Source: https://patents.google.com/patent/JP2019503721A/en
Timestamp: 2020-08-14 15:39:46
Document Index: 312203902

Matched Legal Cases: ['art 35', 'art 37', 'art 37', 'art 35', 'art 40', 'art 40', 'art 40', 'art 37', 'art 35']

JP2019503721A - Surgical power drill with measuring unit suitable for bone screw length determination - Google Patents
Surgical power drill with measuring unit suitable for bone screw length determination Download PDF
JP2019503721A
JP2019503721A JP2018525459A JP2018525459A JP2019503721A JP 2019503721 A JP2019503721 A JP 2019503721A JP 2018525459 A JP2018525459 A JP 2018525459A JP 2018525459 A JP2018525459 A JP 2018525459A JP 2019503721 A JP2019503721 A JP 2019503721A
JP2018525459A
ビンドルフ，マルクス
シュッツ，ミヒャエル
2015-11-16 Priority to PCT/CH2015/000168 priority Critical patent/WO2017083989A1/en
2015-11-16 Priority to CHPCT/CH2015/000168 priority
2016-11-11 Application filed by アーオー テクノロジー アクチエンゲゼルシャフト, アーオー テクノロジー アクチエンゲゼルシャフト filed Critical アーオー テクノロジー アクチエンゲゼルシャフト
2016-11-11 Priority to PCT/CH2016/000143 priority patent/WO2017083992A1/en
2019-02-14 Publication of JP2019503721A publication Critical patent/JP2019503721A/en
230000001133 acceleration Effects 0.000 claims description 53
239000007943 implant Substances 0.000 claims description 18
230000004069 differentiation Effects 0.000 claims description 7
239000004984 smart glasses Substances 0.000 claims description 5
An apparatus (25) configured to determine a bone screw length for drilling a hole in a bone, wherein the apparatus (25) includes a) a housing (12) and b) a housing (12). A surgical power drill (2) comprising a removably attached or fixed measuring device (1), the measuring device (1) being against the graft (26) or bone surface during the drilling process It is configured to measure the distance (x) covered by the housing (12) in the direction of the vertical axis (7), and the measuring device (1) measures the covered distance (x) with respect to time. A processing unit (14) for recording, the processing unit (14) comprising one or more differentiators for determining at least first and second derivatives with respect to time of covered distance (x) Unit (14) is the finest Further comprising, measuring device one or more peak detector for analyzing the peaks arising in the graph of (1) is provided with a laser device or ultrasonic position sensors for displacement evaluation.
The present invention includes a surgical power drill including a measurement unit suitable for bone screw length determination by the preamble of independent claim 1, and a surgical power drill and measurement unit suitable for bone screw length determination by the preamble of independent claim 2. An apparatus and a method for estimating bone screw length from drilling characteristics using a surgical power drill according to the preamble of claim 49.
From clinical observations, one problem in orthopedic and trauma surgery is the determination of the required screw length for bicortical screw placement, for example, before inserting the screw into the bone fragment. Current mechanical depth gauges are inaccurate, unreliable and difficult to handle,
Resulting in long surgical time,
Too long screw insertion results in soft tissue inflammation, pain, and re-operation,
Inserting screws too short will lead to osteosynthesis failure, reoperation,
The need for screw replacement results in increased screw scrap and hardware costs.
XIE International Publication No. 2015/006296 A surgical drill with an integrated depth measuring device is known from XIE International Publication No. 2015/006296. This known surgical drill slides along the drill bit during surgery and has a telescopic rod having a sleeve whose distal end abuts the proximal surface of the bone and stops the movement of the telescopic rod relative to the drill bit A braking mechanism suitable for the operation and an actuator for engaging the braking mechanism in response to a command signal indicating when the drill bit penetrates the bone. The sensor measures the current drawn by the motor of the drilling device. As the drill bit pierces through the distal side of the bone, the frictional force generated by the drill bit that rubs against the bone decreases rapidly, resulting in a rapid decrease in the current drawn by the motor. The sudden drop in current drawn by the motor over a period of time is measured or sensed by the sensor and processor, which runs the braking module software and stores the change in current data received from the sensor in the sensor parameter threshold. Compared to a predetermined threshold current change or current drop level. The length of the drill bit extending beyond the distal end of the sleeve is measured by a scale or depth gauge attached to the telescopic rod. Alternatively, the length of the drill bit extending beyond the distal end of the sleeve is measured by a digital caliper. The disadvantage of this known surgical drill is that it contains two different measuring devices, the first for detecting when the drill bit exits the bone by measuring the current drawn by the motor, the second is drilling. This is for determining the depth, resulting in a complex electromechanical measurement system.
A further surgical power drill including an integrated depth measurement device is known from US Pat. Appl. No. 2015/0666030 to MCGINGLEY et al. This known surgical power drill comprises a measuring device configured as a linear variable differential displacement transducer (LVDT) attached to a housing, the measuring device being applied to the bone surface in the direction of the longitudinal axis during the drilling process. In contrast, the distance x covered by the housing is measured. The measuring device comprises a processing unit including one or more differentiators for determining first and second order time derivatives of the distance x covered with time. Furthermore, the measuring device includes the use of an additional sensor for measuring the force applied to the drill bit and a third signal indicating the moment when the drill bit leaves the bone cortex, the third signal being the first signal (displacement). ) Of the second time (acceleration) is larger than zero, and the first time derivative of the second signal (force applied to the drill bit) is smaller than zero. A disadvantage of this known surgical power drill is that the measuring device has a cumbersome configuration due to the rod connecting the displaceable tip to the sensor of the measuring device, resulting in a cumbersome handling for the surgeon. In addition, the rod hinders the surgeon's view at the surgical site.
International Publication No. 2015/006296 US Patent Application Publication No. 2015/066030
An object of the present invention is to provide a surgical power drill having a measuring device that has a simple configuration and enables bone screw length estimation based only on drilling characteristics.
The invention includes a surgical power drill including a measurement unit suitable for bone screw length determination with the features of claim 1, and a surgical power drill and measurement unit suitable for bone screw length determination with the features of claim 2. The proposed problem is solved using a device and a method for estimating bone screw length from drilling characteristics using a surgical power drill comprising the features of claim 49.
The advantages of surgical power drills are essentially seen in the following points.
The configuration of the measuring device using a laser device or an ultrasonic position sensor for displacement evaluation by triangulation allows a simple configuration of the measuring device without a mechanical arm between the displaceable member and the sensor. As a result, the surgeon's work area is not occupied and the field of view is not obstructed. Non-contact distance measurements reduce the risk of patient contamination and, in contrast to mechanical contact measurements, do not affect the drilling process. Furthermore, a significantly wider measurement range is realized, for example 15 cm to 30 cm compared to 6.4 cm of known devices, so that various drill bits and drill sleeves with different lengths can be used.
The use of a single position sensor and the use of a processing unit that records the distance x covered by the housing relative to the bone or graft surface over time during the drilling process, and one or more differentiators and peak detectors The measurement unit has a simple construction and can therefore be constructed as a separate unit that can be temporarily attached to a standard surgical drilling machine.
A further advantageous embodiment of the invention is described as follows.
In a special embodiment, the processing unit is one of a computer with a monitor, a tablet computer, a smart phone, a smart watch or a smart glass, so that the processing unit forms at least a primary and a secondary differentiator. , Suitably programmed to calculate at least first and second derivatives over time of covered distance x, and the processing unit is suitably programmed to form a peak detector.
In a further embodiment, the peak detector is configured to identify an acceleration peak when the determined maximum acceleration value exceeds a predetermined threshold.
Along with this, the advantage is realized that the threshold ensures that the position x where the drill bit cutting tip exits the cortex of the bone can be detected reliably. The processing unit can report two values for the location where the peak value of the highest order derivative exceeds the threshold value that occurs at the location where the drill bit cutting tip exits the bone near and far cortex, respectively. The surgeon can then determine whether a single cortical or bicortical bone screw should be applied.
