KR101782133B1 - Surgical drill guide and bone punching method using the same - Google Patents

Abstract

The present invention provides a surgical drill guide capable of stably supporting a drill, and by using it, it is possible to drill a bone to make a precise perforation, and to provide a surgical operation A drill guide, and a method of boring a bone using the same.
The present invention relates to an operation device, comprising: an actuator installed in a space where surgery is performed; And a holder coupled to the LM guide so as to be movable in the direction of the operative subject and to which the drill is coupled.

Description

Technical Field [0001] The present invention relates to a surgical drill guide and a bone drilling method using the drill guide and bone punching method,

The present invention relates to a surgical drill guide and a bone drilling method using the drill guide. More particularly, the present invention relates to a drill guide for a surgical drill which can stably support a drill, The present invention relates to a surgical drill guide and a bone drilling method using the same, which can improve the operability of the operator and the reliability of the operation.

In order to insert a fixation device used to fix a graft in a patient's body, for example, a ligament, a bone is punctured to insert into the body. Generally, a drill is used to puncture the bone. .

Thus, when the bone is punctured manually, the target drilling position can not be accurately drilled due to vibration of the hand caused by vibration of the drill, muscle fatigue caused by grasping the drill for a long time, and the reliability is lowered.

In the prior art, the drill has a depth direction scale so that the drilling depth can be known. However, it is difficult to identify drills having a small diameter, and it is inconvenient to check whether the drill is in proper depth each time the operator performs an operation.

It is an object of the present invention to provide a drill guide for a surgical drill which can stably support a drill and to drill a bone using the drill guide so that accurate drilling can be performed, And an object of the present invention is to provide a surgical drill guide and a bone drilling method using the same, which can improve the operability of the operator and the reliability of the operation.

According to an aspect of the present invention, there is provided a surgical instrument comprising: an actuator installed in a space in which surgery is performed; And a holder coupled to the LM guide so as to be movable in the direction of the operative subject and to which the drill is coupled.

Here, the holder includes an LM block movably coupled to the LM guide; And a mounting portion installed in the LM block and coupled to the drill.

In addition, the mounting portion may include a flat annular shape having a mounting hole to which the drill is coupled at a center thereof, an edge portion provided in one direction from an annular outer circumferential surface, A tight contact portion provided in one direction from an inner peripheral surface of an annular shape; And a ball bearing installed between the edge portion and the close contact portion.

Meanwhile, the surgical drill guide according to the present invention may further include a distance measurement display unit for measuring a moving distance of the holder and displaying the measured moving distance of the holder.

In this case, the distance measurement display unit may include a distance measuring unit measuring a moving distance of the holder and transmitting the measured moving distance of the holder; And a display unit for receiving and displaying the movement distance of the holder sent from the distance measuring unit.

Further, the present invention provides a method for manufacturing a surgical drill guide, comprising: guiding a drill guide for a surgical operation to a surgical site automatically or manually; A positioning step of positioning the surgical drill guide and determining whether the placement position matches the actual drilling position; A drilling performing step of, when the placement position coincides with the drilling position, joining the drill to the holder of the surgical drill guide and drilling the drilling site using a drill; A perforation depth determination step of determining, after perforation, whether the perforation depth is appropriate; And a finishing step of finishing the drilling operation and removing the drill if it is determined that the drilling depth is appropriate.

At this time, if the surgical drill guide is a drill guide for automatic surgery, it is automatically arranged by a preset program before the operation, and if the drill guide for surgical operation is a drill guide for manual operation, .

In the positioning step, if the placement position does not coincide with the actual drilling position, a rearrangement step of automatically or manually relocating the surgical drill guide is performed.

In the boring step, the drill is coupled to the holder movably installed in the LM guide of the surgical drill guide, and the drill is pierced while moving toward the perforation site.

Also, in the drilling depth checking step, it is determined whether the drilling depth is appropriate by checking the moving distance or the drilling depth of the holder displayed on the distance measurement display unit provided in the surgical drill guide.

