CN101579250B

CN101579250B - Intelligent control device of surgical electric drill

Info

Publication number: CN101579250B
Application number: CN2009100872343A
Authority: CN
Inventors: 李希胜; 曹天扬; 康瑞清
Original assignee: University of Science and Technology Beijing USTB
Current assignee: University of Science and Technology Beijing USTB; Peking Union Medical College Hospital Chinese Academy of Medical Sciences
Priority date: 2009-06-18
Filing date: 2009-06-18
Publication date: 2010-08-11
Anticipated expiration: 2029-06-18
Also published as: CN101579250A

Abstract

An intelligent control device of a surgical electric drill belongs to the technical field of medical appliances, which is characterized by being capable of assisting doctors in reducing surgical accidents and being used under complicated back-and-forth grinding surgical environments including changing power and changing grinding direction. The intelligent control device comprises three systems: a converted surgical electric drill, a high-speed embedded system and a host computer; wherein, the converted surgical electric drill comprises a multi-dimensional pressure sensor, a bit speed sensor, acurrent sensor, a voltage sensor and a voltage reverse brake. The working processes of the intelligent control device are as follows: acquiring the operation information of the surgical electric dril l by a multisensor system; identifying the operation state of the surgical electric drill in real time by the high-speed embedded system and displaying and recording the information of the sensors in real time by the host computer.

Description

A kind of intelligence controlling device of surgical electric drill

Technical field

The present invention is a kind of intelligence controlling device of using technical field of medical instruments, particularly a kind of intelligence controlling device that is used for surgical electric drill.

Background technology

Surgical electric drill is a kind of important surgical apparatus by doctor's hand-held, is used for grinding patient's skeleton, exposes the pathological tissues or the important structure such as nerve, blood vessel of human body.Because operation art chamber is narrow and small, the electric drill of high speed rotating is easy to damage patient's normal structure in operation, and the common abnormal state comprises drill slipping, worn out sclerotin, cotton sheet winding etc.

At present, the operator can only self-dependent clinical experience comes perception, judges whether operation irregularity of surgical electric drill.In most cases, discover although the operator is existing, because that human sensation is compared with response speed the electric drill of high speed rotating is too slow, when the operator adopted an effective measure, electric drill had caused damage to the patient.

Through the literature search of prior art is found that application number is 200420045633.6, the Chinese utility model patent that name is called the medicinal intelligent electric drill adopt speed detector, micro-computer controlling apparatus realize drill bit drill stop automatically boring behind the bone moving.This technology readme: medicinal intelligent electric drill, its special feature is to be made of electric drill, speed detector, micro-computer controlling apparatus, on-off circuit, speed detector is arranged in the electric drill rotating shaft, speed detector links to each other with the electric signal input end of micro-computer controlling apparatus, the electrical signal of micro-computer controlling apparatus links to each other with the input of on-off circuit, and the hand switch of electric drill links to each other with the electric signal input end of micro-computer controlling apparatus.Compared with prior art, having drill bit drills and stops the advantage of boring behind the bone automatically.

2007, the sclerotin of the little drill system of a kind of robot of uses such as Brett PN automatic grinding cochlea in the cochlear implant implantation and do not damage secondary tympanic membrane (Brett PN, Taylor RP, Proops D, Coulson C, Reid A, Griffiths MV.Asurgical robot for cochleostomy.Proceedings of the 29th Annual InternationalConference of the IEEE EMBS, Lyon, France, August 23-26,2007, p1229-1232.).Under constant fltting speed condition, this system's energy real-time perception drill bit propulsive force and moment of torsion are also controlled the grinding of electric drill thus, the variation of distinctive power can appear before sclerotin is worn through, be that the drill bit propulsive force reduces to increase with moment of torsion, critical state before this system can be worn through according to this characteristic signal identification sclerotin, and drill bit regained grinding is stopped.This intelligent electric drill function singleness can not be used for complicated reciprocating type grinding operation, can only bore dark hole with constant angle on temporal bone with constant fltting speed.

Summary of the invention

The objective of the invention is to solve under the surgical environments of complexity whether operation irregularity of identification surgical electric drill, and brake reduces patient's damage, notifying operation person simultaneously to electric drill by the fast braking system.