In yet a further embodiment, the processing unit comprises a third-order differentiator for determining a third-order derivative with respect to time of distance x covered by the housing relative to the implant or bone surface in the direction of the longitudinal axis during the drilling process. Is provided. The third derivative with respect to the time of the position x, the first derivative with respect to the time of acceleration, or the second derivative with respect to the time of velocity are each so-called jerk. The jerk peak is clearer than the acceleration peak so that the importance of detecting the point where the drill bit exits the bone cortex can be improved. Furthermore, the jerk peak is located closer to the exit point than the acceleration peak.
In another embodiment committee, the peak detector is configured to identify a jerk peak when the determined maximum jerk value exceeds a predetermined jerk threshold.
In a further embodiment, the processing unit comprises a microprocessor or a processor register for recording the distance x covered by the housing in the direction of the longitudinal axis relative to the surface of the graft or bone with respect to the time during the drilling process With a central processing unit, the microprocessor or central processing unit covered by a housing in the direction of the longitudinal axis relative to the surface of the graft or bone with respect to time so as to form at least one primary and secondary differentiator Properly programmed to calculate at least first and second derivatives of the distance x, the microprocessor or central processing unit is suitably programmed to form a peak detector. The peak that occurs when the drill bit exits the cortex can be clearly distinguished from the peak that occurs when the drill bit penetrates the cortex due to drill bit displacement while drilling.
In a further embodiment, the processor register of the microprocessor or central processing unit temporarily stores acceleration and / or jerk peak values determined during the drilling process to determine acceleration and / or jerk thresholds. . This provides the advantage that the threshold can be set retrospectively for the maximum recorded peak under the assumption that the number of expected peaks (eg, two peaks in the near and far cortex) is known. Is done.
In another embodiment, the microprocessor or central processing unit is programmed to calculate the derivative, detect the peak, and output the current distance x and / or current velocity in real time.
In yet another embodiment, the measuring device comprises attachment means, preferably an adapter that is removably attachable to the housing of the surgical power drill. This configuration allows the advantage that the measuring device can be configured as a separate unit that can be temporarily attached to a standard surgical power drill.
In a further embodiment, the measuring device comprises a clamp for removably mounting the measuring device on the housing.
In a further embodiment, the adapter is configured as a skeleton that can be attached to the housing, preferably as an annular skeleton that is fixed to the housing by a press-fit or clamp collar.
In another embodiment, the measuring device comprises a Bluetooth module with a wireless data transmission device, preferably a signal conditioner. The derived information, i.e. the measured position x of the cutting bit of the drill bit with respect to time, and the velocity and acceleration calculated with respect to time and the jerk calculated with respect to time, the computer with the monitor, the tablet It may be wirelessly transmitted to an external device such as a computer, a smartphone, a smart watch, or a smart glass.
In another embodiment, the measuring device comprises a casing for housing a processing unit and preferably a wireless communication device.
Preferably, the casing containing the processing unit is sterilizable.
In another embodiment, the measuring device comprises a power source, preferably one or more rechargeable or non-chargeable, which can be arranged in the casing or in the housing to supply further power to the electric motor of the surgical power drill A battery is provided.
In a still further embodiment, the measuring device is displaceable in a direction of the longitudinal axis of the spindle relative to the first member in a fixed position relative to the housing and essentially in relation to the first member, A vertical second member having a front end suitable for contacting the surface.
In another embodiment, the laser device comprises a laser module and at least two electro-optical sensors, preferably a charge coupled device (CCD) for performing laser triangulation for displacement evaluation.
In yet another embodiment, the laser device comprises a reflector that is slidable along the drill bit and is configured to abut the implant, bone, or instrument.
In a further embodiment, the displaceable second member of the measurement device comprises a detection chip disposed at the front end of the second member and configured to abut the graft, bone surface, or instrument.
In a further embodiment, the processing unit comprises a data memory for storing data relating to bone screw length, preferably including a safety margin, screw head length, tip section length, and screw length increment.
In a still further embodiment, the measuring device additionally comprises a display or a loudspeaker. The derived information may be provided on a display or speaker mounted locally on the drilling machine and the main output parameters are:
The current position x of the cutting bit of the drill bit, which coincides with the measured distance x covered by the housing in the direction of the longitudinal axis relative to the surface of the implant, instrument or bone;
The current speed of the drill bit moving forward,
The position of the cutting tip of the drill bit at the latest jerk and / or acceleration peak, from which the appropriate graft length is derived.
In another embodiment, the device additionally comprises a calibration device.
In yet another embodiment, the displaceable second member comprises a drill sleeve that extends in the direction of the longitudinal axis to the front end of the second member. In a further embodiment, the first member of the measuring device comprises a display.
In another embodiment, the first member of the measuring device can be inserted into a hollow space located within the housing of the surgical power drill.
Preferably, the first member is part of an electronic module additionally comprising a power source and / or motor for driving the surgical power drill, the power source so as to supply electrical energy to the first member and preferably the motor. It is configured.
Preferably, the hollow space is disposed within the handle of the housing and is configured to receive an electronic module.
In a further embodiment, the housing comprises a top part that includes a sterilizable window for covering the display.
In another embodiment, the top part is integral with the housing and forms a casing for the display.
Preferably, the housing comprises at least one sterilization window to provide a window for the laser beam emitted by the laser module and the reflected beam that can be received by the electronic light sensor.
In another embodiment, the processing unit is suitably programmed to control the rotational speed of the surgical power drill spindle.
In another embodiment, the first member is part of an electronic module that additionally comprises a power source for supplying electrical energy to the first member.
In a further embodiment, the casing includes a cavity that is attachable to the housing by an adapter and is configured to receive an electronic module.
Preferably, the casing comprises a lid disposed at the rear end of the casing and including a sterilizable rear window for covering the display.
Preferably, the casing comprises at least one pre-sterilization window to provide a window for the laser beam emitted by the laser module and a reflected beam that can be received by the electronic light sensor.
In another embodiment, the measurement device is positioned relative to the housing such that the laser beam emitted by the laser module is oriented at an offset angle with respect to the longitudinal axis of the spindle. This arrangement allows the advantage that the diameter of the displaceable second member can be reduced.
In another embodiment, the first member of the measuring device is positioned eccentrically with respect to the longitudinal axis of the spindle. This can realize the advantage that the laser beam (fired and reflected) is not interrupted by the drill bit. The surgeon's view is not obstructed.
In a further embodiment, the measuring device comprises at least one push button with a sterilized flexible cover.
In a further embodiment, the casing is transparent.
In yet a further embodiment, the casing is configured as a funnel that facilitates insertion of the electronic module into the cavity.
In another embodiment, the displaceable second member comprises a clamping portion attached to a cylindrical structure having a variable diameter.
Preferably, the clamp portion of the displaceable second member is configured to provide a friction fit to the drill bit. This allows the advantage that the reflector is slidable along the drill bit but does not move due to low gravity or impact. In this way, the reflector is pressed against the surface of the instrument or implant without the need to accurately conform to the geometry of the instrument or implant.
In another embodiment, the displaceable second member comprises a reflector having a reflective surface and a rim or groove of a shape and size that provides information or triggering events to the processing unit. This configuration can use the depth or position of the rim or groove, for example to automatically select a screw module or to trigger an event such as a tare mode, ie when setting a reference position Enables the advantage.
In another embodiment, the displaceable second member is rotationally symmetric so that the reflector can rotate with the drill bit.
In a further embodiment, the device comprises a calibration device that may be broken after use.
In a further embodiment, the displaceable second member or calibration device or casing is made of a material having a melting temperature that is lower than a typical autoclave operating temperature. This configuration prevents reuse of the reflector to improve safety.
