CN118436400A - Bone drilling device and pose adjusting method thereof - Google Patents

Abstract

The application provides a bone drilling device and a pose adjusting method of the bone drilling device, wherein the bone drilling device comprises the following components: the inside of the hand piece is provided with an accommodating space; the first connecting structure comprises a first driving piece and a first connecting rod, the first driving piece is arranged in the accommodating space, the first connecting rod is arranged in the first through hole in a penetrating manner so as to drive the first connecting rod to move along the axial direction of the first connecting rod, and a guide post is arranged at the second end of the first connecting rod; the second connecting structure comprises a second driving piece and a second connecting rod, so as to drive the second connecting rod to move along the axis direction of the second connecting rod; the drilling structure comprises a main body part and a drill needle arranged on the main body part, wherein the main body part is provided with strip-shaped holes and hinge holes which are arranged at intervals along the length direction of the drill needle, and the strip-shaped holes extend along the length direction of the drill needle. The technical scheme of the application effectively solves the problem that the drilling structure in the related technology cannot realize automatic angle adjustment so as to influence the drilling accuracy.

Description

Bone drilling device and pose adjusting method thereof

Technical Field

The invention relates to the technical field of medical equipment, in particular to a bone drilling device and a pose adjusting method of the bone drilling device.

Background

Total Knee Arthroplasty (TKA) is a surgical procedure that requires removal of worn bone at the distal femur and proximal tibia, and then replacement of the removed bone with a synthetic implant, typically made of metal or plastic, to create a new articular surface. Generally, the surgeon plans and makes bone cuts to ultimately place an implant that restores the patient's lower limb force lines while maintaining balance of the surrounding knee ligaments. The orientation and position of the intraoperative osteotomy determines the final position of the implant joint. The osteotomy guide, also known as an osteotomy block or osteotomy jig, cooperates with the pendulum saw to produce an osteotomy face, and once the osteotomy guide is accurately positioned on the bone, the surgeon can quickly cut off multiple planes. In total knee arthroplasty, it is particularly difficult to create a bone incision and properly align the implant because the femur requires at least five planar bone incisions to receive a conventional femoral prosthesis, and the planar incisions at the distal end of the femur must be aligned with five degrees of freedom to ensure proper positioning: anterior-posterior translation, proximal translation, supination, pronation, supination, and flexion-extension rotation. Any misalignment of any planar cut or orientation may have serious consequences for the end result of the procedure and the wear pattern of the implant.

In the related art, the drilling structure comprises a drilling machine and a hand piece, an operator holds the hand piece to further adjust the position of the drilling machine, namely, the drilling structure cannot realize automatic angle adjustment, and therefore accuracy of drilling is affected.

Disclosure of Invention

The invention mainly aims to provide a bone drilling device and a pose adjusting method thereof, which are used for solving the problem that a drilling structure in the related art cannot realize automatic angle adjustment so as to influence drilling accuracy.

In order to achieve the above object, according to one aspect of the present invention, there is provided a bone drilling apparatus comprising: the handheld piece is internally provided with an accommodating space, and the top of the handheld piece is provided with a first through hole and a second through hole which are communicated with the accommodating space; the first connecting structure comprises a first driving piece and a first connecting rod, the first driving piece is arranged in the accommodating space, the first connecting rod is arranged in the first through hole in a penetrating mode, the first driving piece is connected with the first end of the first connecting rod so as to drive the first connecting rod to move along the axis direction of the first connecting rod, and a guide column is arranged at the second end of the first connecting rod; the second connecting structure comprises a second driving piece and a second connecting rod, the second connecting structure and the first connecting structure are arranged at intervals, the second driving piece is arranged in the accommodating space, the second connecting rod is arranged in the second through hole in a penetrating mode, and the second driving piece is connected with the first end of the second connecting rod so as to drive the second connecting rod to move along the axis direction of the second connecting rod; the drilling structure comprises a main body part and a drill needle arranged on the main body part, wherein the main body part is provided with strip-shaped holes and hinge holes which are arranged at intervals along the length direction of the drill needle, and the strip-shaped holes extend along the length direction of the drill needle; wherein, the guide post movably sets up in the bar downthehole, and the second end of second connecting rod is connected with the hinge hole.

Further, the bone drilling device further comprises a first guide structure, the first guide structure comprises a first guide rail and a first sliding block, the first sliding block is arranged between the first driving piece and the first connecting rod, and the first guide rail is arranged on the inner wall of the hand piece.

Further, the first connecting rod comprises a first rod section and a second rod section, a first connecting assembly is arranged between the first rod section and the second rod section, the first connecting assembly comprises a first connecting block and a first connecting shell, one of the first connecting block and the first connecting shell is arranged on the first rod section, the other of the first connecting block and the first connecting shell is arranged on the second rod section, a first opening part is arranged on the side wall of the first connecting shell, and the first connecting block can be inserted into the first connecting shell through the first opening part.

Further, the main body part comprises a drilling tool and a fixing frame, and the strip-shaped hole and the hinge hole are arranged on the fixing frame; the second connecting rod comprises a third rod section and a fourth rod section which are connected with each other, the third rod section passes through the second through hole and is connected with the second driving piece, and one end of the fourth rod section far away from the third rod section is hinged with the fixing frame; the bone drilling device further comprises a second guide structure, the second guide structure comprises a second guide rail and a second sliding block, the second sliding block is arranged between the second driving piece and the third rod section, and the second guide rail is arranged on the inner wall of the hand piece; be provided with the second coupling assembling between third pole section and the fourth pole section, the second coupling assembling includes second connecting block and second connection shell, and one of second connecting block and second connection shell sets up on the third pole section, and another of second connecting block and second connection shell sets up on the fourth pole section, is provided with the second opening on the lateral wall of second connection shell, and the second connecting block can insert to the second through the second opening in the connection shell.