According to the present invention as described above, since the drilling operation is performed in a state that the drill is supported by the holder, the drilling operation can be performed stably, and a desired position can be accurately drilled.

Further, by confirming the moving distance of the holder or the depth of perforation displayed through the display unit, the operator can precisely identify the perforation degree, so that an accurate and reliable perforation operation can be performed and the convenience of perforating operation can be improved .

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a state diagram showing an example of boring bone using a surgical drill guide according to the present invention. FIG.
FIG. 2 is a front view showing an example of the LM guide of the surgical drill guide according to the present invention viewed from the direction A of FIG.
FIG. 3 is a front view showing an example of a holder of a surgical drill guide according to the present invention as viewed from direction A of FIG.
4 is a partial view showing an example in which a distance measurement indicator is installed in a surgical drill guide according to the present invention.
FIG. 5 is a flowchart illustrating a bone drilling method using a surgical drill guide according to a first embodiment of the present invention.
FIG. 6 is a flowchart illustrating a bone drilling method using a surgical drill guide according to a second embodiment of the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

In this embodiment, the femur and tibia are punctured for reconstruction of anterior cruciate ligament (ACL) using a surgical drill guide according to the present invention. However, the present invention is not limited thereto, The present invention can be applied to all operations requiring drilling of the bone.

FIG. 1 is a state view showing an example of perforating bones using a surgical drill guide according to the present invention. FIG. 2 is a sectional view of the LM guide of the surgical drill guide according to the present invention, FIG. 3 is a front view showing an example of a holder of a surgical drill guide according to the present invention in a direction A of FIG. 1, FIG. 4 is a front view of a holder of a drill guide according to the present invention, Is installed.

FIG. 5 is a flowchart illustrating a bone drilling method using a drill guide according to a first embodiment of the present invention. FIG. 6 is a view illustrating a bone drilling operation using a drill guide according to a second embodiment of the present invention. Fig.

1 to 3, a surgical drill guide 1 according to the present invention includes an actuator 10 having an LM guide 11 installed at one end thereof, and a holder 10 movably installed in the LM guide 11 20).

The actuator 10 is installed in an operation space where surgery is performed and the holder 20 is movably installed on an LM guide 11 installed at one end of the actuator 10, 20 to the drill 30 to puncture the bone.

Preferably, the actuator 10 is a multi-joint mechanism composed of a plurality of joints 12 and a joint 13 connecting the joints 12 for adjusting the position, and the passive multi- Or a robot-type articulated mechanism capable of automatically adjusting with a motor attached thereto.

At this time, the joint 12 can be rotated up and down, right and left, or up and down and left and right.

Therefore, the drill 30 can be positioned at a predetermined position (hereinafter referred to as a 'standby position') for adjusting the operation of the drill 30 by adjusting the nail 13 through the rotation of the joint 12.

Meanwhile, the surgical drill guide 1 according to the present invention can be divided into a robot type automatic drill guide having a motor attached thereto according to the actuator 10, and a manual drill guide having a passive joint.

Since the actuator 10 is more rigid than a human hand, even if the drill 30 is installed, the drill 30 can not be easily moved by vibration or vibration, so that the drill 30 can be stably held , So that the operator can precisely puncture the desired position.

At this time, depending on the opinion of the operator, the leg to be operated may be fixed to the ground or one side of the surgical drill guide 1, or may not be fixed.

Further, in order to accurately grasp the position to be punctured, a marker for indicating the position may be attached to the leg bone.

The LM guide 11 is installed on a node 13 located at the most end of the nodes 13 constituting the actuator 10 and includes a first coupling portion 11a, And the holder 20 is movably coupled to the first and second housing parts 11a and 11a.

At this time, the first engaging portion 11a may be of any type as long as the holder 20 can be coupled to the first engaging portion 11a. For example, as shown in FIG. 2, the first engaging portion 11a may be a protrusion.

The holder 20 is movably installed in the LM guide 11 and has a structure for engaging with the drill 30 during operation and has a structure for engaging with the LM guide 11, And is formed into a structure capable of bonding.