In another embodiment, the measuring device comprises at least one accelerometer. Thereby, the apparatus can be operated by gestures other than buttons. Example: Tare is only possible when oriented vertically (within limits) downward. Returning to the taring mode by orienting the drill vertically upwards. Sleep mode and wake up by device operation to safe energy.
In yet another embodiment, the measuring device additionally comprises at least one gyroscope and / or at least one magnetometer. This configuration allows the advantage that the absolute orientation of the drill can be tracked to control the drilling direction.
In a special embodiment, the method comprises the following steps prior to step A): surgery on the bone such that the front end of the displaceable second member and the cutting bit of the drill bit abut the bone surface. Positioning the power drill and storing the relative position as a starting point (x = 0) for the measurement of the position x of the cutting tip of the drill bit with respect to the bone surface in the direction of drilling with respect to time. Prepare. In this case, the second member includes a drill sleeve extending in the direction of the vertical axis to the front end of the second member.
In another embodiment, the method comprises the following steps prior to step A): the front end of the displaceable second member abuts a drill sleeve that is inserted into the soft tissue covering the bone to be treated. Positioning a surgical power drill relative to the bone; and a drill bit secured within the chuck of the surgical power drill relative to a second displaceable member such that the cutting tip of the drill bit abuts the bone surface. Adjusting the cutting tip and storing the relative position as the starting point (x = 0) for the measurement of the position x of the cutting tip of the drill bit relative to the bone or graft surface in the direction of drilling with respect to time And comprising. In this case, a separate drill sleeve can be used.
In a further embodiment, the method comprises the following steps before step A): a stop in which the front end of the second member contacts the surface of the calibration device and the cutting bit of the drill bit protrudes from the surface of the calibration device Positioning a drill bit fixed in the chuck relative to a displaceable second member using a calibration device to abut against the drill bit, and a drill bit against a bone or graft surface in a drilling direction with respect to time Storing the relative position as the starting point (x = 0) for the measurement of the position x of the cutting tip and the implant so that the front end of the displaceable second member abuts the surface of the implant Positioning a surgical power drill relative to.
1 is a perspective view of one embodiment of an apparatus according to the present invention. And FIG. 6 is a perspective view of another embodiment of an apparatus according to the present invention. FIG. 6 is a perspective view of a further embodiment of the device according to the invention. FIG. 4 is an exploded front view of the embodiment of FIG. 3. FIG. 6 is a graph of displacement along the x-axis as a line where drill bit acceleration versus motion occurs. FIG. FIG. 5 is a graph of jerk versus displacement of a drill bit, where jerk is a derivative with respect to time of acceleration shown in FIG. 1 is a perspective view of a calibration device used with an apparatus according to the present invention. FIG. 8 is a perspective view of one embodiment of the calibration device of FIG. 7 and the displaceable second member of the drill bit and device according to the present invention. FIG. 2 is a schematic cross-sectional view of an embodiment of an implant positioned on a bone and a displaceable member of a drill bit and device according to the present invention at the beginning of a drilling process. FIG. 3 is a schematic cross-sectional view of an embodiment of an implant positioned on a bone and a displaceable member of a drill bit and device according to the present invention at the point where the drill bit abuts the surface of the bone. FIG. 6 is a perspective view of a different embodiment of the displaceable second member of the device according to the present invention. FIG. 6 is a perspective view of a different embodiment of the displaceable second member of the device according to the present invention. FIG. 6 is a perspective view of a different embodiment of the displaceable second member of the device according to the present invention. FIG. 6 is a perspective view of a different embodiment of the displaceable second member of the device according to the present invention. FIG. 6 is a perspective view of a different embodiment of the displaceable second member of the device according to the present invention. And FIG. 6 is a perspective view of another embodiment of an apparatus according to the present invention. FIG. 13 is a perspective view of a first member of the measurement device of the embodiment of the device according to FIG. 12. FIG. 13 is another perspective view of the first member of the measuring device of the embodiment of the device according to FIG. 12. FIG. 13 is a front perspective view of the embodiment of the device according to FIG. 12. FIG. 6 is a perspective view of a displaceable second member of a measuring device according to another embodiment of the device according to the present invention. FIG. 17 is a perspective view of an assembly including a displaceable second member of the measuring device according to FIG. 16 together with a drill sleeve and a calibration device. FIG. 6 is a perspective view of a displaceable second member of a measuring device according to a further embodiment of the device according to the invention.
Definitions The following definitions of currently used terms and phrases explain their exact meaning as used throughout this specification.
Location of the cutting bit of the drill bit relative to the bone or graft surface x:
During the drilling process, the distance x covered by the housing 12 relative to the surface of the bone or graft 26 in the direction of the longitudinal axis 7 of the spindle 13 is such that the drill bit 5 is firmly fixed in the chuck 6 of the surgical power drill 2, Since it is positioned at the beginning of the drilling process as described in detail below, it relates to the position x of the cutting tip 9 of the drill bit 5 relative to the surface of the bone or graft 26 in the drilling direction.
The processing unit 14 of the device according to the invention can be configured using digital or analog technology.
If the processing unit 14 (FIGS. 1 to 4) is configured as a digital processing unit, the processing unit 14 performs the numerical differentiation of the digitized signal, i.e. the cutting tip 9 of the drill bit 5 during the drilling process. A suitably programmed microprocessor or central processing unit is provided to calculate at least first and second derivatives with respect to time of relative position x between the bone and the surface of the bone or graft 26 (FIG. 1).
Numerical differentiation can be performed, for example, by calculating the average slope [x ′ i = (x i + 1 −x i ) / Δt] between two adjacent data points. Alternatively, an algorithm using three adjacent data points, which is referred to as a central difference method, can be applied, and [x ′ i = (x i + 1 −x i−1 ) / 2Δt]. The latter method has the advantage that it does not involve a shift of the differential t-axis position.
The measuring device 1 can comprise a signal conditioner for converting the analog signal generated by the sensor into a digitized signal. Furthermore, the processing unit 14 may be provided with a timer or clock for recording the relative position x with respect to time.
Alternatively, the processing unit 14 can be configured using analog technology, such as an electronic circuit including one or more electronic circuits that function as a differentiator and an electronic circuit that functions as a peak detector.
FIG. 1 shows an embodiment of a surgical power drill 2 according to the present invention, which essentially consists of a housing 12 containing a motor and a spindle 13 driven by the motor, and a housing 12 removed. The measuring device 1 is attached or fixed in a possible manner, and an adapter 15 for fixing the measuring device 1 to the housing 12. The spindle 13 has a longitudinal axis 7 and is provided with a chuck 3 at the front end for tightening the drill bit 5. The measuring device 1 includes a first member 3 in a fixed position with respect to the housing 12 and a vertical but displaceable parallel or coaxially with the longitudinal axis 7 of the spindle 13 with respect to the first member 3 by way of example but not limitation. A second member 4. Alternatively, the measuring device 1 can be arranged in the housing 12 so that the second member 4 can be displaced at an angle with respect to the longitudinal axis 7 of the spindle 13. Systematic errors (cosine errors) caused by this angulation can be easily compensated. This arrangement has the advantage that the reflector can be made small so that the measuring element can be arranged close to the drill bit 5.
The displaceable second member 4 has a front end 10, and in use, the front end 10 of the displaceable second member 4 abuts the bone surface or the surface of a graft 26, such as a bone plate or drill sleeve. The drill bit 5 can be clamped in the chuck 6 and is provided with a cutting tip 9. Furthermore, the displaceable second member 4 can comprise a drill sleeve 23 extending in the direction of the longitudinal axis 7 to the front end 10 of the second member 4.