According to a second aspect of the present invention, there is provided a pose adjustment method of a bone drilling device for adjusting the bone drilling device, wherein the pose adjustment method comprises:

acquiring a 3D model of the bone and obtaining a target axis of the 3D model of the bone;

establishing a first coordinate system by taking the front end of a drill needle of a drilling structure of the bone drilling device as an origin of coordinates, and obtaining a first angle value between the axis of the drill needle and a target axis in the first coordinate system;

When the first angle value is greater than zero, the drill point is adjusted so that the axis of the drill point coincides with the target axis;

Establishing a second coordinate system by taking a preset point on the bone as a coordinate origin, and obtaining a second angle value between the axis of the drill point and the target axis in the second coordinate system;

and when the second angle value is zero, completing the pose adjustment of the bone drilling device.

Further, when the second angle value is greater than zero, a third angle value between the axis of the drill point and the target axis is obtained in the first coordinate system; and adjusting the drill point to enable the axis of the drilling structure to coincide with the target axis, and completing the pose adjustment of the bone drilling device.

Further, the step of adjusting the drill point to coincide the axis of the drilling structure with the target axis comprises:

Obtaining a first height adjustment value and a second height adjustment value through the first angle value;

The drilling structure is driven such that the axis of the drill point coincides with the target axis.

Further, the step of adjusting the drill point to coincide the axis of the borehole structure with the target axis and the step of obtaining a second angle value between the axis of the drill point and the target axis in a second coordinate system comprises:

Obtaining image information of a drilling structure;

judging whether the drilling structure is in a target area or not according to the image information of the drilling structure;

when the drilling structure is in the target area, keeping the position of the drilling structure unchanged;

When the borehole structure is outside the target area, the position of the borehole structure is moved to enter the target area.

Further, the step of establishing a second coordinate system by taking a preset point on the bone as an origin of coordinates, and obtaining a second angle value between the axis of the drill point and the target axis in the second coordinate system comprises the following steps:

obtaining a third height adjustment value and a fourth height adjustment value through the second angle value;

The drilling structure is driven such that the axis of the drill point coincides with the target axis.

Further, the step of establishing a second coordinate system by taking a preset point on the bone as an origin of coordinates, and obtaining a second angle value between the axis of the drill point and the target axis in the second coordinate system comprises the following steps:

alternately obtaining a first angle value and a second angle value in a first coordinate system and a second coordinate system;

And adjusting the position of the axis of the drill point according to the first angle value and the second angle value.

According to a third aspect of the present invention, there is provided a computer readable storage medium storing a plurality of instructions adapted to be loaded by a processor and to perform a method of adjusting the pose of a bone drilling device as described above.

According to a fourth aspect of the present invention, there is provided a processor for running a program, wherein the program is run to perform the above-mentioned pose adjustment method of the bone drilling device.

By applying the technical scheme of the application, the inside of the hand piece is provided with the accommodating space, the top of the hand piece is provided with the first through hole and the second through hole, and the first through hole and the second through hole are communicated with the accommodating space; the first connecting structure comprises a first driving piece and a first connecting rod, the first driving piece is arranged in the accommodating space, the first connecting rod is arranged in the first through hole in a penetrating mode, the first driving piece is connected with the first end of the first connecting rod to drive the first connecting rod to move along the axis direction of the first connecting rod, and a guide post is arranged at the second end of the first connecting rod. The second connecting structure comprises a second driving piece and a second connecting rod, the second connecting structure and the first connecting structure are arranged at intervals, the second driving piece is arranged in the accommodating space, the second connecting rod penetrates through the second through hole, and the second driving piece is connected with the first end of the second connecting rod to drive the second connecting rod to move along the axis direction of the second connecting rod. The drilling structure comprises a main body part and a drill point, wherein the main body part is provided with strip-shaped holes and hinge holes which are arranged at intervals along the length direction of the drill point, and the strip-shaped holes extend along the length direction of the drill point. The guide post is movably arranged in the strip-shaped hole, and the second end of the second connecting rod is connected with the hinge hole. Through foretell setting, first driving piece can drive the head rod and remove, and the second driving piece can drive the second connecting rod and remove, and the removal of head rod and second connecting rod can drive drilling structure and swing, and then realizes drilling structure's angle swing. Therefore, the technical scheme of the application effectively solves the problem that the drilling structure in the related technology cannot realize automatic angle adjustment so as to influence the drilling accuracy.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application. In the drawings:

Fig. 1 shows a schematic perspective view of an embodiment of a bone drilling device according to the present invention;

fig. 2 shows a schematic front view of the bone drilling apparatus of fig. 1;

FIG. 3 shows an exploded view of the bone drilling apparatus of FIG. 1;

fig. 4 is a schematic perspective view showing a first connection structure and a second connection structure of the bone drilling apparatus of fig. 1;

FIG. 5 shows an exploded view of the first and second connection structures of FIG. 4;

FIG. 6 shows a schematic cross-sectional view of the first and second connection structures of FIG. 4;

fig. 7 shows a schematic front view of the second connection housing of fig. 4;

FIG. 8 shows a flow diagram of an embodiment of a pose adjustment method according to the invention;

FIG. 9 illustrates a schematic view of pose conversion of the pose adjustment method of FIG. 8;

Fig. 10 shows a calculation flow of the positioning operation of the pose adjustment method of fig. 8.

