An intelligent torque testing and control system for implant placement

Abstract

The present application relates to the technical field of medical devices, and particularly relates to an intelligent torque testing and control system for implanting a dental implant; the system comprises a smart surgical handpiece, a main controller and a man-machine interaction module; a torque sensor and an angle encoder are arranged in the smart surgical handpiece; the torque sensor is used for collecting a resistance torque value of the dental implant when the dental implant is screwed in; the angle encoder is used for collecting a rotation angle of the smart surgical handpiece; the main controller is used for controlling the smart surgical handpiece to execute a multi-mode control program according to the resistance torque value and the rotation angle; the multi-mode control program comprises a fitting mode and a peak torque testing mode; the main controller comprises a processor; a first module and a second module are arranged in the processor; the first module is used for executing the fitting mode; the second module is used for executing the peak torque testing mode; and the man-machine interaction module is used for displaying a processing result of the main controller; and the precision, safety and traceability of the operation are improved.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to an intelligent torque testing and control system for implantation. Background Technology

[0002] In implant surgery, implantation torque is a key biomechanical indicator for assessing initial stability. Currently, there are two main approaches:

[0003] (1) Stand-alone mechanical torque wrench or electronic torque measuring instrument: These devices (such as some models of IMADA) are highly accurate, but they are usually used as external accessories and are separate from the surgical handpiece. This results in a cumbersome operating procedure, making it impossible to achieve real-time seamless measurement and control of the surgical process. Data recording also often requires additional system integration, which disrupts the continuity of the surgery and the sterile environment.

[0004] (2) Traditional surgical power systems: Some systems have simple torque control functions, but they usually have limited accuracy, narrow dynamic range, and single control mode. They lack refined operation modes for the key step of "finding the best implantation starting point", and it is difficult to achieve high sensitivity feedback and control under low torque conditions, which can easily lead to implantation deviation or minor damage to bone tissue.

[0005] Therefore, there is an urgent need to provide an intelligent torque testing and control system for implantation, which can improve the accuracy, safety and traceability of surgery compared to existing technologies. Summary of the Invention

[0006] This invention addresses the technical problems existing in the prior art and provides an intelligent torque testing and control system for implantation.

[0007] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0008] A smart torque testing and control system for implantation includes a smart surgical handpiece, a main controller, and a human-computer interaction module;

[0009] The intelligent surgical handpiece integrates a torque sensor and an angle encoder. The torque sensor is used to collect the resistance torque value when the implant is screwed in, and the angle encoder is used to collect the rotation angle of the intelligent surgical handpiece.

[0010] The main controller is used to control the intelligent surgical handpiece to execute a multi-mode control program based on the resistance torque value and rotation angle. The multi-mode control program includes a fitting mode and a peak torque test mode. The main controller includes a processor, and the processor is provided with a first module and a second module. The first module is used to execute the fitting mode, and the second module is used to execute the peak torque test mode.

[0011] The human-computer interaction module is used to display the processing results of the main controller.

[0012] Furthermore, when the first module executes the fitting mode, it controls the smart surgical handpiece to perform initial movement at a rotation speed of 5-15 rpm and a sampling frequency greater than 1 kHz.

[0013] Furthermore, when the second module executes the peak torque test mode, it uses the rotational speed and sampling frequency set in the fit mode as a reference to adjust the torque, obtain the target torque and resistance torque value-rotation angle curve, and display it through the human-machine interaction module.

[0014] Furthermore, the method for the second module to execute the peak torque test mode is as follows: an initial torque is applied to the implant to ensure contact, and then the main step cycle is entered. After one step cycle, it is determined whether the iteration stop condition is met. If the iteration stop condition is met, the current torque value is locked and kept still. The peak value during this step cycle is recorded to form a resistance torque value-rotation angle curve. If the iteration stop condition is not met, the next step cycle is performed until the iteration stop condition is met.

[0015] Furthermore, the method for each step cycle is as follows: set a set torque value, a torque compensation value, and a threshold. Based on the torque value corresponding to the initial movement, increase the set torque value and perform a holding phase. After the holding phase ends, determine the torque decay. Specifically, if the torque decay exceeds the threshold, increase the torque compensation value based on the increased torque value and then perform the holding phase again. Otherwise, keep the increased torque value unchanged and determine whether the iteration stop condition is met.

[0016] Furthermore, the holding phase is: maintaining the set time according to the increased torque value.

[0017] Furthermore, the iteration stopping condition is specifically: the torque value reaches the safe torque value, or the torque value continues to decrease;

[0018] When the iteration stops because the torque value has reached the safe torque value, the safe torque value is taken as the target torque.

[0019] When the iteration stops due to a continuous decrease in torque value, the maximum torque value before the continuous decrease is taken as the target torque.

[0020] Furthermore, the intelligent surgical handphone is driven by a motor, which locks up and maintains the current rotation angle when the iteration stop condition is met.