The measuring device 1 includes a laser device for linear displacement evaluation. The laser device includes an exemplary but non-limiting example of a laser module 18 having laser emitting means, a reflector 20 attached to a drill sleeve 23 that forms a second member 4 slidable along the drill bit 5. And at least two electro-optical sensors 19 configured as charge coupled devices (CCD) for performing laser triangulation for linear displacement evaluation.
In another alternative embodiment, the linear displacement assessment can be performed using an ultrasonic position sensor.
In order to incorporate the screw length determination in the drilling procedure so as to omit the depth measurement step after drilling the hole in the bone, the configuration of the measuring device 1 is such that the cutting tip 9 of the drill bit 5 is drilled during drilling. This is based on the fact that an acceleration peak of the drill bit 5 occurs when leaving the bone cortex, which is an inevitable characteristic of a hand-held drill. As a result, the housing 12 of the surgical power drill 2 is subjected to the same acceleration as the first member 3 of the measuring device 1.
In addition, the processing unit 14 comprises one or more differentiators for determining at least first and second derivatives with respect to the time of the position x, and a peak detector. The peak detector is applied to identify acceleration and / or jerk peaks as the cutting tip 9 of the drill bit 5 exits the bone cortex. A graph of acceleration versus displacement or drilling depth is exemplarily shown in FIG. The acceleration value at the entry point (A) of the cutting tip 9 of the drill bit 5 is set to zero. The first peak of acceleration occurs after the increase in acceleration when the cutting tip 9 of the drill bit 5 exits the near cortex of the bone (B) and the penetration of the cutting tip 9 of the drill bit 5 into the far cortex (C). A second peak of acceleration occurs when the cutting tip 9 of the drill bit 5 exits the far cortex of the bone (D). The first and second peaks are clearly identifiable by a sharp and obvious increase in acceleration and subsequent return, and specify a clear and identifiable discontinuity in the acceleration versus displacement graph of the drill bit 5 .
In particular, the measuring device 1 measures and records the relative movement between the displaceable second member 4 and the first member 3 fixed relative to the housing 12. Since the drill bit 5 is firmly clamped in the chuck 6, the relative movement between the displaceable second member 4 and the first member 3 causes the drill bit 5 relative to the front end 10 of the displaceable second member 4. This coincides with the relative movement of the cutting tip 9. Accordingly, the measuring device 1 measures and records the relative movement of the drill bit 5 in the drilling direction with respect to the bone surface or graft surface against which the front end 10 of the displaceable second member 4 of the measuring device 1 abuts. The movement of the drill bit 5 relative to the displaceable second member 4 of the measuring device 1 is a one-dimensional translational movement, and the position of the cutting tip 9 of the drill bit 5 relative to the front end 10 of the displaceable second member 4 at any moment. x is in this case given by the x coordinate of the cutting tip 9 along the x axis 8 forming the reference coordinate system. The position x or x coordinate of the cutting tip 9 is set to 0 at the beginning of the drilling procedure, for example when the cutting tip 9 of the drill bit 5 is flush with the front end 10 of the displaceable second member 4. .
The speed of the drill bit 5 moving along the x-axis 8 at any moment is equal to the rate of change of the x-time graph at that moment and is therefore determined by the first derivative with respect to the time of x at that moment. Further, the instantaneous acceleration of the drill bit 5 at an arbitrary time is the rate of change of the speed vs. time curve at that time, and is determined as a second derivative with respect to the time of x at that moment. The acceleration peak may occur too late for the point at which the cutting tip 9 of the drill bit 5 exits the far cortex of the bone, for example. The maximum change in acceleration, ie the jerk peak, occurs near the point where the cutting tip 9 of the drill bit 5 exits, for example, the far cortex of the bone. In order to allow a more important identification of the point at which the cutting tip 9 of the drill bit 5 exits the far cortex of the bone, for example, the jerk of the drill bit 5 is determined. Furthermore, a simple peak detector can be applied by the jerk peak. As defined in physics, jerk is the rate of change of acceleration, that is, the derivative with respect to time of acceleration, ie, the second derivative with respect to the time of velocity at any moment and the third derivative with respect to the time of x.
For this purpose, the position x or x coordinate of the cutting tip 9 of the drill bit 5 with respect to time is recorded by a processing unit 14 incorporated in the first member 3 of the measuring device 1.
Illustratively but not exclusively, the processing unit 14 is configured as a digital processing unit and comprises a microprocessor having a processor register for recording the position of the second member 4 relative to the first member 3. As described above, the position of the second member 4 with respect to the first member 3 coincides with the position x or the x coordinate of the cutting tip 9 of the drill bit 5 with respect to the front end 10 of the displaceable second member 4. Furthermore, the microprocessor is suitably programmed for numerical differentiation of the digitized signal, i.e. to calculate at least first and second derivatives with respect to the time of the position x or x coordinate, and acts on the drill bit 5. And is further programmed to detect acceleration and / or jerk peaks based on acceleration and / or jerk determined by the differentiator.
Alternatively, as described above, the processing unit 14 may be configured using analog technology, such as one or more electronic circuits that function as a differentiator and an electronic circuit that includes an electronic circuit that functions as a peak detector. Is possible.
With one or more differentiators, the instantaneous acceleration of the drill bit 5 at any time is determined as a second derivative with respect to the time of x at that moment. In addition, the jerk as the derivative with respect to time of acceleration, ie the second derivative of velocity at any moment and the third derivative with respect to time of x, is determined.
As shown in FIG. 5, the acceleration of the drill bit 5 has a first peak (B) when the cutting tip 9 of the drill bit 5 exits the bone's near cortex, and the cutting tip 9 of the drill bit 5 is far from the bone. It has a second peak (D) as it exits the cortex. Furthermore, a rapid increase in the acceleration of the drill bit 5 along the axis 8 occurs when the cutting tip 9 of the drill bit 5 has entered the far cortex of the bone, but this does not continue to return after this, The acceleration peak does not appear. FIG. 6 shows jerk, which acts on the drill bit 5 and is a derivative with respect to time of acceleration. The first peak of the jerk specifies the slope of the tangent of the acceleration vs. time graph at that moment, ie, when the cutting tip 9 of the drill bit 5 exits the near cortex (B), and the second peak is that moment, The gradient of the tangential line of the acceleration vs. time graph at the point (C) when the cutting tip 9 of the drill bit 5 enters the far cortex is designated, and the third peak is the moment, that is, the cutting tip 9 of the drill bit 5 is almost far away. Specifies the slope of the tangent line of the acceleration vs. time graph at the point of exit (D).
The data processing performed by the peak detector can include determining its position, height, and width. Further, the peak detector can use an amplitude threshold or a gradient threshold to reliably identify the peak. Another parameter may be the width of the peak or the area covered by the peak.
If the peak detector is configured to use the amplitude threshold to identify the acceleration peak when the determined maximum acceleration exceeds a predetermined threshold. The particular threshold value can be stored in a data memory electronically connected to the microprocessor and / or temporarily stored in a processor register of the microprocessor.
If the peak detector is configured to use a gradient threshold, ie jerk, for peak identification, the processing unit 14 relates to the time of the position x or x coordinate of the cutting tip 9 of the drill bit 5 at any moment. A third-order differentiator is additionally provided for determining or calculating the third-order derivative, and the position x or the x coordinate coincides with the displacement of the second member 4 relative to the first member 3. The peak detector is then configured or programmed to identify a jerk peak when the determined maximum value of jerk exceeds a predetermined threshold value for jerk.
The drill distance leaving the second cortex, i.e. the position x or x coordinate of the cutting tip 9 of the drill bit 5 when the cutting tip 9 leaves the far cortex, is automatically calculated based on acceleration and / or jerk peaks. Based on this position x or x-coordinate, the required screw length, preferably including a safety margin, can be estimated. For this purpose, the processing unit 14 can comprise a data memory for storing data relating to the bone screw length, preferably including a safety margin.