Wherein the above figures include the following reference numerals:

10. A hand piece; 11. an accommodation space; 12. a first through hole; 13. a second through hole; 20. a first connection structure; 21. a first driving member; 22. a first connecting rod; 221. a guide post; 222. a first pole segment; 223. a second pole segment; 30. a second connection structure; 31. a second driving member; 32. a second connecting rod; 321. a third pole segment; 322. a fourth pole segment; 40. drilling a hole structure; 41. a main body portion; 411. a bar-shaped hole; 412. a hinge hole; 413. drilling tool; 414. a fixing frame; 42. a drill needle; 50. a first guide structure; 51. a first guide rail; 52. a first slider; 60. a first connection assembly; 61. a first connection block; 62. a first connection housing; 621. a first opening portion; 70. a second guide structure; 71. a second guide rail; 72. a second slider; 80. a second connection assembly; 81. a second connection block; 82. a second connection housing; 821. a second opening portion; 90. an optical marking structure.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present application. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.

The relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless it is specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective parts shown in the drawings are not drawn in actual scale for convenience of description. Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.

As shown in fig. 1 to 5, in the present embodiment, the bone drilling apparatus includes: the hand piece 10, the first connection structure 20, the second connection structure 30 and the drilling structure 40. The inside of the hand piece 10 is provided with an accommodation space 11, and the top of the hand piece 10 is provided with a first through hole 12 and a second through hole 13 communicating with the accommodation space 11. The first connecting structure 20 includes a first driving member 21 and a first connecting rod 22, the first driving member 21 is disposed in the accommodating space 11, the first connecting rod 22 is disposed in the first through hole 12 in a penetrating manner, the first driving member 21 is connected to a first end of the first connecting rod 22 to drive the first connecting rod 22 to move along an axial direction of the first connecting rod 22, and a guide post 221 is disposed at a second end of the first connecting rod 22. The second connecting structure 30 includes a second driving member 31 and a second connecting rod 32, the second connecting structure 30 and the first connecting structure 20 are arranged at intervals, the second driving member 31 is arranged in the accommodating space 11, the second connecting rod 32 is arranged in the second through hole 13 in a penetrating manner, and the second driving member 31 is connected with the first end of the second connecting rod 32 so as to drive the second connecting rod 32 to move along the axial direction of the second connecting rod 32. The drilling structure 40 includes a main body 41 and a drill pin 42 provided on the main body 41, the main body 41 being provided with strip-shaped holes 411 and hinge holes 412 provided at intervals along the length direction of the drill pin 42, the strip-shaped holes 411 extending along the length direction of the drill pin 42. Wherein the guide post 221 is movably disposed in the bar-shaped hole 411, and the second end of the second connecting rod 32 is connected to the hinge hole 412.

By applying the technical scheme of the embodiment, an accommodating space 11 is arranged in the handheld piece 10, a first through hole 12 and a second through hole 13 are arranged at the top of the handheld piece 10, and the first through hole 12 and the second through hole 13 are communicated with the accommodating space 11; the first connecting structure 20 includes a first driving member 21 and a first connecting rod 22, the first driving member 21 is disposed in the accommodating space 11, the first connecting rod 22 is disposed in the first through hole 12 in a penetrating manner, the first driving member 21 is connected to a first end of the first connecting rod 22 to drive the first connecting rod 22 to move along an axial direction of the first connecting rod 22, and a guide post 221 is disposed at a second end of the first connecting rod 22. The second connecting structure 30 comprises a second driving member 31 and a second connecting rod 32, the second connecting structure 30 and the first connecting structure 20 are arranged at intervals, the second driving member 31 is arranged in the accommodating space 11, the second connecting rod 32 penetrates through the second through hole 13, and the second driving member 31 is connected with the first end of the second connecting rod 32 to drive the second connecting rod 32 to move along the axis direction of the second connecting rod 32. The drilling structure 40 includes a main body 41 and a drill point 42, the main body 41 is provided with strip holes 411 and hinge holes 412 arranged at intervals along the length direction of the drill point 42, and the strip holes 411 extend along the length direction of the drill point 42. The guide post 221 is movably disposed in the bar-shaped hole 411, and the second end of the second connecting rod 32 is connected to the hinge hole 412. Through the above arrangement, the first driving member 21 can drive the first connecting rod 22 to move, the second driving member 31 can drive the second connecting rod 32 to move, and the movement of the first connecting rod 22 and the second connecting rod 32 can drive the drilling structure 40 to swing, so as to further realize the angle swing of the drilling structure 40. Therefore, the technical scheme of the embodiment effectively solves the problem that the drilling structure in the related technology cannot realize automatic angle adjustment so as to influence the drilling accuracy.

As shown in fig. 1 to 5, in the present embodiment, the bone drilling device further includes a first guide structure 50, the first guide structure 50 includes a first guide rail 51 and a first slider 52, the first slider 52 is disposed between the first driving member 21 and the first connecting rod 22, and the first guide rail 51 is disposed on an inner wall of the handpiece 10. The first guide structure 50 is provided to make the movement of the first connecting rod 22 more stable.

