TWI784766B - Method and device for sensing displacement of surgical instrument - Google Patents

Abstract

A method for sensing displacement of a surgical instrument is used to confirm whether a terminal of the surgical instrument is positioned at a target position. A marker is provided to identify a spatial coordinate of a holder and output a signal of the spatial coordinate, and a displacement sensor is provided to sense a displacement of the surgical instrument and output a displacement signal. The displacement signal is transmitted to a processor and used for determining whether the surgical instrument is located at the target position. The method of the present invention can track trajectory, position and linear displacement of the surgical instrument during surgery so as to improve accuracy and success rate of surgery.

Description

Surgical Instrument Displacement Detection Method and Detection Device

The invention relates to a method for detecting displacement of a surgical instrument and a detecting device thereof, which are used for detecting the moving direction, position and linear movement amount of a surgical instrument during operation.

In the known surgical navigation technology, a positioning mark is fixed on a surgical instrument, so that during the operation, the positioning mark is used to confirm whether the moving path of the surgical instrument is on a predetermined path or position. Therefore, during the operation, in order to avoid a signal (such as light signal, radio frequency signal, etc.) The inconvenience of operating this surgical instrument relatively also hinders the carrying out of operation.

The main purpose of the present invention is to provide a method for detecting the displacement of a surgical instrument and its detection device, so as to accurately grasp the moving direction, position and linear movement amount of a surgical instrument during the operation, so as to improve the accuracy and success rate of the operation .

A method for detecting movement of a surgical instrument in the present invention uses a detection device to detect whether an end of a surgical instrument is located at a predetermined position. The method for detecting movement of a surgical instrument includes a step of marking a support and a step of sensing The step of displacing the surgical instrument, in the step of marking the support, marks a spatial coordinate of a support of a carrier with a marking element combined with the carrier, and the marking element transmits a spatial coordinate signal of the spatial coordinate, in Sensing the displacement of the surgical instrument is to use a displacement sensor to sense a displacement of the surgical instrument passing through a guide hole of a supporting member, and the displacement sensor transmits a displacement signal of the displacement to A processing unit, the processing unit receives the displacement signal, and judges whether the end of the surgical instrument is at the predetermined position, and when the end is not at the predetermined position, then moves the surgical instrument so that the end can be located at the predetermined position.

A surgical instrument detection device of the present invention is used to detect whether an end of a surgical instrument is located at a predetermined position. The detection device includes a carrier, a marking element, a displacement sensor and a processing unit. The carrier includes a support, the support has a guide hole, the guide hole is used for the surgical instrument to pass through, the marking element is integrated with the carrier, and the marking element moves with the carrier, the marking element used to mark a spatial coordinate of the support member and transmit a spatial coordinate signal of the spatial coordinate, the displacement sensor is used to sense a displacement of the surgical instrument passing through the guide hole, and transmit a signal of the displacement A displacement signal, the processing unit is used to receive the displacement signal to determine whether the end of the surgical instrument is at the predetermined position.

In the present invention, the spatial coordinate signal of the support is transmitted by the marking element combined with the carrier, and the displacement of the surgical instrument passing through the support is sensed by the displacement sensor, and the displacement The signal is transmitted to the processing unit, so that the processing unit can judge whether the end of the surgical instrument is at the predetermined position according to the displacement signal, so as to accurately grasp the moving direction, position and displacement of the surgical instrument during the operation , to improve the accuracy and success rate of surgery.

10: Surgical instrument displacement detection method

11: Marking the support piece step

12: Steps of Sensing the Displacement of Surgical Instruments

100: detection device

110: carrier

111: Support piece

111a: guide hole

111b: perforation

120: Marking components

130: Displacement sensor

140: processing unit

200: transmission parts

300: Surgical instruments

310: end

320: Scale mark

O: Reserved position

S1: initial position

S2: Support location

Figure 1: Flowchart of the detection method of the present invention.

Figure 2: A perspective view of the detection device and surgical instrument of the present invention.

Figure 3: An exploded perspective view of the detection device and surgical instrument of the present invention.

Figure 4: a cross-sectional view of the support and the displacement sensor of the present invention.

Fig. 5: a cross-sectional view of the surgical instrument of the present invention pierced through the support.