The measuring device 1 and in particular the displacement transducer may be integrated into the housing 12 or temporarily attachable thereto. In a temporarily attachable configuration, the measuring device 1 comprises attachment means in the form of an adapter 15 that can be removably attached to the housing 12 of the surgical power drill 2. The adapter 15 is illustratively, but not limited to, configured as an annular skeleton that can be attached to the housing 12 by press fit or via a clamp collar. Alternatively, the measuring device 1 can include a clamp for removably attaching the measuring device 1 to the housing 12.
The measuring device 1 can comprise a wireless communication device, which is illustratively configured as a Bluetooth module 17 having a signal conditioner. Via the wireless communication device, the data can be derived information, i.e. the measured position of the cutting bit of the drill bit with respect to time and the speed calculated with respect to time, the acceleration calculated with respect to time, and It may be wirelessly transmitted to an external computer with a monitor, tablet computer, smartphone, smart watch, or smart glass to calculate or display the jerk calculated over time. Alternatively, the derived data may be provided on a display or speaker mounted locally on the surgical power drill 2.
In addition, the measuring device 1 comprises a processing unit 14, a radio communication device and a sterilizable casing 16 for housing a power source 22 for the measuring device 1, the power source 22 being one that can be arranged in the casing 16. Includes the above rechargeable or non-rechargeable batteries.
In addition, the device 25 may additionally comprise a calibration device 27 as shown in FIGS. 7 and 8 and described in more detail below.
Another embodiment of a device 25 according to the invention is shown in FIG. 2, which is a device in which the processing unit 14 is a computer having a monitor, a tablet computer, a smart phone, a smart watch or a smart glass, for example. As well as being an external unit, the measuring device 1 comprises a wireless data transmission device 17 and the processing unit 14 comprises a wireless data receiving device, which is covered by the housing 12 in the direction of the longitudinal axis 7 with respect to the graft 26 or bone surface. 1 differs from the embodiment of FIG. 1 only in that the measured distance x can be transmitted from the measuring device 1 to the external processing unit 14 and recorded with respect to time. External processing unit 14 may comprise a microprocessor similar to the embodiment of FIG. 1 or may comprise a central processing unit.
A further embodiment of the device 25 according to the invention is shown in FIGS. 3 and 4, the measuring device 1 of the embodiment of FIGS. 3 and 4 comprises a laser module 18 for emitting a laser beam and, for example, a photodiode. Alternatively, the first member 3 including a triangulation receiver, such as an electronic photosensor 19 in the form of a charge coupled device (CCD), is configured as part of the electronic module 31 to Is different. The electronic module 31 can be inserted into a hollow space 32 formed in the handle 33 of the housing 12, and the hollow space 32 extends from an opening 34 at the bottom of the handle 33 to the top part 35 of the housing 12. . The opening 34 can be closed by a cover 36 that can be attached to the bottom of the handle 33.
Apart from the first member 3, the electronic module 31 comprises a display 30 arranged in an upper part 37 of the electronic module 31, which upper part 37 is configured in a respective cavity formed in the top part 35 of the housing 12. The shape and dimensions are set in 38. In addition, the electronic module 31 includes a laser module 18, an electronic light sensor 19, a processing unit 14, and a power supply 22 for driving the surgical power drill 2 to supply the laser module 18, the optical sensor 19, and the processing unit 14. The lower part 40 is included. Illustratively, the power source 22 may be a battery or a storage battery. The lower part 40 of the electronic module 31 is shaped and dimensioned to be inserted into the hollow space 32 of the handle 33 of the housing 12. The laser window 41 is arranged in front of the lower part 40 and immediately below the upper part 37 of the electronic module 31 so that the laser beam and the electronic light sensor 19 are aligned with the respective windows 42, 43 (FIG. 4) of the housing 12. Has been.
First and second sterilization windows 42, 43 are disposed in the housing 12 of the surgical power drill 2 to provide a window for the laser beam emitted by the laser module 18 and the reflected beam received by the electronic light sensor 19. Has been. The first and second sterilization windows 42, 43 are disposed in front of the housing 12 (when viewed from the front) below the longitudinal axis 7 of the spindle 13, and the surgical power drill 2 including the longitudinal axis 7. On both sides of the central plane 44 are located at a distance from the central plane 44 that allows the laser beam and the reflected beam to pass next to the spindle 13 of the surgical power drill 2 and the chuck 6.
The top part 35 of the housing 12 forms the casing 16 of the display 30, which, by way of example but not limitation, is integral with the housing 12 of the surgical power drill 2 and surrounds the cavity 38. The casing 16 includes a third sterilization window 45 for covering the display 30. Further, the casing 16 is disposed in the housing 12 on the opposite side of the handle 33 of the surgical power drill 2. The third sterilization window 45 is angled with respect to a plane orthogonal to the longitudinal axis 7 of the spindle 13 and is oriented toward the rear end of the housing 12.
By way of example, but not limitation, the measuring device 1 is such that the power supplied to the electric motor of the power drill 2 is interrupted when a peak is detected by the measuring device 1, thereby preventing the drill bit 5 from entering. Furthermore, it is suitably configured to control the rotational speed of the spindle 13 of the surgical power drill 2.
Another embodiment of the device 25 according to the invention is shown again in FIGS. 12 to 15, in which the measuring device 1 of the embodiment of FIGS. 12 to 15 is for the first member 3 to emit a laser beam. Apart from a triangulation receiver, such as a laser module 18 and an electronic light sensor 19 in the form of a photodiode or charge coupled device (CCD), the implementation of FIG. It is different from the form. Furthermore, the electronic module 31 includes a processing unit 14 and a power source 22 for the measuring apparatus 1. The display 30 is disposed on the rear side 46 of the electronic module 31. Similar to the embodiment of FIG. 1, the sterilizable casing 16 is attachable to the surgical power drill 2 and includes a cavity 38 for receiving the electronic module 31. The pre-sterilization window 47 is arranged in front of the casing 16 for passing the laser beam emitted by the laser module 18 and the reflected beam reflected by the reflector 20 arranged on the second member 4 of the measuring device 1. Yes.
The laser module 18 and the electronic light sensor 19 that receives the reflected beam to perform triangulation are such that the laser beam and the reflected beam are on the longitudinal axis 7 of the spindle 13 (when viewed from the front of the assembled first member 3). In the electronic module 31, the electronic modules 31 are spaced apart from each other in the lateral direction.
The casing 16 includes an adapter 15 for fixing the first member 3 of the measuring device 1 to the housing 12, and the adapter 15 can be detachably attached to the housing 12 of the surgical power drill 2. The adapter 15 is illustratively, but not limited to, configured as an annular skeleton that can be attached to the housing 12 by a flexible clamp collar 48, for example, to a fixed part of the spindle 13 by a clamping screw 49.
The clamp collar 48 is positioned on the casing 16 while being shifted laterally with respect to the longitudinal center plane of the casing 16 in order to pass the laser beam and the reflected beam to the side of the drill bit 5. Furthermore, the adapter 15 causes the casing 16 to move relative to the longitudinal axis 7 so that the laser beam can be launched at an angle with respect to the longitudinal axis 7 to reduce the size of the reflector 20 of the second member 4 of the measuring device 1. Attached to the surgical power drill 2 at a certain angle.
The casing 16 is sterilizable and is configured as an individual piece disposed on the housing 10. The cavity 38 has an opening on the rear side of the casing 16, can be rotated around an axis located on the lower side of the casing 16, and can be closed by a lid 51 extending perpendicular to the vertical axis. The lid 51 includes a post-sterilization window 52 for covering the display 30 (when the lid 51 is closed), the rear window 52 is angled with respect to a plane perpendicular to the longitudinal axis 7 of the spindle 13 and the housing 12 is oriented toward the rear end.