As shown in fig. 1 to 5, in the present embodiment, the first connection rod 22 includes a first rod section 222 and a second rod section 223, a first connection assembly 60 is provided between the first rod section 222 and the second rod section 223, the first connection assembly 60 includes a first connection block 61 and a first connection case 62, one of the first connection block 61 and the first connection case 62 is provided on the first rod section 222, the other of the first connection block 61 and the first connection case 62 is provided on the second rod section 223, a first opening 621 is provided on a side wall of the first connection case 62, and the first connection block 61 can be inserted into the first connection case 62 through the first opening 621. The first connection block 61 is detachably connected with the first connection housing 62 such that the first and second pole segments 222 and 223 can be separated when the bone drill is not required, thereby making the bone drill easier to receive.

As shown in fig. 1 to 3, in the present embodiment, the main body portion 41 includes a drill 413 and a mount 414, and the bar-shaped hole 411 and the hinge hole 412 are provided on the mount 414; the fixing frame 414 can enable the position stability of the drilling tool 413 to be better.

As shown in fig. 1 to 5, in the present embodiment, the second connecting rod 32 includes a third rod section 321 and a fourth rod section 322 connected to each other, the third rod section 321 passes through the second through hole 13 and is connected to the second driving member 31, and an end of the fourth rod section 322 remote from the third rod section 321 is hinged to the fixing frame 414; the bone drilling device further comprises a second guiding structure 70, the second guiding structure 70 comprising a second guide rail 71 and a second slider 72, the second slider 72 being arranged between the second driver 31 and the third rod section 321, the second guide rail 71 being arranged on the inner wall of the handpiece 10; the provision of the second guide structure 70 can make the movement of the second connecting rod 32 more stable.

As shown in fig. 1 to 7, in the present embodiment, a second connection assembly 80 is provided between a third bar section 321 and a fourth bar section 322, the second connection assembly 80 includes a second connection block 81 and a second connection housing 82, one of the second connection block 81 and the second connection housing 82 is provided on the third bar section 321, the other of the second connection block 81 and the second connection housing 82 is provided on the fourth bar section 322, a second opening 821 is provided on a side wall of the second connection housing 82, and the second connection block 81 can be inserted into the second connection housing 82 through the second opening 821. The third pole segment 321 and the fourth pole segment 322 can be detachably arranged, the first pole segment 222 and the second pole segment 223 are separated, and after the third pole segment 321 and the fourth pole segment 322 are separated, the hand piece 10 and the drilling structure 40 can be separated, so that the occupied space of the bone drilling device is reduced, namely, the bone drilling device is more easily stored.

As shown in fig. 1 to 3, in the present embodiment, the bone drilling apparatus further includes an optical marking structure 90. The optical marker structure 90 is configured to enable cooperation with a surgical navigational structure.

According to a second aspect of the present application, there is provided a method for adjusting a pose of a bone drilling device, as shown in fig. 8, the method for adjusting a pose of the present embodiment is used for adjusting the bone drilling device, wherein the method for adjusting a pose includes:

step S10: acquiring a 3D model of the bone and obtaining a target axis of the 3D model of the bone;

step S20: establishing a first coordinate system by taking the front end of a drill needle 42 of a drilling structure 40 of the bone drilling device as an origin of coordinates, and obtaining a first angle value between the axis of the drill needle 42 and a target axis in the first coordinate system;

Step S30: when the first angle value is greater than zero, adjusting the drill point 42 so that the axis of the drill point 42 coincides with the target axis;

step S40: establishing a second coordinate system by taking a preset point on the bone as a coordinate origin, and obtaining a second angle value between the axis of the drill point 42 and the target axis in the second coordinate system;

step S50: and when the second angle value is zero, completing the pose adjustment of the bone drilling device.

First, a patient is subjected to operation planning, an anatomic 3D model of the bone of the patient is obtained through computer images, the 3D model is preloaded into software, a doctor replaces a desired prosthesis model into the bone model of the patient, and the best fit position and angle of the bone implant are determined. In TKA, the planned osteotomy plane generally includes an anterior cross-section, an anterior cross-section chamfer, a distal cross-section, a posterior cross-section chamfer, a posterior cross-section, and a tibial osteotomy plane. A first coordinate system is established with the front end of the drill point 42 of the drilling structure 40 as the origin of coordinates, and a first angle value between the axis of the drill point 42 and the target axis is obtained in the first coordinate system. When the first angle value is greater than zero, the drill point 42 is adjusted such that the axis of the drill point 42 coincides with the target axis. And establishing a second coordinate system by taking a preset point on the bone as a coordinate origin, obtaining a second angle value between the axis of the drill point 42 and the target axis in the second coordinate system, and finishing the pose adjustment of the bone drilling device when the second angle value is zero. Step S40 is an inspection step, that is, after the position adjustment is primarily completed, the axis of the drill needle 42 is detected in the second coordinate system, so that the axis of the drill needle 42 and the target axis are ensured to be in a coincident position, and the accuracy of drilling bone is better.

Wherein the surgical plan comprises a 3D model of the patient's surgical bone in combination with the positions of the plurality of virtual planes. Planning software uses the positions and orientations of multiple planned cutting planes and multiple sizes of osteotomy guides or alignment guides to define the position of the virtual plane. Finally, the position of the virtual plane is defined to assist in positioning the osteotomy guide and to have one or more guide slots of the osteotomy guide in the correct orientation to accurately guide the saw to produce the osteotomy.