3, the holder 20 includes an LM block 21 coupled to the LM guide 11 and a mounting portion 22 mounted to the LM block 21 and coupled to the drill 30, ≪ / RTI >

Meanwhile, the LM block 21 and the mounting portion 22 may be integrally formed, and may be installed so as to be coupled and detachable.

The mounting portion 22 may be directly installed in the LM block 21, but may be installed through the connecting portion 23 as shown in FIG.

Therefore, the mounting structure of the LM block 21 and the mounting portion 22 is not limited in the present invention.

The LM block 21 includes a second coupling portion 21a coupled to the first coupling portion 11a and the second coupling portion 21a is coupled to the second coupling portion 21a, It may be a groove in the shape of 'ㅗ'.

According to the present invention, the first fastening portion 11a, which is a projection of the 'ㅗ' shape shown in FIG. 2, and the second fastening portion 21a, which is a ' 21 are provided movably in the LM guide 11, the holder 20 can be moved.

At this time, if the direction of movement to the side of the knee of the patient to be reconstructed, for example, anterior cruciate ligament reconstruction operation is forward and the opposite direction is rearward, the LM block 21 moves toward the LM guide (11) so as to be movable in the longitudinal direction.

Therefore, as the LM block 21 moves on the LM guide 11, the mounting portion 22 provided on the LM block 21 moves together with the mounting portion 22, When combined, the drill 30 is also moved.

That is, as a whole, the holder 20 is movably installed in the LM block 11, so that the drill 30 coupled to the holder 20 can be moved.

The mounting portion 22 is formed to have a structure for engaging the drill 20 and is connected to the LM block 21 as in the present embodiment and is formed into a flat annular shape having a mounting hole 22a formed at the center thereof. And the drill 30 is engaged with the mounting hole 22a.

The mounting portion 22 includes an edge portion 22b provided in one direction from the annular outer circumferential surface, a tight contact portion 22c provided in one direction from the annular inner circumferential surface, and an edge portion 22b, And a ball bearing 22d provided between the first and second plates 22c.

At this time, the edge portion 22b and the contact portion 22c may be vertically arranged in the same direction, and the edge portion 22b may be fixed to the outer peripheral surface.

On the other hand, it is preferable that the contact portion 22c is a portion which is directly contacted when the drill 30 is engaged with the holder 20, and is preferably rotatably installed on the inner circumferential surface of the annular shape.

Therefore, the drill 30 can be rotated after the drill 30 is coupled to the close contact portion 22c, thereby improving the convenience of the operation in the drilling operation. 22c of the drill 30 can be smoothly rotated and contact with the drill 30 can be made without clearance, thereby enhancing the adhesion of the drill 30 and improving the convenience of the operation.

It is preferable that the surface of the drill 30 is smoothly processed for close contact with the ball bearing 22d and the ball bearings 22d are preferably provided so as to improve the workability of rotation , It is preferable that they are provided uniformly.

In this embodiment, one LM block 21 provided with one mounting portion 22 is installed in the LM guide 11, but the present invention is not limited to this, and a plurality of LM blocks 21 may be mounted on the LM guide 11, (11).

In addition, the holder 20 may be made of a consumable product for sterilization because the holder 20 may be exposed to bacteria during the operation. At this time, the holder 20 can be discarded after being used in one to ten operation ranges.

Therefore, in the drilling operation, the holder 20 can be moved on the LM guide 11 while the drill 30 is coupled to the holder 20, and the drill 30 can be rotated, It is possible to improve the workability of the operator and to prevent the shaking and vibration of the drill 30, thereby enabling accurate drilling.

4, the surgical drill guide 1 according to the present invention includes a distance measuring display unit 50 for measuring the moving distance of the holder 20 and displaying the measured moving distance of the holder 20, ).

Also, the distance measurement display unit 50 may calculate the depth of the perforation from the perforation start position based on the measured distance of the holder 20 to display the depth of perforation.