By way of example but not limitation, the power switch actuator 53 of the electronic module 31 is arranged inside the lid 51 so that energy is supplied from the power source 22 to the electronic components of the measuring device 1 when the lid 51 is closed. Can be arranged. One or more buttons 54 can be arranged on the rear side of the electronic module 31 to operate the processing unit 14, the laser module 18, and the electronic light sensor 19. The post-sterilization window 52 may be provided with a recess to provide a weakened area of the rear window 52 that activates one or more buttons 54 when the lid 51 is in the closed position.
The processing unit 14 of the embodiment of FIGS. 1 to 4 and 12 to 15 is provided by the housing 12 in the direction of the longitudinal axis 7 relative to the surface of the graft 26 or bone with respect to the time during the drilling process. A microprocessor or central processing unit is provided that includes a processor register for recording the covered distance x. In addition, the processor register of the microprocessor or central processing unit temporarily stores acceleration and / or jerk peak values determined during the drilling process to determine acceleration and / or jerk thresholds. This allows the threshold to be set retrospectively for the maximum recorded peak under the assumption that the number of expected peaks (eg, two peaks in the near cortex and far cortex) is known.
Furthermore, the microprocessor or central processing unit of the processing unit 14 of the embodiment of FIGS. 1 to 4 and 12 to 15 calculates the derivative, detects the peak, the current distance x, the current speed, And the position x of the cutting tip 9 of the drill bit 5 at the latest jerk peak can be programmed to output in real time. As described above, numerical differentiation requires at least two or three adjacent data points x i-1 (t i-1 ), x i (t i ), and x i + 1 (t i + 1 ). Thus, for real-time processing of differentiation and peak detection, processing unit 14 temporarily stores or records at least two or more adjacent data points.
Alternatively, the microprocessor or central processing unit of the processing unit 14 in the embodiment of FIGS. 1 to 4 and 12 to 15 first records a complete set of data points over time during the entire drilling process, Once the procedure is complete, it can be programmed for retrospective data processing to calculate derivatives and perform peak detection.
It should be noted that only real-time feedback of the current drilling depth is very valuable to the surgeon. More valuable information comes from the current drilling speed. This can help the surgeon to control the feed rate to avoid mechanical or thermal damage to the bone, or it can be used to estimate bone quality.
FIG. 16 shows another embodiment of the reflector 20 that is not integral with or attached to the drill sleeve 23. The reflector 20 can be clamped on the drill bit 5 in a manner that allows the reflector 20 to slide on the drill bit 5 such that the reflector 20 is independent of the configuration of the drill sleeve 23. The reflector 20 includes a disc-shaped portion 55 and a fastening portion 56 having a vertical slot so as to form a tongue portion adjacent to the disc-shaped portion 55 and suitable for applying a radial pressure to the drill bit 5. Have.
FIG. 18 shows that the reflector 20 has a reflective surface 58 facing away from the clamping portion 56, and that the reflective surface 58 includes a groove 57 extending along the outer periphery of the disc-like portion 55. Another embodiment of the reflector 20 is shown which is different from the sixteen embodiment. Illustratively, the event that the laser spot created by the laser beam on the rear side of the disc-shaped portion 55 jumps into the groove 57 can be used as a switch or trigger for an operation such as stopping the rotation of the spindle 13, for example. The depth or position of 57 can be used to select, for example, a screw module, such as 5 mm or 3.5 mm or 2.4 mm.
The method for estimating the bone screw length from the drilling characteristics essentially consists of A) longitudinal drilling of the spindle 13 by drilling a hole in the bone and by recording the position x of the cutting tip 9 of the drill bit 5 against time. Advancing the surgical power drill 2 coaxially with the axis 7; B) determining the first, second and third order derivatives of x vs. t at any instant; and C) identifying the jerk peak occurring at that instant. Using a peak detector to determine when the cutting tip 9 of the drill bit 5 exits the cortex of the bone, the velocity, acceleration and jerk versus time graphs being determined under step B) A step derived through differentiation at any moment. By analyzing the instantaneous velocity sign and acceleration signal, false solutions are eliminated. To determine whether the identified jerk peak is associated with deceleration (entering bone) or acceleration (exiting bone), the sign of the instantaneous acceleration is examined. Further examination of the sign of the instantaneous speed ensures only to consider the peaks that occur while the drill bit is being advanced rather than retracted. D) determining the relative position between the second member 4 and the first member 3 at the moment determined under step C); and E) determined in step D) taking into account a predetermined safety margin. Selecting a bone screw having a length corresponding to the relative position between the second member 4 and the first member 3.
As described above, the position x of the cutting tip 9 of the drill bit 5 relative to the surface of the bone or graft 26 in the drilling direction is set to zero at the beginning of the drilling process. However, this zero position of the cutting tip 9 of the drill bit 5 is
1) The displaceable second member 4 comprises a drill sleeve 23 extending from the front end 10 of the second member 4 in the direction of the longitudinal axis 7 as shown in FIGS. 3, 4 and 11a to 11e. Or 2) whether or not the drill sleeve is a separate member pre-inserted into the soft tissue covering the bone to be treated, or 3) the zero position of the cutting tip 9 is an implant such as a bone plate, for example 26 is set for
Depends on the fact that. If the drill bit 5 is guided in a drill sleeve 23 that is in contact with or attached to the bone plate during drilling, and therefore the cutting tip 9 of the drill bit 5 does not abut the upper surface of the bone plate (FIG. 9), the bone A calibration device 27 that provides a physical stop 28 in the drill sleeve 23 at a height corresponding to the top surface of the plate can be used to determine the starting point of the measurement (FIG. 8). Alternatively, if the lengths of the drill bit 5 and the drill sleeve 23 are known, the starting point can be calculated from this data.
In the case of the above variant 1), the method comprises the following steps before step A):
Positioning the surgical power drill 2 relative to the bone such that the front end 10 of the displaceable second member 4 and the cutting tip 9 of the drill bit 5 abut the surface of the bone;
Storing the relative position as a starting point (x = 0) for the measurement of the position x of the cutting tip 9 of the drill bit 5 with respect to the bone surface in the drilling direction with respect to time.
In the case of variant 2) above, the method comprises the following steps before step A):
Positioning the surgical power drill 2 relative to the bone such that the front end 10 of the displaceable second member 4 abuts a drill sleeve 23 that is inserted into the soft tissue covering the bone to be treated;
Adjusting the cutting tip 9 of the drill bit 5 fixed in the chuck 6 of the surgical power drill 2 relative to the displaceable second member 4 so that the cutting tip 9 of the drill bit 5 abuts against the bone surface When,
Storing the relative position as a starting point (x = 0) for the measurement of the position x of the cutting tip 9 of the drill bit 5 with respect to the bone or graft surface in the drilling direction with respect to time.
In the case of variant 3) above, the method consists of the following steps (FIGS. 9 and 10) before step A):
The calibration device 27 (see FIG. 5) is such that the front end 10 of the second member 4 contacts the surface 29 of the calibration device 27 and the cutting tip 9 of the drill bit 5 contacts the stop 28 protruding from the surface 29 of the calibration device 27. 7 and FIG. 8) positioning the drill bit 5 fixed in the chuck 6 with respect to the displaceable second member 4;
Storing the relative position as a starting point (x = 0) for the measurement of the position x of the cutting tip 9 of the drill bit 5 relative to the surface of the bone or graft 26 in the direction of drilling with respect to time;
Positioning the surgical power drill 2 relative to the graft 26, eg, a bone plate, such that the front end 10 of the displaceable second member 4 abuts the surface of the graft 26 (FIG. 9).
FIG. 17 shows a further embodiment of the calibration device 27. For example, the reflector 20 as shown in FIG. 16 or FIG. 17 and the calibration device 27 as shown in FIG. 7 and FIG. 8 can be made for a single use. In another embodiment, the drill sleeve 23 according to one of the embodiments shown in FIGS. 11a to 11e, 16 and 17 can be configured as a disposable member for this purpose. It is also possible to connect to the calibration device 27 through a predetermined limit point.