Drilling holes according to the position of a fixing nail hole planned by the position of the osteotomy guide plate, inserting bone nails on bones of a patient, and automatically drilling holes through a handheld device, wherein the handheld device can automatically adjust a working shaft under the guidance of an optical positioning system, then a doctor holds the device and pushes the device along the working shaft, at the moment, a trigger is pressed down to realize drilling holes, after two drilling holes are completed, the two bone nails can be left on bones of the patient, and at the moment, the osteotomy guide plate is installed; the bone cutting guide plate is provided with a cutting guide groove, the shape of the guide groove is used for guiding the pendulum saw to cut on the bone of a patient, and at the moment, a doctor holds the pendulum saw to perform bone cutting operation. After the single planar osteotomy is completed, the practitioner can proceed with the next procedure, such as replacement of the nail hole location, depending on the type of osteotomy guide (single osteotomy guide or four-in-one osteotomy guide). When all planned osteotomies have been completed, the prosthesis may be installed.

As shown in fig. 8, in the present embodiment, when the second angle value is greater than zero, a third angle value between the axis of the drill point 42 and the target axis is obtained in the first coordinate system; the drill point 42 is adjusted so that the axis of the drilling structure 40 coincides with the target axis, completing the pose adjustment of the bone drilling device. Through foretell setting can further realize adjusting, and then can guarantee that the axis coincidence of target axis and drill point.

As shown in fig. 8, in the present embodiment, the step of adjusting the drill point 42 so that the axis of the drilling structure 40 coincides with the target axis includes:

Obtaining a first height adjustment value and a second height adjustment value through the first angle value;

the drilling structure 40 is driven so that the axis of the drill point 42 coincides with the target axis. The accuracy of adjustment can be ensured through the arrangement.

As shown in fig. 8, in the present embodiment, the step of adjusting the drill point 42 so that the axis of the drilling structure 40 coincides with the target axis and the step of obtaining a second angle value between the axis of the drill point 42 and the target axis in the second coordinate system include:

Obtaining image information of the borehole structure 40;

judging whether the drilling structure 40 is in the target area or not through the image information of the drilling structure 40;

when the borehole structure 40 is in the target area, the position of the borehole structure 40 is kept unchanged;

When the borehole structure 40 is outside the target area, the position of the borehole structure 40 is moved to enter the target area. Through the arrangement, verification of the position of the axis of the drill point can be achieved.

As shown in fig. 8, in the present embodiment, a second coordinate system is established with a preset point on the bone as an origin of coordinates, and the step of obtaining a second angle value between the axis of the drill point 42 and the target axis in the second coordinate system includes:

obtaining a third height adjustment value and a fourth height adjustment value through the second angle value;

The drilling structure 40 is driven so that the axis of the drill point 42 coincides with the target axis. The accuracy of the angle adjustment can be achieved through the arrangement.

As shown in fig. 8, in the present embodiment, a second coordinate system is established with a preset point on the bone as an origin of coordinates, and the step of obtaining a second angle value between the axis of the drill point 42 and the target axis in the second coordinate system includes:

alternately obtaining a first angle value and a second angle value in a first coordinate system and a second coordinate system;

The position of the axis of the drill point 42 is adjusted according to the first angle value and the second angle value. Mutual verification can be achieved through the arrangement, and therefore accuracy of adjustment is guaranteed.

As shown in fig. 9 and 10, the overall surgical navigation system includes an optical navigation system, a bone drilling device, a control host, a display, and optical markers on the patient's bone, as well as on the bone drilling device, so that movement of the virtual drilling position can be seen in the display when the doctor moves the bone drilling device. The control host provides a driving command to the driving motor to control the position and the direction of the axis of the drill point. The computer system can thus maintain the working axis through a virtual plane defined in the surgical plan and independent of the pose of the hand-held part.

The control host is dedicated to planning a procedure prior to or during the operation. For example, the control computer can receive and read medical imaging data, segment the imaging data, construct and manipulate a 3D model, store and provide Computer Aided Design (CAD) files, plan the pose of the implant relative to the bone, generate surgical planning data for use with the system, and provide other various functions in the surgical program plan to assist the user. The control host may define a virtual plane. The final surgical planning data may include an image dataset of the bone, bone registration data, subject identification information, pose of the implant relative to the bone, pose of one or more virtual planes defined relative to the bone, and any tissue modification instructions.

In surgical systems, an optical positioning system is used to acquire pose data of the femur and tibia during a total knee arthroplasty. The pose of the distal femur and proximal tibia will be tracked in real time by an optical positioning system via optical markers fixed to the bone. Thus, the pose of the tool and any other defined coordinates in the surgical plan can be determined by the computer system. In turn, the computer system may provide drive commands to the linear motor in real time to precisely maintain the axis of the drill point in freedom to the defined coordinates.

The control host acquires the position of the bone in real time according to pose information fed back by the optical positioning system, calculates a target axis of the drilling, judges whether the drilling device reaches a preset range or not by the positioning arithmetic unit when a doctor moves the drilling device to an operable space, and lights a yellow lamp on the drilling device when the drilling device reaches the preset range, at the moment, the control host independently controls the front-end linear motor and the rear-end linear motor respectively, the motors execute corresponding actions after receiving real-time action instructions, return real-time distance values and move the axis of the drilling needle to the target axis position by the motor target position information output by the forward-reverse solution arithmetic unit. At this time, the green light on the bone drilling device is turned on, and the trigger can be pressed to control drilling. The bone drill controller may independently control the device for drilling the bone, and when the surgeon depresses the trigger, the motor may bi-directionally rotate the bone screw to advance and drive the screw into the bone.

The position and orientation of the bone drilling device is tracked by an optical positioning system to determine its position in space relative to the patient's bone. The optical positioning system of the navigation system may be connected to a control host to track the position and orientation of the bone drilling apparatus in real time and send signals to a controller that controls components within the handpiece to drive the rod accordingly in a desired plane. During surgery, the navigation system provides feedback that links the drilling surface to the position and orientation of the bone drilling device. Additional sets of tracking units may be attached to the anatomy and provide an anatomical reference frame to monitor any displacement of the surface.