The distance measurement display unit 50 includes a distance measuring unit 51 for measuring a moving distance of the holder 20 and transmitting the measured moving distance of the holder 20, And a display unit 52 for receiving and displaying the movement distance of the holder 20 measured from the display unit.

For example, the distance measuring unit 51 may be an encoder. In this case, the distance measuring unit 51 is installed on the LM block 21 of the holder 20 to measure the moving distance of the holder 20.

At this time, the distance measuring unit 51 may transmit the moving distance of the holder 30 to the display unit 52 using a wireless communication method or a wired communication method.

Meanwhile, the display unit 52 may be installed anywhere that the operator can easily observe while performing the perforating operation. For example, the display unit 52 may be installed in the actuator 10 and may be adjacent to the actuator 10 .

At this time, as the holder 20 moves, the drill 30 coupled to the holder 20 moves, and the drill 30 is pierced according to the movement of the drill 30, The depth of perforation from the puncturing start position can be calculated and displayed from the moving distance of the puncturing start position.

Therefore, although the drill has a depth direction scale, it is difficult to distinguish the drill having a small diameter, and it is difficult to accurately identify the drill depending on the sense of the operator. However, as in the present invention, 50), it is possible to easily and precisely identify the degree of perforation while the operator is performing the perforating operation, so that an accurate and reliable perforating operation can be performed.

Referring to FIG. 5, a bone drilling method using the drill guide for surgery according to the first embodiment of the present invention will be described as follows. At this time, the surgical drill guide is a robot-type automatic drill guide with a motor attached thereto.

The bone drilling method using the surgical drill guide according to the first embodiment includes a guide disposing step (S10) for automatically or manually disposing a surgical drill guide in a surgical position; A positioning step (S20) of determining whether or not the placement position matches the actual piercing position after placing the surgical drill guide; Performing drilling (S30) of binding the drill to the holder of the surgical drill guide and drilling the perforation site using the drill if the placement position and the drilling position coincide with each other; A perforation depth determination step (S40) for determining whether the perforation depth is appropriate after perforation; And a finishing step (S50) of finishing the drilling operation and removing the drill if it is determined that the drilling depth is appropriate.

At this time, in the guide placement step (S10), the surgical drill guide is automatically arranged by a preset program such as a surgery planning program, a robot control program, or a navigation device.

Further, in the step of checking the position (S20), it is determined by the operator whether the placement position coincides with the actual puncturing position. For example, the operator may determine the position of the holder 20 of the surgical drill guide, Whether or not the position of the mounting hole 22a of the holder 22 or the position of the drill 30 engaged with the holder 22 is arranged so as to correspond to the actual puncturing site is visually confirmed.

At this time, a screen provided by a surgical planning program, a robot control program, or a navigation apparatus is visually checked, or a surgical site is directly checked with a naked eye.

On the other hand, if the placement position does not coincide with the actual drilling position in the positioning step (S20), a rearranging step (S60) for rearranging the surgical drill guide is performed.

At this time, in the relocation step (S60), the relocation of the surgical drill guide can be performed by modifying the program, and it is repeatedly performed until the placement position matches the actual drilling position.

In the drilling operation S30, the drill 30 is coupled to the holder 20, which is movably installed in the LM guide 11 of the surgical drill guide, do.

Accordingly, since the drilling operation is performed in a state where the drill 30 is supported by the holder 20, the drilling operation can be stably performed, and a desired position can be accurately drilled.

At this time, the drilling operation can be proceeded in a state where the leg is fixed to the ground or one side of the drill guide for surgery or the leg is freely opened. In order to accurately check the drilling position, The operation can be proceeded. In such a drilling operation, the operation environment can be appropriately selected according to the judgment of the operator.

In the perforation depth checking step (S40), it is determined whether the perforation depth is appropriate by checking the moving distance of the holder (20) or the depth of perforation displayed on the display unit (52).

However, in the case of the drill of the present invention, the display portion 52 is not provided with a depth direction scale. However, in the case of a drill having a small diameter, it is difficult to identify the drill, It is possible to precisely and reliably perform the perforation operation and to improve the convenience of the perforating operation since the operator can accurately identify the perforation degree by confirming the moving distance of the holder 20 or the depth of perforation .

