TWI437973B - Automated skull drilling mechanism - Google Patents

Description

Automated skull drilling mechanism

The invention provides a technical field of a skull drilling machine, in particular to provide an automatic skull drilling mechanism, which can automatically drill, automatically cut, and the mechanical arm holds its automatic skull drilling mechanism quite stable, while drilling The feed can be sensed immediately and the feed can be stopped immediately to protect the patient's brain.

According to the test, when a patient develops Parkinson's disease, a brain tumor or a part of the brain tissue to be taken for pathological examination, the position of the disease is usually determined by magnetic resonance imaging (MRI) or computed tomography (CT), and then the patient is diagnosed. The skull drills a circular hole with a diameter of about 6 mm. The physician inserts a probe or instrument with a diameter of about 2 mm into the brain tissue for laser ablation treatment or removes part of the brain tissue for pathological biopsy. The lower layer of the human brain is the skull of the hard tissue. The underside of the skull is the dura mater, the arachnoid membrane and the pia mater. There are numerous blood vessels in the middle to supply the brain for nutrition. Therefore, when drilling a skull, it is necessary to control the drilling device to effectively cross the skull of the hard tissue. When drilling through the hard tissue, it must stop immediately to avoid damage to the meningeal tissue.

At present, the instruments for performing skull drilling can be mainly divided into artificial hand drills and hand-held electric drills. The operation mode of the manual hand drill is that the doctor rotates the handle by hand, and the mechanism drives the screw to cause the drill bit to rotate and move up and down to achieve (1). The purpose of drilling a round hole or (2) cutting a skull; while the hand-held electric drill operates like a general electric drill, and the doctor supports the electric drill to control the drilling direction and the feed amount. In addition, it is known that a special electric drill is designed with a set of safety devices. When the active member (motor) and the passive member (bit) of the similar clutch mechanism are under pressure, the force is closely matched to drive the drill bit to perform the bit bone behavior. When the drill bit penetrates the skull, Because the reaction force of the skull is no longer absorbed, the active part is separated from the passive part, causing the electric drill to stop running.

However, these methods must rely on the physician's personal clinical experience and hand feeling to determine whether the bit bone process has passed through the skull and manually stopped; if it is performed by a lack of experienced physicians, even if there is an electric drill of the above special safety device, slightly Inadvertently, it is possible to damage the meninges and nerve tissue under the skull while crossing the skull. In addition, the use of hand-drilled holes may also cause vibrations in the drilling process due to insufficient arm strength, affecting the safety, accuracy and comfort of the drilling process.

Therefore, in view of the problems existing in the above-mentioned conventional structure, how to develop an innovative structure with more ideal and practicality, the doctors and patients are eagerly awaiting, and the relevant physicians or practitioners must work hard to develop breakthrough goals and directions. .

In view of this, the inventor has been engaged in the experience of using related products and design improvement experience for many years. After detailed design and careful evaluation of the above objectives, the inventor has finally obtained the practical invention.

If the hole is round or the skull is cut, it is not necessary to pay attention to the situation after drilling. However, if the brain is to be drilled, the brain tissue and nerve tissue will be followed by the hard tissue. There is nothing wrong with it. However, today's drilling methods require the doctor to drill holes in the hand tool. The stability is not good, and whether the drill is worn or not depends on the hand of the doctor. The drill is too dangerous and the patient is disadvantaged. Status, but also prone to medical disputes.

An automatic skull drilling mechanism is provided, comprising: a base on which a power motor mount and a force measuring unit are fixed, the power motor of the power motor mount is connected to the power by a connector a unit, and the front end of the power motor mount is locked with a drill by a locker. The force measuring unit is connected to a core control device by a line. The core control device can be a computer, and the base can be connected to the base plate. Combined with the front end of a multi-axis robot arm, the core control device controls the multi-axis robot to move the end point of the drill bit toward the set coordinate, and the automated skull drilling mechanism of the front end of the multi-axis robot arm begins The drilling is started, and the coordinates of the feeding or cutting are also controlled by the computer to control the movement of the multi-axis robot. When the force measuring unit measures the pressure change due to the drilling, the signal is transmitted to the core control device via the line, and the core control device is The multi-axis robotic arm is stopped at the first time to ensure that the meninges are not injured, and that the automated skull drilling mechanism is also quite stable.

The prior art is controlled by hand, but the hand is easy to fatigue and unstable, and the drill is also based on the hand feeling, so it is easy to have a mistake, especially for a novice physician, and the present invention utilizes an automated skull drilling mechanism. With a multi-axis robot arm, the automatic skull drilling mechanism can be used with considerable stability, and there is no fatigue problem. The automatic skull drilling mechanism is provided with a force measuring unit, which can be measured at the moment of drilling. When the signal is received, the computer will stop feeding at the first time to ensure the safety of the patient and minimize the risk.

The above-mentioned objects, structures and features of the present invention will be described in detail with reference to the preferred embodiments of the present invention. .