Specifically, the pose adjusting method of the bone drilling device of the embodiment includes a navigation determining algorithm, dynamic compensation of bone shake, dynamic compensation of optical positioning, and dynamic compensation during drilling.

As shown in fig. 9, the navigation judgment algorithm: the position and orientation of the bone drilling device is tracked by an optical positioning system to determine its position in space relative to the patient's bone. The optical positioning system of the navigation system may be connected to a control host to track the position and orientation of the bone drilling apparatus in real time and send signals to a controller that controls the first 21 and second 31 drivers to drive the drill needle 42 in a desired plane accordingly. During operation, the navigation system provides feedback that relates the drilling surface to the position and orientation of the drill point 42. Additional sets of tracking units may be attached to the anatomy and provide an anatomical reference frame to monitor any displacement of the surface.

Conversion relation:

obtaining a bone coordinate system according to the conversion relation between the bone drilling device base coordinate system and the bone coordinate system;

The coordinate system of the optical positioning system is obtained through the conversion relation between the coordinate system of the bone drilling device substrate and the coordinate system of the optical positioning system;

obtaining a bone cursor coordinate system according to the relation between the coordinate system x NDI of the optical positioning system and the bone cursor;

the coordinate system of the target shaft is obtained by the relation between the coordinate system of the tail end of the drill point and the axis of the drill point and the target drilling shaft;

Obtaining a drill point end coordinate system, namely orthographic solution, by multiplying the coordinate of the drill bone device substrate by the relation between the drill bone device substrate and the working axis coordinate;

bone cursor coordinate system x the relationship between bone and bone cursor coordinates yields the bone coordinate system.

Dynamic compensation of bone wobble:

In the operation process, when a patient shifts or moves due to some external factors, the navigation system is often failed; the feature points of the optical positioning during the suspension deflection shaking are not the feature points of the prior optical positioning of the atypical or are not the same value standard, namely the reference standard is changed, no matter the positioning sensing is performed or the osteotomy is performed; without recalibration of the visual servoing hand-Eye relationship, surgical errors may be too large, thus visual servoing tracking is performed through Eye to hand visual servoing architecture, compensating for the varying parts. The dynamic compensation mode is to fix the NDI reference tool on the bone, and the passive cursor will move when the bone is swayed, so as to achieve the dynamic compensation function by using the NDI passive cursor as a reference. As shown. When the azimuth position of the NDI cursor tool changes due to the shake of bones, the method is utilized To adjust the drilling orientation of the surgical auxiliary robot so that the drilling position remains in a relative position with the bone.

Dynamic compensation of optical positioning:

The bone feature of optical positioning is originally based on NDI coordinate system, but the substrate is converted into a reference tool by dynamic compensation, namely, the feature point of optical positioning Through coordinate conversionThe NDI base coordinate system is converted to a reference tool-based coordinate system { M }, as shown in the following equation:

Therefore, due to the relative coordinates, the subsequent optical positioning of other feature points does not need to worry about data deviation caused by bone shaking.

In this embodiment, as shown in fig. 9, in order to avoid the situation that the cutting tool is still in its original position due to the displacement of the bone caused by external or some factors during the operation, and the actual error of the bone cutting is caused, a dynamic compensation function is added at this step. The control command is a Cartesian space coordinate in a coordinate system of an optical positioning system, and is input into a direct control robot to complete the task.

To achieve dynamic compensation, firstly, a relation between the drilling device and the coordinate system of the bone cutting surface must be defined, and if the task is defined as coincidence, the coordinate system of the drilling hole and the bone cutting surface must be always kept coincident; therefore, through the relation between the optical positioning system and the bone cursor coordinate system, the rotation angles of the motors of all the shafts of the robot meeting the task can be reversely pushed back, so that the control task is completed.

As shown in fig. 10, in the present embodiment, the optical positioning system is used to detect only the target object for visual servo control, which is called an open end loop (endpoint open loop, EOL) system, and the optical positioning system is used to detect the end of the bone drilling device and the target object at the same time, which is called an closed end loop (endpoint closed loop, ECL) system. To convert from EOL system to ECL system, only the cursor of the end working part needs to be directly seen.

Because the target osteotomy plane is positioned during surgery to limit movement of the bore hole out of this plane. However, the bone of the patient is not fixed, so that the movement of the target plane needs to be tracked through visual servo, and the orientation of the drilling working shaft is corrected again to smoothly drill. Because the optical positioning system in the system is fixed in the surgical space, the overall system employs the eye to hand, i.e., ECL, system, using a dynamic view-move (dynamic look and move) control strategy mode to track the target. When the doctor arm moves, the optical positioning system extracts and acquires the pose of the bone drilling device through the image characteristics of a cursor, the positioning arithmetic unit is responsible for calculating whether the position of the bone drilling device reaches the range that the bone drilling device can adjust a tool shaft by itself, when the working range is reached, the bone drilling device lights up and yellow (the working range is not lighted and red), at the moment, the inverse solution arithmetic unit calculates the basic position of the bone drilling device according to the pose of the bone drilling device and the position driven by the first driving piece 21 and the second driving piece 31, and calculates the movement increment of the first driving piece 21 and the second driving piece 31 according to the difference between the target position and the actual position through the inverse solution arithmetic unit, and sends the movement instruction to the linear motor driver.