If it is determined in step S40 that the piercing depth is inappropriate, the piercing operation is performed again in step S30.

At this time, according to the present invention, since the operator can perform a bone drilling operation while confirming the moving distance of the holder 20 or the depth of the hole displayed through the distance measurement display unit 50, ) And the puncture depth checking step (S40) may be performed at the same time.

Referring to FIG. 6, a bone drilling method using a surgical drill guide according to a second embodiment of the present invention will be described as follows. At this time, the surgical drill guide is a manual drill guide having a passive joint.

Therefore, in the bone drilling method using the drill guide for surgery according to the first embodiment, the drill guide for surgery is an automatic drill guide, whereas the bone drilling method using the drill guide for surgery according to the second embodiment of the present invention The difference is that the surgical drill guide is a manual drill guide.

A bone drilling method using a surgical drill guide according to a second embodiment of the present invention includes a guide disposing step (S110) of automatically or manually disposing a surgical drill guide at a surgical site; A positioning step (S120) of determining whether or not the placement position matches the actual drilling position after arranging the surgical drill guide; Performing drilling (S130) of binding the drill to the holder of the surgical drill guide and drilling the perforation site using a drill if the placement position matches the drilling position; A perforation depth determination step (S140) for determining whether the perforation depth is appropriate after perforation; And a finishing step (S150) of finishing the drilling operation and removing the drill if it is determined that the drilling depth is appropriate.

In the bone puncturing method using the surgical drill guide according to the second embodiment of the present invention, in the positioning step (S120), if the placement position does not coincide with the actual puncturing position, Step S160.

Hereinafter, different features from the bone drilling method using the surgical drill guide according to the first embodiment will be described in detail, and the same features will be omitted.

The bone drilling method using the surgical drill guide according to the second embodiment includes a guide placement step S1010 and a relocation step S160 of guiding the bone drilling method using the drill guide for surgery according to the second embodiment ) And a relocation step (S60).

That is, in the guide placement step (S110) and the relocation step (S160), the surgical drill guide is manually placed by a person, for example, an operator.

While the present invention has been described with respect to a limited number of embodiments, it is to be understood that the scope of the present invention is not limited to the specific embodiments, And various modifications, alterations, and changes may be made without departing from the spirit and scope of the invention.

Therefore, the embodiments described in the present invention and the accompanying drawings are intended to illustrate rather than limit the technical spirit of the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments and accompanying drawings . The scope of protection of the present invention should be construed according to the claims, and all technical ideas within the scope of equivalents should be interpreted as being included in the scope of the present invention.

1: surgical drill guide 10: actuator
11: LM guide 11a: first coupling portion
12: joints 13: nodes
20: Holder 21: LM block
21a: second coupling portion 22: mounting portion
22a: mounting hole 22b:
22c: tight contact portion 22d: ball bearing
23: connection 30: drill
40: operation subject 50: distance measurement display
51: distance measuring unit 52: display unit

Claims (10)

An actuator installed in the space in which the operation proceeds and having an LM guide at one end; And
A holder coupled to the LM guide so as to be movable in a direction of a surgical target,
The holder includes an LM block movably coupled to the LM guide; And
And a mounting portion installed in the LM block and coupled to the drill,
Wherein the mounting portion is a ring-shaped flat plate having a mounting hole to which the drill is coupled,
An edge portion provided in one direction from an outer peripheral surface of the annular shape;
A tight contact portion provided in one direction from an inner peripheral surface of an annular shape; And
And a ball bearing installed between the edge portion and the close contact portion. delete delete The method according to claim 1,
Further comprising a distance measurement display unit for measuring a movement distance of the holder and displaying the measured movement distance of the holder. 5. The method of claim 4,
The distance measurement display unit may include a distance measuring unit measuring a moving distance of the holder and transmitting the measured moving distance of the holder; And
And a display unit for receiving and displaying the movement distance of the holder sent from the distance measuring unit. delete delete delete delete delete

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