[0021] Furthermore, the torque sensor is equipped with a torsion bar and a strain gauge. The strain gauge is attached to the torsion bar and connected to a Wheatstone bridge. When the torque sensor detects torque, the strain gauge is stretched or compressed, causing a change in the resistance value of the strain gauge. This change in resistance value disrupts the balance of the Wheatstone bridge connected to the strain gauge, thereby outputting a millivolt-level voltage signal proportional to the magnitude of the torque. The voltage signal is transmitted to the main controller.

[0022] Furthermore, the main controller also includes an amplifier and an analog-to-digital converter. The voltage signal is first amplified by the amplifier, then converted into a digital signal by the analog-to-digital converter, and then transmitted to the processor.

[0023] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0024] This invention integrates a torque sensor and an angle encoder within a smart surgical handpiece, and sets up a fit mode and a peak torque testing mode. In fit mode, the handpiece performs peak torque testing, dynamically and cyclically adjusting the torque value to obtain the target torque, thus more accurately reflecting the static friction and mechanical contraction strength of the implant-bone interface. In peak torque testing mode, the invention dynamically compensates for the torque value required to maintain the implant, indirectly assessing the viscoelasticity of bone tissue and the microscopic stability of the interaction between the implant threads and bone. The step-load, rather than continuous rapid loading, provides sufficient reaction time for the system, preventing overload damage to the implant or bone, thereby improving the precision, safety, and traceability of the surgery. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the structure of the present invention.

[0026] Figure 2 This is a flowchart illustrating the operation of the second module of the present invention. Detailed Implementation

[0027] The technical solution of the present invention will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are not all embodiments of the present invention. All other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present invention.

[0028] like Figure 1As shown, this invention provides an intelligent torque testing and control system for implant placement, including an intelligent surgical handpiece, a main controller, and a human-machine interface module. The intelligent surgical handpiece integrates a torque sensor and an angle encoder. The torque sensor collects the resistance torque value experienced by the implant during insertion, and the angle encoder accurately measures the real-time rotation angle of the intelligent surgical handpiece. The intelligent surgical handpiece rotates via a motor and is connected to the main controller via cable or wirelessly to transmit the resistance torque value and rotation angle, and to receive control commands from the main controller. The main controller contains a multi-mode control program to control the intelligent surgical handpiece to execute rotation commands. The human-machine interface module is typically a touchscreen, used to display the current resistance torque value, rotation angle, rotation speed of the intelligent surgical handpiece, and a resistance torque value-rotation angle curve in real time.

[0029] The torque sensor is a Mark-10 level torque sensor with a torque bar and strain gauges. The strain gauges are attached to the torque bar and connected to a Wheatstone bridge. When the torque sensor detects torque, the strain gauges are stretched or compressed, causing a change in their resistance. This change in resistance disrupts the balance of the Wheatstone bridge connected to the strain gauges, resulting in the output of a millivolt-level voltage signal proportional to the torque. This voltage signal is then transmitted to the main controller.

[0030] The main controller includes an amplifier, a processor, a memory, and a motor drive module. The amplifier receives the voltage signal collected by the torque sensor. The amplified voltage signal is converted into a digital signal by an analog-to-digital converter and then transmitted to the processor. The rotation angle collected by the angle encoder is also transmitted to the processor. The processor executes a multi-mode control program based on the digital signal converted from the voltage signal and the rotation angle. The motor drive module contains a motor drive circuit and controls the motor that drives the intelligent surgical handpiece to rotate according to the multi-mode control program.

[0031] The multi-mode control program includes a bonding mode and a peak torque test mode. The processor executes the bonding mode first, followed by the peak torque test mode. The processor includes a first module and a second module; the first module executes the bonding mode, and the second module executes the peak torque test mode.

[0032] When the first module executes the bonding mode, the intelligent surgical handpiece operates at an extremely low speed and a high sampling frequency. The extremely low speed is 5-15 rpm, and the high sampling frequency is greater than 1 kHz. The first module controls the motor to drive the intelligent surgical handpiece to move initially according to the speed and sampling frequency of the bonding mode.

[0033] The second module executes the peak torque test mode after the first module executes the fitting mode. Based on the rotation speed and sampling frequency set in the fitting mode, the torque is adjusted to obtain the target torque. The obtained target torque represents the optimal state of implant implantation.

[0034] The process for executing the peak torque test mode in the second module is as follows: Figure 2 As shown, after executing the bonding mode, a small initial torque is applied to the implant to ensure contact. Then, the main step cycle is entered, and one step cycle is performed. After the step cycle ends, it is determined whether the iteration stop condition is met. If the iteration stop condition is met, the current torque value is locked and kept stationary. The peak value during this step cycle is recorded to form a resistance torque value-rotation angle curve, which is displayed through the human-computer interaction module. If the iteration stop condition is not met, the next step cycle is performed until the iteration stop condition is met. After the iteration stop condition is met, the motor is locked and maintained at the current rotation angle.

[0035] The method for each step cycle is as follows: set a set torque value, a torque compensation value, and a threshold. Increase the set torque value based on the torque value corresponding to the initial movement, and then perform a holding phase. The holding phase is as follows: maintain the increased torque value for a set time. After the set time, the holding phase ends, and then the torque decay is judged. Specifically, if the torque decay exceeds the threshold, increase the torque compensation value based on the increased torque value, and then repeat the holding phase. Otherwise, keep the increased torque value unchanged, and then determine whether the iteration stop condition is met.