The intelligence controlling device of surgical electric drill is made up of surgical electric drill 1, high speed embedded system 2, the host computer 3 of repacking this device; Host computer communicates by communication bus 12 and high speed embedded system 2, and high speed embedded system 2 communicates by pick off and the brake on the surgical electric drill 1 of holding wire 11 and repacking; The surgical electric drill 1 of repacking installs two modules additional: add-on module on the handle 7 and the add-on module of dc source 6; Add-on module on the handle 7 comprises: sleeve 16, multidimensional pressure transducer 18, speed probe; The add-on module 6 of dc source comprises: current sensor, voltage sensor, electric voltage reverse-connection brake, and three parts are linked in sequence; The connected mode of the surgical electric drill of repacking is: drill bit 13 links to each other with drilling rod 14 1 ends, the other end of drilling rod 14 is connected with the power transmission shaft 19 of handle 7 inside, the handle outer front end that links to each other with drilling rod is a sleeve 16, sleeve 16 is connected with handle 7 front ends, multidimensional pressure transducer 18 is installed in sleeve 16 outsides, the drill bit 13 copper sliding bearing 15 that pressure changes by drilling rod 14 and sleeve 16 front ends in grinding process is delivered to the multidimensional pressure transducer 18 that is installed on the sleeve 16, multidimensional pressure transducer 18 adds protection tube 17, power transmission shaft 19 passes handle 7 and is connected with drilling rod 14, at power transmission shaft 19 and handle 7 touching positions speed probe is installed, with the rotating speed of real-time monitoring drill bit 13, the holding wire 11 of multidimensional pressure transducer 19 and speed probe is sent to data on the high speed embedded system 2 by plug 22; The female 8 of dc source 4 is connected with the public plug 9 of the add-on module 6 of dc source, the female 8 of the add-on module 6 of dc source is connected with the public plug 9 of surgical electric drill cable 10, electric drill cable 10 is connected with the power set 5 of surgical electric drill 9, power set 5 provide power by power transmission shaft 19 to drilling rod 14, and the add-on module 6 of dc source carries out information interaction by holding wire 11 and high speed embedded system 2; The data of the real-time pick-up transducers of high speed embedded system, the running status of identification surgical electric drill, starting resistor reversing braking device brakes to electric drill when the surgical electric drill operation irregularity; The high speed embedded system is made up of signal conditioning circuit and microprocessor two parts of pick off; The signal of pick off after the signal conditioning circuit amplification filtering. send into microprocessor and carry out real-time analysis; Microprocessor is handled these data by the pattern recognition program of implanting, and when finding the surgical electric drill operation irregularity, microprocessor starting resistor reversing braking device brakes to electric drill, sends different sound by system and informs the doctor; Host computer and high speed embedded system communicate, show and write down the information of pick off in real time, the doctor can be by watching the sensor information analysis that shows on the host computer screen and summing up surgical experience, characteristic rule when the data of host computer record are used to analyze the surgical electric drill operation irregularity, the operation dynamic model of revisional operation electric drill is revised the pattern recognition program of implanting the high speed embedded system.

Through the surgical electric drill after the repacking four kinds of pick offs have been installed: multidimensional pressure transducer, drill speed pick off, current sensor and voltage sensor.They are respectively applied for measures pressure, the drive current of motor, the driving voltage of motor, the drill speed that drill bit is subjected to when work.The corresponding relation of the function that sensor signal and intelligent surgical electric drill will be realized (discern three kinds of abnormalities, identification idle running, determine to shut down constantly) is as shown in table 1:

Table 1

	Current sensor	Voltage sensor	The multidimensional pressure transducer	Tach signal
	Current sensor	Voltage sensor	The multidimensional pressure transducer	Tach signal	The identification drill slipping	●
Discerning cotton sheet twines	●		●		The identification drill slipping	●

Discern worn out sclerotin	●	●
Discern worn out sclerotin	●	●		Identification idle running	●	●
Determine to shut down constantly			●	Identification idle running	●	●

● the identification of representing this state needs this signal

The design core of the intelligence controlling device of surgical electric drill is to former surgical electric drill repacking.Operate electric drill for the ease of the doctor, only multidimensional pressure transducer and speed probe are installed on the electric drill handle, current sensor, voltage sensor and brake postpone are installed on the dc source of electric drill.The otology surgical electric drill is a kind of very accurate surgical apparatus, and volume is very little, need to the handle of former electric drill reequip could be on electric drill sensor installation.The front end of electric drill handle has increased a sleeve, is used to install the multidimensional pressure transducer; The back shell of handle and power transmission shaft are reequiped, and are used to install speed probe.In order to protect the multidimensional pressure transducer not contact with body fluid with the blood stains that drill bit splashes, be equipped with the protection tube that is threaded the sleeve outside.

The present invention can also write down, the multiple sensor signals of playback reflection electric drill running, can make the doctor study operative process objectively, quantitatively, for improving the operation technique level, avoiding error and demonstration teaching significant.The otology surgical electric drill is the most representative hand-held powered surgical apparatus, and the Control Study that electric drill that the present invention set up operation dynamic model and multiple sensor information amalgamation method can be operation tool in other hand-held powered surgical apparatuses such as otology surgical electric drill, nose section surgical electric drill, orthopaedics goose saw and the robotic surgery provides positive experience.