Referring to the first to fifth figures, the present invention provides an automated skull drilling mechanism (10) comprising: a base (11); a power motor (17); a power motor mount (13), A power motor mount (13) and a power measuring unit (12) are fixed on the base (11), and the power motor mount (13) is connected to the power measuring unit by a connector (14). a drill bit (15), a drill bit (15) is locked at a front end of the power motor mount (13) with a locker (16), and the other drill bit can be replaced when the locker (16) is loosened (15); a force measuring unit (12), the base (11) can be equipped with a force measuring unit (12), and the force measuring unit (12) can measure the drill bit (15) The core pressure control unit (20) is connected to a core control device (20) by a line (18). The core control device (20) can be a computer. (21), the computer (21) receives the pressure change measured by the force measuring unit (12), and stops the feeding of the drill bit (15) at the first time, and the base (11) is provided with a connecting plate ( 30) Combined with a multi-axis machine Arm (40) of the front end.

Accordingly, the core control device (20) controls the multi-axis robot arm (40) to move the end point of the drill bit (15) toward the set coordinates, and the automated skull drilling mechanism at the front end of the multi-axis robot arm (40) (10) Start drilling, the coordinate of feeding or cutting is also controlled by the computer (21) of the core control device (20) to control the movement of the multi-axis robot arm (40). When the force measuring unit (12) measures the cause When the pressure is changed and the pressure changes, the signal is transmitted to the core control device (20) via the line (18), and the core control device (20) stops the feeding of the multi-axis robot arm (40) at the first time to ensure no It will hurt the meninges, and the automated skull drilling mechanism (10) is also quite stable.

The operating principle of the present invention is that the drill bit (15) generates a rear force when the bone is drilled, and the power motor (17) is pushed back to the force measuring unit (12), the force measuring unit ( 12) The value can be measured and the signal transmitted to the core control unit (20).

The present invention utilizes an automated skull drilling mechanism (10) in conjunction with a multi-axis robotic arm (40) so that the automated skull drilling mechanism (10) can be used with considerable stability without fatigue problems. The automatic skull drilling mechanism (10) is provided with a force measuring unit (12), which can measure the signal at the moment of drilling, and stops feeding at the first time by the computer (21), thereby ensuring the safety of the patient and making the danger To the lowest.

The automated skull drilling mechanism (10) is connected to the front end of a multi-axis robot arm (40) by a connecting plate (30), and the automated skull drilling mechanism (10) is used by the multi-axis robot arm (40). Sending to the position where the hole is to be drilled for coordinate positioning, and then the drilling operation can be coordinated by the automatic skull drilling mechanism (10) and the multi-axis robot arm (40), and if the cutting action is to be performed, The automated skull drilling mechanism (10) and the multi-axis robot arm (40) can also be used to cut the skull stroke and movement.

In the above-described automatic skull drilling mechanism (10), when drilling, the power motor (17) generates rotational power and front and rear vibration forces to smoothly perform the drilling operation. When the skull is cut, the vibration force of the front and rear is closed, and the power of the power motor (17) can be cut as long as the power of the power motor (17) is rotated.

The present invention has been described with reference to the preferred embodiments of the present invention. However, those skilled in the art can change and modify the present invention without departing from the spirit and scope of the invention. Such changes and modifications shall be covered in the scope defined by the following patent application.

(10). . . Automated skull drilling mechanism

(11). . . Pedestal

(12). . . Strength measuring unit

(13). . . Power motor mount

(14). . . Connector

(15). . . drill

(16). . . Locker

(17). . . Power motor

(18). . . line

(20). . . Core control unit

(twenty one). . . computer

(30). . . Connection plate

(40). . . Multi-axis robot

First Figure: A perspective view of an embodiment of the present invention.

The second figure is a perspective view of the automated skull drilling mechanism of the present invention.

The third figure is a schematic diagram of a drilling positioning implementation state of the present invention.

The fourth figure is a schematic diagram of a drill-through state of the present invention.

Fig. 5 is a schematic view showing a state of cutting of the present invention.

(10). . . Automated skull drilling mechanism

(11). . . Pedestal

(12). . . Strength measuring unit

(13). . . Power motor mount

(14). . . Connector

(15). . . drill

(16). . . Locker

(17). . . Power motor

(18). . . line

(30). . . Connection plate

Claims (4)

An automatic skull drilling mechanism includes: a base; a power motor mount; a power motor is disposed in the power motor mount, the power motor mount is fixed on the base; a drill bit, the power motor The front end of the fixing seat is locked with a locking device, and the locking device can be replaced with different other drill bits when the locking device is loosened; a force measuring unit can be equipped with a force measuring unit, the power The motor mount is connected to the force measuring unit by a connector, and the force measuring unit is configured to measure the pressure change of the drill bit through the skull; a core control device that connects the core with a line a control device that receives the pressure change measured by the force measuring unit to stop the bit feed at the first time; and a multi-axis robot arm that is coupled to the multi-axis by a connecting plate The front end of the robot arm. The automated skull drilling mechanism of claim 1, wherein the power motor is a pneumatic motor. The automated skull drilling mechanism of claim 1, wherein the core control device is a computer. The automated skull drilling mechanism of claim 1, wherein the power motor is an electric motor.