While the invention has been described in conjunction with specific embodiments thereof, it is obvious that many alternatives, modifications and variations will be apparent to those skilled in the art. Accordingly, it is intended to embrace all such alternatives, modifications and variations that fall within the scope of the appended claims.
It is understood that the particular features of the invention described with reference to individual embodiments for clarity may be combined in a single embodiment. On the contrary, the various features of the invention described with reference to a single embodiment for the sake of brevity are individually or in any suitable sub-combination or other described embodiment of the invention. May be provided as appropriate. Certain features described in connection with various embodiments are not to be considered essential features of these embodiments, unless the embodiment would not work without that element.
A device (25) configured to determine a bone screw length for drilling a hole in a bone, wherein the device (25) comprises:
A housing (12) containing a motor and a spindle (13) driven by the motor, the spindle (13) having a longitudinal axis (7) and a chuck (6) for tightening a drill bit (5) A housing (12) comprising
A surgical power drill (2) comprising:
A measuring device (1) removably attached or secured to a housing (12), wherein the measuring device (1) is longitudinal (7) relative to the implant (26) or bone surface during the drilling process. Measuring device (1) configured to measure the distance (x) covered by the housing (12) in the direction of
The measuring device (1) is a processing unit for recording the distance (x) covered by the housing (12) in the direction of the longitudinal axis (7) with respect to the graft (26) or bone surface over time. (14)
The processing unit (14) is one for determining at least first and second derivatives with respect to time of the covered distance (x) at any moment and for recording at least a graph of the highest derivative with respect to time. With the above differentiator,
The processing unit (14) further comprises a peak detector for analyzing one or more peaks occurring in a graph of the highest order derivative with respect to time,
The measuring device (1) comprises a laser device or an ultrasonic position sensor for displacement evaluation,
Device (25).
A device (25) configured to determine a length of a bone screw or guide wire for drilling a hole in a bone, the device (25) comprising:
A measuring device (1) removably attached or secured to a housing (12), wherein the measuring device (1) is longitudinal with respect to the implant (26), instrument or bone surface during the drilling process. A measuring device (1) configured to measure the distance (x) covered by the housing (12) in the direction of the axis (7);
The measuring device (1) comprises a wireless data transmission device (17),
The device (25) comprises a wireless data receiving device, which is the distance (x) covered by the housing (12) in the direction of the longitudinal axis (7) with respect to the implant (26) or the bone surface with respect to time. Comprising a processing unit (14) configured to record,
The processing unit (14) is one for determining at least first and second derivatives with respect to time of the covered distance (x) at any moment and for recording at least a graph of the highest derivative with respect to time. The processing unit (14) further includes a peak detector for analyzing one or more peaks generated in a graph of the highest-order differentiation with respect to time, and the measuring device (1) includes a displacement evaluation unit. A laser device or an ultrasonic position sensor for
The processing unit (14) is one of a computer having a monitor, a tablet computer, a smartphone, a smart watch or a smart glass, and the processing unit (14) forms at least one primary and secondary differentiator. As such, the processing unit (14) is suitably programmed to form a peak detector, and is suitably programmed to calculate at least first and second derivatives with respect to time of covered distance (x). The apparatus according to claim 2.
4. An apparatus according to claim 1 or 3, wherein the peak detector is configured to identify an acceleration peak when a determined maximum acceleration value exceeds a predetermined threshold.
The processing unit (14) calculates a third derivative with respect to time of the distance (x) covered by the housing (12) relative to the implant (26) or bone surface in the direction of the longitudinal axis (7) during the drilling process. The apparatus according to claim 1, comprising a third-order differentiator for determining.
6. Apparatus according to any one of the preceding claims, wherein the peak detector is configured to identify a jerk peak when the determined maximum value of jerk exceeds a predetermined threshold value of jerk.
For the processing unit (14) to record the distance (x) covered by the housing (12) in the direction of the longitudinal axis (7) relative to the surface of the graft (26) or bone with respect to the time during the drilling process A microprocessor or central processing unit having a processor register, wherein the microprocessor or central processing unit has at least one longitudinal and longitudinal axis relative to the implant (26) or bone surface so as to form at least one primary and secondary differentiator. 7) suitably programmed to calculate at least first and second derivatives with respect to time of distance (x) covered by the housing (12) in the direction of 7), the microprocessor or central processing unit 7. Apparatus according to any one of the preceding claims, suitably programmed to form.
The processor register of the microprocessor or central processing unit temporarily stores acceleration and / or jerk peak values determined during the drilling process to determine acceleration and / or jerk thresholds. The device described.
9. A microprocessor or central processing unit is programmed to calculate a derivative, detect a peak, and output the current distance (x) and / or current speed in real time. apparatus.
10. The measuring device (1) according to any one of claims 1 to 9, wherein the measuring device (1) comprises an adapter (15) removably attachable to the attachment means, preferably the housing (12) of the surgical power drill (2). apparatus.
11. Apparatus according to any one of the preceding claims, wherein the measuring device (1) comprises a clamp for removably mounting the measuring device (1) on the housing (12).
12. Device according to claim 10 or 11, wherein the adapter (15) is configured as a skeleton attachable to the housing (12), preferably an annular skeleton fixed to the housing (12) by press-fitting or clamping collars.
Device according to any one of claims 1 or 3 to 12, wherein the measuring device (1) comprises a Bluetooth module with a wireless data transmission device (17), preferably a signal conditioner.
14. A device according to any one of the preceding claims, wherein the measuring device (1) comprises a casing (16) for accommodating a processing unit (14) and preferably a wireless communication device.
15. A device according to any one of the preceding claims, wherein the casing (16) containing the processing unit (14) is sterilizable.
The measuring device (1) is equipped with a power supply (22) and can be arranged in the casing (16) or in the housing (12), preferably for further powering the electric motor of the surgical power drill (2) 16. A device according to any one of the preceding claims, comprising one or more rechargeable or non-rechargeable batteries.
A first device (3) in which the measuring device (1) is in a fixed position relative to the housing (12);
An anterior end (10) that is essentially displaceable in the direction of the longitudinal axis (7) of the spindle (13) relative to the first member (3) and is suitable for contacting the surface of the bone or graft (26). A vertical second member (4) comprising:
18. A laser device comprising a laser module (18) and at least two electro-optical sensors (19), preferably a charge coupled device (CCD) for performing laser triangulation for displacement evaluation. The device according to any one of the above.
The laser device comprises a reflector (20) slidable along the drill bit (5) and configured to abut an implant (26), bone or instrument. The apparatus according to any one of 18.
The processing unit (14) comprises a data memory for storing data relating to bone screw length, preferably including a safety margin, screw head length, tip section length, and screw length increment. The apparatus according to any one of 1 to 19.
21. Apparatus according to any one of the preceding claims, wherein the measuring device (1) additionally comprises a display or a loudspeaker.
Device according to any one of the preceding claims, wherein the device (25) additionally comprises a calibration device (27).
23. Any of the claims 17-22, wherein the displaceable second member (4) comprises a drill sleeve (23) extending in the direction of the longitudinal axis (7) to the front end (10) of the second member (4). The apparatus according to one item.
24. Apparatus according to any one of the preceding claims, wherein the first member (3) comprises a display (30).
The first member (3) of the measuring device (1) can be inserted into a hollow space (32) arranged in the housing (12) of the surgical power drill (2). The device according to item.
The first member (3) is part of an electronic module (31) additionally provided with a power source (22) and / or a motor for driving the surgical power drill (2), the power source (22) being the first 26. Apparatus according to any one of claims 1 to 25, configured to supply electrical energy to the member (3) and preferably to the motor.