Surgical electric drill after the present invention's repacking has function:

(1) can under the surgical environments of complexity, discern whether operation irregularity of surgical electric drill, and brake reduces patient's damage, notifying operation person simultaneously to electric drill by the fast braking system;

(2) intelligence controlling device of surgical electric drill is easy to dismounting, cleans, sterilizes;

(3) the handle sleeve after the repacking can not deposit blood stains, body fluid etc. and be easy to the material that burn into pollutes, and can not endanger the patient;

(4) intelligence controlling device of surgical electric drill and the former electric drill volume of comparing increase is very little, is convenient to the doctor and uses;

Description of drawings

Fig. 1 is the structure chart of otology surgical electric drill intelligence controlling device, add-on module 7 handles 8 females 9 public plugs 10 electric drill cables 11 holding wires 12 communication bus of surgical electric drill 2 high speed embedded systems 3 host computers 4 dc sources 5 power set 6 dc sources of 1 repacking.

Fig. 2 is the repacking figure of otology surgical electric drill handle, 13 drill bits, 14 drilling rods, 15 sliding bearings, 16 sleeves, 17 protection tubes, 18 multidimensional pressure transducers, 19 power transmission shafts, 20 magnet steel, 21 Hall elements, 22 plugs.

The specific embodiment

Now with the embodiment of otology surgical electric drill the present invention is described in further detail in conjunction with the accompanying drawings.

The structure of otology surgical electric drill intelligence controlling device as shown in Figure 1.Control device comprises three parts altogether: the surgical electric drill 1 of repacking, high speed embedded system 2, host computer 3.Host computer 3 communicates by communication bus 12 and high speed embedded system 2.The add-on module on the handle 7 that the surgical electric drill 1 of repacking installs additional and the add-on module 6 of dc source link by holding wire 11 and high speed embedded system 2.Add-on module on the handle 7 comprises: multidimensional pressure transducer 18, speed probe; The add-on module 6 of dc source comprises: current sensor, voltage sensor, electric voltage reverse-connection brake.

The add-on module 6 of dc source is connected with the female 8 of dc source 4 and the public plug 9 of otology surgical electric drill cable 10 with female 8 by a pair of public plug 9.This refiting scheme is easy to implement, and need not change the circuit structure of power supply, need not punch on the shell of power supply.Can the use of surgical electric drill not brought inconvenience from the attaching plug number of winning the confidence yet.

The repacking of surgical electric drill handle as shown in Figure 2.The repacking of handle 7 is divided into two parts: increase a sleeve 16 at the handle front end, the multidimensional pressure transducer is installed; The shell of repacking handle and inner power transmission shaft 19 are installed speed probe.

The sleeve of handle front end comprises three parts: sliding bearing 15, sleeve 16, protection tube 17.Sleeve is an elongated cylinder, maximum gauge 10mm, length 50mm, and volume makes things convenient for the doctor to use less than half pen.Sleeve joins by black formula structure and original electric drill handle 7.When electric drill grinding skeleton, skeleton can apply a reaction pressure to drill bit, this pressure is delivered on the sleeve by the copper sliding bearing 15 of drilling rod 14 and barrel forward end, and the sleeve of handle front end can produce little deformation that the foil gauge mechanics sensor can detect as an elastomer.In order to obtain better measurement effect, thin the regional car that multidimensional pressure transducer 18 is installed on the sleeve, form stressed concentration zones.For the direction of gaging pressure, paste a slice foil gauges every 90 °, 180 ° two of being separated by form half-bridges and measure the component of parallel skeleton direction and the component of vertical skeleton direction respectively.The effect of protection tube 17 is to protect pick off not to be easy to corrosive material with blood stains, body fluid etc. to contact, and it links by screw thread and telescopic front portion, and dismounting and cleaning are easy to.

Speed probe comprises magnet steel 20 and Hall element 21 two parts.Magnet steel can rotate synchronously along with drill bit, and it's a week is past the drill bit revolution, and Hall element will be exported a pulse, just can obtain the rotating speed of drill bit by the pulse number that calculates the output of per second Hall element.Magnet steel is contained on the power transmission shaft 19, need bore a hole that volume is suitable before installing on power transmission shaft.Hall element is contained on the handle casing relative with the magnet steel position, need bore a hole that area is suitable before installing on handle casing.

The holding wire 11 of multidimensional pressure transducer and Hall element joins by plug 22 and high speed embedded system 2.During the transportation surgical electric drill, handle can separate with the high speed embedded system by this plug, surgical electric drill 1 is separated with high speed embedded system 2 and host computer 3 carry.

The intelligence controlling device of otology surgical electric drill has carried out actual test, 1000 tests have respectively been done for the incident three kinds of abnormalities of otology surgical electric drill, the discrimination of drill slipping surpasses 95%, and the discrimination that worn out sclerotin and cotton sheet twine has all surpassed 80%.