[0036] The specific stopping conditions for iteration are: the torque value reaches the safe torque value, or the torque value continues to decrease; when the torque value reaches the safe torque value, the target torque is the safe torque value; when the torque value continues to decrease, the maximum torque value before the decrease is the target torque.

[0037] The preferred torque value is 4 N·cm, the preferred setting time is 2-5 s, and the preferred torque compensation value is 0.5 N·cm; the threshold is a fluctuation range of -0.5 N·cm to 0.5 N·cm.

[0038] The human-machine interface module typically uses a touchscreen to display information such as resistance torque-rotation angle curves, torque values, speed, mode, and rotation angle. A memory is used to store relevant data.

[0039] This invention integrates a torque sensor and an angle encoder within a smart surgical handpiece, and sets up a fit mode and a peak torque testing mode. In fit mode, the handpiece performs peak torque testing, dynamically and cyclically adjusting the torque value to obtain the target torque, thus more accurately reflecting the static friction and mechanical contraction strength of the implant-bone interface. In peak torque testing mode, the invention dynamically compensates for the torque value required to maintain the implant, indirectly assessing the viscoelasticity of bone tissue and the microscopic stability of the interaction between the implant threads and bone. The step-load, rather than continuous rapid loading, provides sufficient reaction time for the system, preventing overload damage to the implant or bone, thereby improving the precision, safety, and traceability of the surgery.

[0040] Finally, it should be noted that the above content is only used to illustrate the technical solution of the present invention, and is not intended to limit the scope of protection of the present invention. Simple modifications or equivalent substitutions made by those skilled in the art to the technical solution of the present invention do not depart from the essence and scope of the technical solution of the present invention.

Claims

1. An intelligent torque testing and control system for implant placement, characterized in that, Includes a smart surgical phone, a main controller, and a human-computer interaction module; The intelligent surgical handpiece integrates a torque sensor and an angle encoder. The torque sensor is used to collect the resistance torque value when the implant is screwed in, and the angle encoder is used to collect the rotation angle of the intelligent surgical handpiece. The main controller is used to control the intelligent surgical handpiece to execute a multi-mode control program based on the resistance torque value and rotation angle. The multi-mode control program includes a fitting mode and a peak torque test mode. The main controller includes a processor, and the processor is provided with a first module and a second module. The first module is used to execute the fitting mode, and the second module is used to execute the peak torque test mode. The human-computer interaction module is used to display the processing results of the main controller; When the second module executes the peak torque test mode, it applies an initial torque to the implant based on the rotation speed and sampling frequency set in the fit mode. After ensuring contact, it enters the main step cycle and performs one step cycle. After the step cycle ends, it determines whether the iteration stop condition is met. If the iteration stop condition is met, it locks the current torque value and keeps it stationary, records the peak value during this step cycle, and forms a resistance torque value-rotation angle curve. If the iteration stop condition is not met, it performs the next step cycle until the iteration stop condition is met. Each step cycle is as follows: set the set torque value, torque compensation value and threshold. Based on the torque value corresponding to the initial movement, increase the set torque value and carry out the holding phase. After the holding phase ends, the torque decay is judged. If the torque decay exceeds the threshold, the torque compensation value is increased based on the increased torque value, and then the holding phase is repeated. Otherwise, the increased torque value is kept unchanged, and it is judged whether the iteration stop condition is met. The iteration stops when the torque value reaches a safe torque value, or when the torque value continues to decrease. When the iteration stops because the torque value has reached the safe torque value, the safe torque value is taken as the target torque. When the iteration stops due to a continuous decrease in torque value, the maximum torque value before the continuous decrease is taken as the target torque.

2. The intelligent torque testing and control system for implant placement according to claim 1, characterized in that, When the first module executes the fitting mode, it controls the smart surgical handpiece to perform initial movement at a rotation speed of 5-15 rpm and a sampling frequency greater than 1 kHz.

3. The intelligent torque testing and control system for implantation according to claim 2, characterized in that, The holding phase is as follows: maintain the increased torque value for the set time.

4. The intelligent torque testing and control system for implantation according to claim 3, characterized in that, The intelligent surgical handpiece is driven by a motor. When the iteration stop condition is met, the motor locks and remains at the current rotation angle.

5. The intelligent torque testing and control system for implantation according to claim 1, characterized in that, The torque sensor is equipped with a torsion bar and a strain gauge. The strain gauge is attached to the torsion bar and connected to a Wheatstone bridge. When the torque sensor detects torque, the strain gauge is stretched or compressed, causing a change in the resistance value of the strain gauge. This change in resistance value disrupts the balance of the Wheatstone bridge connected to the strain gauge, thereby outputting a millivolt-level voltage signal proportional to the magnitude of the torque. The voltage signal is transmitted to the main controller.

6. The intelligent torque testing and control system for implantation according to claim 5, characterized in that, The main controller also includes an amplifier and an analog-to-digital converter. The voltage signal is first amplified by the amplifier, then converted into a digital signal by the analog-to-digital converter, and then transmitted to the processor.

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