Figure 6: A schematic diagram of the detection device of the present invention with the supporting member at its initial position.

Fig. 7: The front view of the support member of the detection device of the present invention in the initial position.

Fig. 8: A schematic diagram of the detection device of the present invention with the supporting member at the supporting position.

Fig. 9: The front view of the support member of the detection device of the present invention at the support position.

Figure 10: A schematic diagram of the surgical instrument of the present invention being worn on the support

Fig. 11: The front view of the surgical instrument of the present invention pierced through the support.

Please refer to Figures 1, 6 to 11, a surgical instrument displacement detection method 10 of the present invention, which is used to detect whether an end 310 of a surgical instrument 300 is located at a predetermined position O, and the surgical instrument 300 is selected from a drill bit , bone nails, etc., but not limited thereto.

Please refer to Figures 1 to 3, the surgical instrument displacement detection method 10 uses a detection device 100 including a carrier 110, a marking element 120, a displacement sensor 130 and a processing unit 140 for detection, The carrier 110 includes a supporting member 111, the supporting member 111 has a guiding hole 111a, the guiding hole 111a is used for passing the surgical instrument 300, and guiding the end 310 of the surgical instrument 300 to the predetermined position O move.

Please refer to Figures 2 and 3, in this embodiment, the carrier 110 is combined with a transmission member 200, the transmission member 200 is selected from motors, grippers, mechanical arms, etc., but not limited thereto, the transmission member 200 is used to drive the carrier 110 to tilt, rotate and/or displace the supporting member 111 from an initial position S1 (see FIG. 4 ) to a supporting position S2 (see FIG. 6 ).

Please refer to Figures 2 and 3, the marking element 120 is integrated with the carrier 110, and the marking element 120 moves with the carrier 110. In this embodiment, the marking element 120 is combined with the support of the carrier 110 111, the marking element 120 is used to mark a spatial coordinate of the support 111, and transmit a spatial coordinate signal of the spatial coordinate, the marking element 120 is selected from a luminous element, a photosensitive element or a radio frequency element, etc., but not This is the limit.

Please refer to Figures 2 to 5, the displacement sensor 130 is used to sense a displacement of the surgical instrument 300 passing through the guide hole 111a, and the displacement sensor 130 can be selected from the linear encoder and other sensors device, and transmit a displacement signal of the displacement, in this embodiment, the displacement can be a linear displacement, but not limited thereto, the displacement sensor 130 is used to sense the surgical instrument 300 A plurality of scale marks 320, preferably, the displacement sensor 130 is arranged on the support member 111, the support member 111 has a perforation 111b, the perforation 111b communicates with the guide hole 111a, and the displacement sensor 130 passes through The perforation 111b senses the surgical instrument 300 passing through the guide hole 111a.

Please refer to Figures 2 and 3, the processing unit 140 is used to receive the spatial coordinate signal and the displacement signal, the processing unit 140 is selected from a feedback compensator, but not limited thereto, preferably, the detection The device 100 further includes a filter (not shown in the figure), which is used to perform signal processing on the spatial coordinate signal and the displacement signal, such as noise reduction and noise processing, so as to prevent the processing unit 140 from receiving the spatial coordinate A misjudgment occurs between the signal and the displacement signal.

Please refer to Figures 1, 6 to 9, before performing the surgical instrument displacement detection method 10, pre- Define the predetermined position O and the supporting position S2, then install the carrier 110 on the transmission member 200 so that the supporting member 111 of the carrier 110 is located at the initial position S1 (see the 6th and 7th figures), then , the carrier 110 is driven by the transmission member 200, so that the support member 111 moves from the initial position S1 to the support position S2 (see FIGS. 8 and 9).

Please refer to FIGS. 1 , 6 to 11 , the surgical instrument displacement detection method 10 is performed after the transmission member 200 drives the carrier 110 and moves the support member 111 to the support position S2 .