The movement of the first and second drivers 21, 31 causes the axis of the drill point 42 to move along a pre-planned plane, allowing the drill point 42 to move in two degrees of freedom. When the first and second driving members 21 and 31 are driven in opposite directions, the drill bit 42 is rotated by an angle, and when the first and second driving members 21 and 31 are driven in the same direction, the drill bit 42 is translated by a distance. The driving is performed in real time to properly adjust the drill point 42 to the specified target axis. The degree and amount of rotation and translation depends on the orientation and position of the axis of the drill point 42 relative to the handpiece 10. The control host sends motion instructions to the first 21 and second 31 drivers to correct any deviation between the actual measured pose and the desired position of the portion of the bone drilling device. Thus, the control host can control the first and second driving members 21 and 31 so that the bone drilling device of the working part reaches the target position and direction.

First, when the first driving member 21 and the second driving member 31 are at the lowest point, the conversion relation between the base coordinate system of the hand piece 10 and the axis of the drill point 42 is determined according to the mechanical model. When the positioning arithmetic unit judges that the drill needle 42 reaches the target range, the target axis is projected into the axis plane of the drill needle 42, at the moment, the arithmetic operation of a forward and backward kinematic algorithm is carried out on the two-dimensional plane, the height values of the first driving piece 21 and the second driving piece 31 are obtained according to the axis of the drill needle 42, whether the height values accord with the movement range of the first driving piece 21 and the second driving piece 31 or not is judged, if the height values accord with the movement range, the height values are sent to the first driving piece 21 and the second driving piece 31 for fine adjustment movement, and the height values according to the height change of two shafts and the height value of the two shafts are obtainedReal-time pose of the axis of the drill needle 42 is calculated in real time, and ECL closed-loop control is performed.

According to a third aspect of the present application, there is provided a computer readable storage medium storing a plurality of instructions adapted to be loaded by a processor and to perform the above-described method of adjusting the pose of a bone drilling device.

According to a fourth aspect of the present application, there is provided a processor, where the processor of the present embodiment is configured to execute a program, and the pose adjustment method of the bone drilling device is executed when the program is executed.

In the several embodiments provided in the present application, it should be understood that the disclosed technology may be implemented in other manners. The above-described embodiments of the apparatus are merely exemplary, and the division of the units may be a logic function division, and there may be another division manner when actually implemented, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some interfaces, units or modules, or may be in electrical or other forms.

The units described above as separate components may or may not be physically separate, and components shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, the functional units in the embodiments of the present invention may be integrated into one processing unit, or may be

Each unit is physically present alone, and two or more units may be integrated into one unit. The integrated units may be implemented in hardware or in software functional units.

The integrated units described above, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer-readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in essence or a part contributing to the prior art or all or part of the technical solution in the form of a software product stored in a computer readable storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the above-mentioned methods of the various embodiments of the present invention. And the aforementioned computer-readable storage medium includes: a usb disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a removable hard disk, a magnetic disk, or an optical disk, or other various media capable of storing program codes.

In the description of the present invention, it should be understood that the azimuth or positional relationships indicated by the azimuth terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal", and "top, bottom", etc., are generally based on the azimuth or positional relationships shown in the drawings, merely to facilitate description of the present invention and simplify the description, and these azimuth terms do not indicate and imply that the apparatus or elements referred to must have a specific azimuth or be constructed and operated in a specific azimuth, and thus should not be construed as limiting the scope of protection of the present invention; the orientation word "inner and outer" refers to inner and outer relative to the contour of the respective component itself.

Spatially relative terms, such as "above … …," "above … …," "upper surface on … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial location relative to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "above" or "over" other devices or structures would then be oriented "below" or "beneath" the other devices or structures. Thus, the exemplary term "above … …" may include both orientations "above … …" and "below … …". The device may also be positioned in other different ways (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

In addition, the terms "first", "second", etc. are used to define the components, and are only for convenience of distinguishing the corresponding components, and the terms have no special meaning unless otherwise stated, and therefore should not be construed as limiting the scope of the present invention.

The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (12)

1. A bone drilling apparatus, comprising:

a hand piece (10), wherein an accommodating space (11) is arranged in the hand piece (10), and a first through hole (12) and a second through hole (13) which are communicated with the accommodating space (11) are arranged at the top of the hand piece (10);

The first connecting structure (20) comprises a first driving piece (21) and a first connecting rod (22), wherein the first driving piece (21) is arranged in the accommodating space (11), the first connecting rod (22) is arranged in the first through hole (12) in a penetrating mode, the first driving piece (21) is connected with the first end of the first connecting rod (22) so as to drive the first connecting rod (22) to move along the axis direction of the first connecting rod (22), and a guide post (221) is arranged at the second end of the first connecting rod (22);

The second connecting structure (30) comprises a second driving piece (31) and a second connecting rod (32), the second connecting structure (30) and the first connecting structure (20) are arranged at intervals, the second driving piece (31) is arranged in the accommodating space (11), the second connecting rod (32) is arranged in the second through hole (13) in a penetrating mode, and the second driving piece (31) is connected with the first end of the second connecting rod (32) so as to drive the second connecting rod (32) to move along the axial direction of the second connecting rod (32);

The drilling structure (40) comprises a main body part (41) and drill pins (42) arranged on the main body part (41), wherein the main body part (41) is provided with strip-shaped holes (411) and hinge holes (412) which are arranged at intervals along the length direction of the drill pins (42), and the strip-shaped holes (411) extend along the length direction of the drill pins (42);

Wherein the guide post (221) is movably arranged in the strip-shaped hole (411), and the second end of the second connecting rod (32) is connected with the hinge hole (412).

