供する形状および寸法のリムまたは溝(57)とを有する反射器(20)を備える、請求項1から42のいずれか一項に記載の装置。
- 変位可能な第2部材(4)が回転対称である、請求項1から43のいずれか一項に記載の装置。
- 較正装置(27)が、測定装置(12)の第2部材(4)と一体であり、使用後に壊されてもよい、請求項22から44のいずれか一項に記載の装置。
- 変位可能な第2部材(4)または較正装置(27)またはケーシング(16)が、典型的なオートクレーブ動作温度よりも低い溶融温度を有する材料で作られている、請求項22から45のいずれか一項に記載の装置。
- 測定装置(1)が、少なくとも1つの加速度計を備える、請求項1から46のいずれか一項に記載の装置。
- 測定装置(1)が、ジャイロスコープおよび/または磁力計を追加で備える、請求項1から47のいずれか一項に記載の装置。
- 請求項1から48のいずれか一項に記載の外科パワードリル(2)を使用して穿孔特性から骨ネジ長さを推定する方法であって、
A)骨に穴を穿孔するため、および時間に対して穿孔方向に骨または移植片(26)の表面に対するドリルビット(5)の切削チップ(9)の位置(x)を記録することによって、スピンドル(13)の縦軸(7)と同軸に外科パワードリル(2)を前進させるステップと、
B)任意の瞬間にx対tの一次、二次、および三次微分を決定するステップと、
C)その瞬間に発生するジャークピークを特定するためにピーク検出器を用いてドリルビット(5)の切削チップ(9)が骨の皮質から出る瞬間を判断するステップであって、速度、加速度、およびジャーク対時間のグラフはステップB)の下で判断された任意の瞬間の微分を通じて導き出される、ステップと、
D)ステップC)の下で判断された瞬間の第2部材(4)と第1部材(3)との間の相対位置を決定するステップと、
E)所定の安全マージンを考慮してステップD)で決定された第2部材(4)と第1部材(3)との間の相対位置に対応する長さを有する骨ネジを選択するステップと、
を備える方法。 - ステップA)の前に、変位可能な第2部材(4)の前端(10)およびドリルビット(5)の切削チップ(9)が骨の表面に当接するように、骨に対して外科パワードリル(2)を位置決めするステップと、
時間に対して穿孔方向の骨の表面に対するドリルビット(5)の切削チップ(9)の位置(x)の測定のための開始点(x=0)としての相対位置を格納するステップと、
が実行される、請求項49に記載の方法。 - ステップA)の前に、変位可能な第2部材(4)の前端(10)が、処置される骨を覆う軟組織に挿入されるドリルスリーブ(23)に当接するように、骨に対して外科パワードリル(2)を位置決めするステップと、ドリルビット(5)の切削チップ(9)が骨の表面に当接するように、変位可能な第2部材(4)に対して外科パワードリル(2)のチャック(6)内に固定されたドリルビット(5)の切削チップ(9)を調整するステップと、
時間に対して穿孔方向の骨または移植片(26)の表面に対するドリルビット(5)の切削チップ(9)の位置(x)の測定のための開始点(x=0)としての相対位置を格納するステップと、
が実行される、請求項49に記載の方法。 - ステップA)の前に、第2部材(4)の前端(10)が較正装置(27)の表面(29)に接触し、ドリルビット(5)の切削チップ(9)が較正装置(27)の表面(29)から突起しているストップ(28)に当接するように、較正装置(27)を用いて変位可能な第2部材(4)に対してチャック(6)内に固定されたドリルビット(5)を位置決めするステップと、
時間に対して穿孔方向の骨または移植片(26)の表面に対するドリルビット(5)の切削チップ(9)の位置(x)の測定のための開始点(x=0)としての相対位置を格納するステップと、
変位可能な第2部材(4)の前端(10)が移植片(26)の表面に当接するように、移植片(26)に対して外科パワードリル(2)を位置決めするステップと、
が実行される、請求項49に記載の方法。 - 骨ネジ長さの推定のための、請求項1から48のいずれか一項に記載の外科パワードリル(2)の使用。
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CN108366801B (zh) | 2021-11-23 |
JP7289654B2 (ja) | 2023-06-12 |
CA3001738C (en) | 2022-10-25 |
BR112018009605B1 (pt) | 2022-07-05 |
US12004755B2 (en) | 2024-06-11 |
US20240299044A1 (en) | 2024-09-12 |
CA3001738A1 (en) | 2017-05-26 |
US20200390450A1 (en) | 2020-12-17 |
BR112018009605A2 (pt) | 2018-11-06 |
US20230113352A1 (en) | 2023-04-13 |
AU2016356755A1 (en) | 2018-06-14 |
US10736644B2 (en) | 2020-08-11 |
US20180325528A1 (en) | 2018-11-15 |
WO2017083992A1 (en) | 2017-05-26 |
BR112018009605A8 (pt) | 2019-02-26 |
CN108366801A (zh) | 2018-08-03 |
EP3376971A1 (en) | 2018-09-26 |
EP3376971B1 (en) | 2024-08-28 |
WO2017083989A1 (en) | 2017-05-26 |
AU2016356755B2 (en) | 2021-07-29 |
US11478255B2 (en) | 2022-10-25 |
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