Please refer to Figures 1, 6 to 9, the surgical instrument displacement detection method 10 includes a marking support step 11 and a sensing surgical instrument displacement step 12, in the marking support step 11, to be combined with the carrier 110 The marking element 120 marks a spatial coordinate after the support member 111 moves, and the marking element 120 transmits a spatial coordinate signal of the spatial coordinate. In this embodiment, the marking element 120 transmits the spatial coordinate signal to the processing Unit 140, the processing unit 140 receives the spatial coordinate signal of the support member 111, and judges whether the support member 111 is located at the support position S2, and judges whether the guide hole 111a of the support member 111 is facing the predetermined position O , so as to accurately grasp the moving direction of the surgical instrument 300 when the surgical instrument 300 passes through the guide hole 111a, preferably, the spatial coordinate signal is subjected to signal processing (such as noise reduction and noise processing) through the filter Afterwards, it is sent to the processing unit 140 to avoid misjudgment when the processing unit 140 receives the spatial coordinate signal.

Please refer to Figures 1, 6 to 9, preferably, in step 11 of marking the support member, when the processing unit 140 judges that the support member 111 is not located at the support position S2 or the support member 111 by the spatial coordinate signal When the guide hole 111a is not facing the predetermined position O, the processing unit 140 generates a first compensation signal to the transmission member 200, so that the transmission member 200 drives the carrier 110 to move, and makes the support member 111 move toward the The supporting position S2 moves until the supporting member 111 is located at the supporting position S2 and the guiding hole 111 a of the supporting member 111 faces the predetermined position O, and then stops.

Please refer to Figures 8 and 9, since the support member 111 is already at the support position S2, and the guide hole 111a of the support member 111 faces the predetermined position O, the support member will not be changed during the operation. 111, even if the marking element 120 combined with the support 111 is blocked, the spatial coordinate signal will not be changed.

Please refer to Figs. 1, 10 and 11, the step 12 of sensing the displacement of the surgical instrument is carried out after the step 11 of the marking support. In the step 12 of sensing the displacement of the surgical instrument, the displacement sensor 130 senses the A displacement of the surgical instrument 300 of the guide hole 111a, the displacement sensor 130 transmits a displacement signal of the displacement to the processing unit 140, and the processing unit 140 receives the displacement signal of the surgical instrument 300, In order to accurately grasp the position and displacement (such as linear displacement, etc.) of the surgical instrument 300 during the operation, in this embodiment, the displacement signal can be a depth signal of the movement of the surgical instrument 300, and the processing unit 140 receives After the displacement signal, it is judged whether the end 310 of the surgical instrument 300 is at the predetermined position O, and when the end 310 is not at the predetermined position O, then the surgical instrument 300 is moved again so that the end 310 can Located at the predetermined position O, preferably, the displacement signal is passed through the filter for signal processing (such as reducing noise and noise processing), and then transmitted to the processing unit 140, so as to prevent the processing unit 140 from receiving the displacement signal Misjudgment occurs.

Please refer to Figures 1, 10 and 11. Preferably, in step 2 12, when the processing unit 140 judges that the end 310 of the surgical instrument 300 is not at the predetermined position O by the displacement signal, the The processing unit 140 generates a second compensation signal to a driver (not shown in the figure), so that the driver drives the surgical instrument 300 to move, so that the end 310 of the surgical instrument 300 moves to the predetermined position O, the The driving member is selected from a motor, but not limited thereto.

Please refer to Figures 8 and 9, since the displacement signal is generated by the displacement sensor 130 sensing the surgical instrument 300 passing through the guide hole 111a, the displacement signal will not be caused by the surgical instrument. The rotation or displacement of the surgical instrument 300 is blocked by the implement or the human body, which enables the processing unit 140 to accurately determine the position and displacement of the end 310 of the surgical instrument 300 .

The surgical instrument displacement detection method 10 of the present invention uses the spatial coordinate signal to accurately grasp the moving direction of the surgical instrument 300 during the operation, and uses the displacement signal to accurately grasp the movement direction of the surgical instrument 300 during the operation. The position and displacement of the surgical instrument 300 can prevent the coordinate signal transmitted by the marking element from being blocked by the machine tool or the human body due to the marker element being set on the surgical instrument in the conventional technology, causing the surgical instrument to lose its position. For the problem that the end deviates from the predetermined position, the surgical instrument displacement detection method 10 of the present invention can accurately grasp the moving direction, position and displacement of the surgical instrument 300 during the operation, so as to improve the accuracy and success rate of the operation.