2. The bone drilling device according to claim 1, further comprising a first guiding structure (50), the first guiding structure (50) comprising a first guide rail (51) and a first slider (52), the first slider (52) being arranged between the first driver (21) and the first connecting rod (22), the first guide rail (51) being arranged on an inner wall of the handpiece (10).

3. The bone drilling device according to claim 1, characterized in that the first connecting rod (22) comprises a first rod section (222) and a second rod section (223), a first connecting assembly (60) is arranged between the first rod section (222) and the second rod section (223), the first connecting assembly (60) comprises a first connecting block (61) and a first connecting shell (62), one of the first connecting block (61) and the first connecting shell (62) is arranged on the first rod section (222), the other of the first connecting block (61) and the first connecting shell (62) is arranged on the second rod section (223), a first opening (621) is arranged on the side wall of the first connecting shell (62), and the first connecting block (61) can be inserted into the first connecting shell (62) through the first opening (621).

4. The bone drill apparatus of claim 1, wherein,

The main body part (41) comprises a drilling tool (413) and a fixing frame (414), and the strip-shaped hole (411) and the hinge hole (412) are arranged on the fixing frame (414);

the second connecting rod (32) comprises a third rod section (321) and a fourth rod section (322) which are connected with each other, the third rod section (321) passes through the second through hole (13) and is connected with the second driving piece (31), and one end of the fourth rod section (322) far away from the third rod section (321) is hinged with the fixing frame (414);

The bone drilling device further comprises a second guiding structure (70), the second guiding structure (70) comprises a second guide rail (71) and a second slider (72), the second slider (72) is arranged between the second driving piece (31) and the third rod section (321), and the second guide rail (71) is arranged on the inner wall of the hand piece (10);

Be provided with second coupling assembling (80) between third pole section (321) with fourth pole section (322), second coupling assembling (80) are including second connecting block (81) and second connection shell (82), second connecting block (81) with one of second connection shell (82) sets up on third pole section (321), second connecting block (81) with another of second connection shell (82) sets up on fourth pole section (322), be provided with second opening (821) on the lateral wall of second connection shell (82), second connecting block (81) can pass through second opening (821) insert to in second connection shell (82).

5. A method of adjusting the pose of a bone drilling device according to any of claims 1 to 4, wherein the pose adjustment method comprises:

Acquiring a 3D model of a bone and obtaining a target axis of the 3D model of the bone;

Establishing a first coordinate system by taking the front end of a drill needle (42) of a drilling structure (40) of the bone drilling device as an origin of coordinates, and obtaining a first angle value between the axis of the drill needle (42) and the target axis in the first coordinate system;

When the first angle value is greater than zero, adjusting the drill point (42) so that the axis of the drill point (42) coincides with the target axis;

Establishing a second coordinate system by taking a preset point on the bone as a coordinate origin, and obtaining a second angle value between the axis of the drill point (42) and the target axis in the second coordinate system;

and when the second angle value is zero, completing the pose adjustment of the bone drilling device.

6. The method of adjusting the pose of a bone drilling device according to claim 5, characterized in that a third angle value between the axis of the drill needle (42) and the target axis is obtained in the first coordinate system when the second angle value is greater than zero; adjusting the drill point (42) to enable the axis of the drilling structure (40) to coincide with the target axis, and completing pose adjustment of the bone drilling device.

7. The method of adjusting the pose of a bone drilling device according to claim 5, characterized in that the step of adjusting said drill point (42) to coincide the axis of said drilling structure (40) with said target axis comprises:

obtaining a first height adjustment value and a second height adjustment value through the first angle value;

The drilling structure (40) is driven such that the axis of the drill point (42) coincides with the target axis.

8. The method of adjusting the pose of a bone drilling device according to claim 5, characterized in that between the step of adjusting said drill point (42) such that the axis of said drilling structure (40) coincides with said target axis and the step of obtaining a second angle value between the axis of said drill point (42) and said target axis in a second coordinate system comprises:

Obtaining image information of the borehole structure (40);

Judging whether the drilling structure (40) is in a target area or not according to the image information of the drilling structure (40);

Maintaining the drilling structure (40) in position while the drilling structure (40) is in the target area;

When the borehole structure (40) is outside the target area, the position of the borehole structure (40) is moved to enter the target area.

9. The method according to claim 5, wherein the step of establishing a second coordinate system with a preset point on the bone as an origin of coordinates, and obtaining a second angle value between the axis of the drill needle (42) and the target axis in the second coordinate system, comprises:

obtaining a third height adjustment value and a fourth height adjustment value through the second angle value;

The drilling structure (40) is driven such that the axis of the drill point (42) coincides with the target axis.

10. The method of adjusting the pose of a bone drilling device according to claim 6, wherein the step of establishing a second coordinate system with a preset point on the bone as an origin of coordinates, and obtaining a second angle value between the axis of the drill needle (42) and the target axis in the second coordinate system, comprises:

alternately obtaining the first angle value and the second angle value in the first coordinate system and the second coordinate system;

the position of the axis of the drill point (42) is adjusted according to the first angle value and the second angle value.

11. A computer readable storage medium storing a plurality of instructions adapted to be loaded by a processor and to perform the method of pose adjustment of a bone drilling device according to any of claims 5 to 10.

12. A processor for running a program, wherein the program when run performs the method of adjusting the pose of a bone drilling device according to any of claims 5 to 10.