27. Device according to claim 25 or 26, wherein the hollow space (32) is arranged in the handle (33) of the housing (12) and is adapted to receive the electronic module (31).
28. Apparatus according to any one of claims 24 to 27, wherein the housing (12) comprises a top part (35) comprising a sterilizable window (45) for covering the display (30).
29. Apparatus according to claim 28, wherein the top part (35) is integral with the housing (12) and forms a casing (16) for the display (30).
The housing (12) includes at least one sterilization window (42, 43) to provide a window for the laser beam emitted by the laser module (18) and the reflected beam that can be received by the electronic light sensor (19). 30. Apparatus according to any one of claims 25 to 29, comprising:
Device according to any one of the preceding claims, wherein the processing unit (14) is suitably programmed to control the rotational speed of the spindle (13) of the surgical power drill (2).
26. The first member (3) according to any one of claims 1 to 25, wherein the first member (3) is part of an electronic module (31) additionally provided with a power supply (22) for supplying to the first member (3). Equipment.
The casing (16) is attachable to the housing (12) by an adapter (15) and comprises a cavity (38) configured to receive an electronic module (31). The device according to item.
34. Any of claims 14 to 33, wherein the casing (16) comprises a lid (51) arranged at the rear end of the casing (16) and comprising a sterilizable rear window (45) for covering the display (30). A device according to claim 1.
The casing (16) comprises at least one pre-sterilization window (47) to provide a window for the laser beam emitted by the laser module (18) and a reflected beam receivable by the electro-optical sensor (19). 35. A device according to any one of claims 14 to 34.
The measuring device (1) is positioned relative to the housing (12) so that the laser beam emitted by the laser module (18) is oriented at an offset angle with respect to the longitudinal axis (7) of the spindle (13). 36. The apparatus according to any one of claims 1-35.
37. The device according to claim 1, wherein the first member (3) of the measuring device (1) is positioned eccentrically with respect to the longitudinal axis (7) of the spindle (13).
38. Apparatus according to any one of the preceding claims, wherein the measuring device (1) comprises at least one push button (54) having a sterilized flexible cover.
Device according to any one of claims 14 to 38, wherein the casing (16) is transparent.
40. Apparatus according to any one of claims 14 to 39, wherein the casing (16) is configured as a funnel that facilitates insertion of the electronic module (31) into the cavity (38).
41. Apparatus according to any one of claims 1 to 40, wherein the displaceable second member (4) comprises a clamping part (56) attached to a cylindrical structure having a variable diameter.
42. Device according to claim 41, wherein the clamping part (56) of the displaceable second member (4) is configured to provide a friction fit to the drill bit (5).
A displaceable second member (4) includes a reflector (20) having a reflective surface (58) and a rim or groove (57) shaped and dimensioned to provide information or trigger events to the processing unit (14). 43. Apparatus according to any one of claims 1 to 42, comprising:
44. Apparatus according to any one of claims 1 to 43, wherein the displaceable second member (4) is rotationally symmetric.
45. Apparatus according to any one of claims 22 to 44, wherein the calibration device (27) is integral with the second member (4) of the measuring device (12) and may be broken after use.
The displaceable second member (4) or the calibration device (27) or casing (16) is made of a material having a melting temperature lower than the typical autoclave operating temperature. The apparatus according to one item.
47. Apparatus according to any one of claims 1 to 46, wherein the measuring device (1) comprises at least one accelerometer.
48. Apparatus according to any one of claims 1 to 47, wherein the measuring device (1) additionally comprises a gyroscope and / or a magnetometer.
A method for estimating bone screw length from drilling characteristics using a surgical power drill (2) according to any one of claims 1 to 48, comprising:
A) To drill a hole in the bone and record the position (x) of the cutting tip (9) of the drill bit (5) relative to the surface of the bone or graft (26) in the direction of drilling with respect to time Advancing the surgical power drill (2) coaxially with the longitudinal axis (7) of the spindle (13);
B) determining first, second, and third derivatives of x vs. t at any moment;
C) using a peak detector to determine the jerk peak that occurs at that moment, and determining the moment when the cutting tip (9) of the drill bit (5) exits the cortex of the bone, the velocity, acceleration, And the jerk vs. time graph is derived through the derivative of any instant determined under step B), and
D) determining the relative position between the second member (4) and the first member (3) at the moment determined under step C);
E) selecting a bone screw having a length corresponding to the relative position between the second member (4) and the first member (3) determined in step D) taking into account a predetermined safety margin; ,
Prior to step A), a surgical power drill against the bone so that the front end (10) of the displaceable second member (4) and the cutting tip (9) of the drill bit (5) abut the surface of the bone. Positioning (2);
Storing the relative position as a starting point (x = 0) for the measurement of the position (x) of the cutting tip (9) of the drill bit (5) relative to the bone surface in the direction of drilling with respect to time;
Prior to step A), the front end (10) of the displaceable second member (4) is surgically operated against the bone such that it abuts a drill sleeve (23) which is inserted into the soft tissue covering the bone to be treated. Surgical power drill (2) with respect to a second member (4) that is displaceable so that the power drill (2) is positioned and the cutting tip (9) of the drill bit (5) abuts the surface of the bone Adjusting the cutting tip (9) of the drill bit (5) fixed in the chuck (6) of
The relative position as the starting point (x = 0) for the measurement of the position (x) of the cutting tip (9) of the drill bit (5) relative to the surface of the bone or graft (26) in the direction of drilling with respect to time Storing, and
Prior to step A), the front end (10) of the second member (4) contacts the surface (29) of the calibration device (27) and the cutting tip (9) of the drill bit (5) is in the calibration device (27). Drill secured in the chuck (6) against a second member (4) displaceable using a calibration device (27) so as to abut a stop (28) protruding from the surface (29) of Positioning the bit (5);
Positioning the surgical power drill (2) relative to the implant (26) such that the front end (10) of the displaceable second member (4) abuts the surface of the implant (26);
Use of a surgical power drill (2) according to any one of claims 1 to 48 for the estimation of bone screw length.
JP2018525459A 2015-11-16 2016-11-11 Surgical power drill with measuring unit suitable for bone screw length determination Pending JP2019503721A (en)
PCT/CH2015/000168 WO2017083989A1 (en) 2015-11-16 2015-11-16 Surgical power drill including a measuring unit suitable for bone screw length determination
CHPCT/CH2015/000168 2015-11-16
PCT/CH2016/000143 WO2017083992A1 (en) 2015-11-16 2016-11-11 Surgical power drill including a measuring unit suitable for bone screw length determination
JP2019503721A true JP2019503721A (en) 2019-02-14
ID=54704942
JP2018525459A Pending JP2019503721A (en) 2015-11-16 2016-11-11 Surgical power drill with measuring unit suitable for bone screw length determination
US (1) US20180325528A1 (en)
EP (1) EP3376971A1 (en)
JP (1) JP2019503721A (en)
CN (1) CN108366801A (en)
AU (1) AU2016356755A1 (en)
BR (1) BR112018009605A8 (en)
CA (1) CA3001738A1 (en)
WO (2) WO2017083989A1 (en)
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2015-11-16 WO PCT/CH2015/000168 patent/WO2017083989A1/en active Application Filing
2016-11-11 AU AU2016356755A patent/AU2016356755A1/en active Pending
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2016-11-11 US US15/774,798 patent/US20180325528A1/en active Pending
2016-11-11 EP EP16800873.8A patent/EP3376971A1/en active Pending
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BR112018009605A8 (en) 2019-02-26
AU2016356755A1 (en) 2018-06-14
CA3001738A1 (en) 2017-05-26
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EP3376971A1 (en) 2018-09-26
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US20180325528A1 (en) 2018-11-15
WO2017083989A1 (en) 2017-05-26
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