The scope of protection of the present invention should be defined by the scope of the appended patent application. Any changes and modifications made by anyone who is familiar with this technology without departing from the spirit and scope of the present invention belong to the scope of protection of the present invention. .

100: detection device

110: carrier

111: Support piece

111a: guide hole

111b: perforation

120: Marking components

130: Displacement sensor

140: processing unit

200: transmission parts

300: Surgical instruments

310: end

320: Scale mark

Claims (12)

A method for detecting the displacement of a surgical instrument, which uses a detection device to detect whether an end of a surgical instrument is located at a predetermined position. The marking element of the carrier marks a spatial coordinate of a support of the carrier, and the marking element transmits a spatial coordinate signal of the spatial coordinate; The sensor senses a displacement of the surgical instrument through a guide hole of the support, the support has a perforation, the perforation of the support communicates with the guide hole, and the displacement sensor senses through the perforation The surgical instrument, the displacement sensor transmits a displacement signal of the displacement to a processing unit, and the processing unit receives the displacement signal and judges whether the end of the surgical instrument is at the predetermined position, when the When the end portion is not at the predetermined position, the surgical instrument is then moved so that the end portion can be at the predetermined position. The method for detecting the displacement of a surgical instrument according to claim 1, wherein in the step of marking the support, the marking element transmits the spatial coordinate signal to the processing unit, and the processing unit receives the spatial coordinate signal of the support and judges Whether the support member is already at a support position, when the processing unit judges that the support member is not at the support position according to the space coordinate signal, the processing unit generates a first compensation signal to a transmission member, so that the transmission member The carrier is driven to move, and the supporting member is moved to the supporting position. The method for detecting the displacement of the surgical instrument according to claim 1 or 2, wherein in the step of sensing the displacement of the surgical instrument, when the processing unit judges that the end of the surgical instrument is not at the predetermined position according to the displacement signal, The processing unit generates a second compensating signal to a driving part, so that the driving part drives the surgical instrument to move, so that the end of the surgical instrument moves to the predetermined position. The method for detecting the displacement of a surgical instrument as claimed in claim 1, wherein the displacement signal passes through a After the signal is processed by the filter, it is passed to the processing unit. The method for detecting displacement of a surgical instrument according to claim 1, wherein the displacement sensor is used to sense a plurality of scale marks of the surgical instrument. The method for detecting displacement of a surgical instrument according to claim 1, wherein the marking element is combined with the support member. A surgical instrument detection device, which is used to detect whether an end of a surgical instrument is located at a predetermined position, the detection device includes: a carrier, including a support, the support has a guide hole and a perforation, The perforation communicates with the guide hole, the guide hole is used for the passage of the surgical instrument; a marking element is integrated with the carrier, and the marking element moves with the carrier, and the marking element is used to mark the support a spatial coordinate of the spatial coordinate, and transmit a spatial coordinate signal of the spatial coordinate; a displacement sensor is arranged on the support member, and the displacement sensor senses the surgical instrument passing through the guide hole through the perforation to sense measuring a displacement of the surgical instrument passing through the guide hole, and transmitting a displacement signal of the displacement; and a processing unit for receiving the displacement signal to determine whether the end of the surgical instrument is located the predetermined location. The surgical instrument detection device as in claim 7, wherein the processing unit is used to receive the spatial coordinate signal and generate a first compensation signal, and the processing unit transmits the first compensation signal to a transmission member to make The transmission part drives the carrier to move, and makes the supporting part move to a supporting position. Such as the surgical instrument detection device of claim 7 or 8, wherein the processing unit can generate a second compensation signal after receiving the displacement signal, and the processing unit transmits the second compensation signal to a driving member to make The driving part drives the surgical instrument to move, and makes the end part move to the predetermined position. The surgical instrument detection device according to claim 7 further includes a filter, and the displacement signal is processed by the filter before being transmitted to the processing unit. The surgical instrument detection device according to claim 7, wherein the displacement sensor is used to sense a plurality of scale marks of the surgical instrument. The surgical instrument detection device according to claim 7, wherein the marking element is combined with the support member.

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