Claims

1. an intelligent control device for a surgical electric drill, characterized in that: the device is made up of a refitted surgical electric drill (1), a high-speed embedded system (2), and an upper computer (3); The high-speed embedded system (2) communicates, and the high-speed embedded system (2) communicates with the sensor and brake on the modified surgical electric drill (1) through the signal line (11); the modified surgical electric drill (1) is equipped with two additional Module: the additional module on the handle (7) and the additional module (6) of the DC power supply; the additional module on the handle (7) includes: a sleeve (16), a multidimensional pressure sensor (18), a rotational speed sensor; an additional module of the DC power supply The module (6) includes: a current sensor, a voltage sensor, and a reverse voltage brake, and the three parts are connected in sequence; the connection mode of the modified surgical electric drill is: the drill bit (13) is connected to one end of the drill rod (14), and the drill rod (14) The other end of the handle (7) is connected with the drive shaft (19) inside, and the handle is connected with the drill pipe. The outer front end is a sleeve (16), and the sleeve (16) is connected with the front end of the handle (7). The sleeve (16) ) is installed on the outside of the multi-dimensional pressure sensor (18), and the pressure change of the drill bit (13) during the grinding process is transmitted to the The multi-dimensional pressure sensor (18) on (16), the multi-dimensional pressure sensor (18) is added the protective tube (17), and the transmission shaft (19) passes through the handle (7) and is connected with the drill rod (14). ) and the handle (7) are in contact with a rotational speed sensor to monitor the rotational speed of the drill bit (13) in real time, and the multidimensional pressure sensor (18) and the signal line (11) of the rotational speed sensor transmit the data to the high-speed embedded On the system (2); the female plug (8) of the DC power supply (4) is connected to the male plug (9) of the additional module (6) of the DC power supply, and the female plug (8) of the additional module (6) of the DC power supply is connected to the The male plug (9) of the surgical electric drill cable (10) is connected, and the electric drill cable (10) is connected with the power unit (5) of the surgical electric drill (1), and the power unit (5) is driven by the transmission shaft (19) to the drill rod ( 14) Provide power, and the additional module (6) of the DC power supply performs information interaction with the high-speed embedded system (2) through the signal line (11); When the electric drill is working abnormally, the starting voltage is reversed and the brake is used to brake the electric drill; the high-speed embedded system is composed of the signal conditioning circuit of the sensor and the microprocessor; the signal of the sensor is amplified and filtered by the signal conditioning circuit, and then sent to the microprocessor for real-time analysis; The microprocessor processes the sensor signal amplified and filtered by the signal conditioning circuit through the implanted pattern recognition program. When the surgical electric drill is found to be working abnormally, the microprocessor starts the voltage reverse brake to brake the electric drill, and sends out different signals through the high-speed embedded system. The voice informs the doctor; the upper computer communicates with the high-speed embedded system to display and record the information of the sensor in real time, and the doctor can observe the Look at the sensor information displayed on the host computer screen to analyze and summarize the surgical experience. The data recorded by the host computer is used to analyze the characteristics and rules of the surgical electric drill when it is abnormal, correct the operating dynamic model of the surgical electric drill, and modify the pattern recognition implanted in the high-speed embedded system. program.

2. The intelligent control device of surgical electric drill as claimed in claim 1, characterized in that: when the electric drill grinds the bone, the bone will apply a reaction pressure to the drill bit, and this pressure passes through the drill rod (14) and the copper at the front end of the sleeve. The sliding bearing (15) is transferred to the sleeve, and the sleeve at the front end of the handle is used as an elastic body, which will produce micro-deformation that can be detected by the strain gauge mechanical sensor; the area where the multi-dimensional pressure sensor (18) is installed on the sleeve is thinned, A stress concentration area is formed; a strain gauge is attached every 90°, and two pieces separated by 180° form a half bridge to measure the component force parallel to the bone direction and the component force perpendicular to the bone direction to measure the direction of pressure.

3. The intelligent control device of surgical electric drill as claimed in claim 1, is characterized in that: handle (7) is separated with high-speed embedded system (2) by plug (22), makes surgical electric drill (1) and high-speed embedded system (2) and the host computer (3) are carried separately.

4. The intelligent control device of surgical electric drill as claimed in claim 1, characterized in that: said rotational speed sensor is made up of magnet steel (20) and Hall sensor (21), and magnet steel (20) is inlaid on the transmission shaft ( 19), the Hall sensor (21) is installed on the handle shell opposite to the magnetic steel (20), the magnetic steel (20) will rotate synchronously with the drill bit, and the Hall sensor (21) will rotate once the drill bit rotates once. A pulse will be output, and the rotational speed of the drill bit can be obtained by calculating the number of pulses output by the Hall sensor (21) per second.