Drilling device, drilling method, and fixing mechanism

Abstract

The perforation device 100 of the present invention comprises a display 1 capable of visually viewing a real image being seen through or captured, a perforation tool 3, a perforation marking jig 4, an imaging means 7 (an appearance information acquisition means for acquiring appearance information of the perforation tool 3, etc.), and a control means 2 for creating a virtual three-dimensional image 12 including a perforation direction extension line 31 and a perforation endpoint 41, reflecting it on the real image, and displaying it on the display 1. [Effects] The perforation device 100 of the present invention makes it possible to perform accurate perforations without requiring large-scale equipment such as CT imaging, mock-up creation, and simulation, which were previously necessary.

Description

Technical Field

[0001] The present invention relates to a drilling device, a drilling method, and a fixing mechanism.

Background Art

[0002] Conventionally, when drilling a bone hole (hole) in surgery, drilling a hole in wood, a metal plate, a column, etc. in construction and civil engineering, drilling a hole in a concrete block wall, etc., for drilling an object to be drilled, an Augmented Reality technology (Augmented Reality technology, abbreviated as AR technology) that reflects a virtual image on a real image is used for simulation to determine the drilling direction and position and then overlaps with the real image in the actual visual field for drilling. A drilling method has been proposed.

[0003] As such a drilling method using AR technology, there is a method disclosed in Patent Document 1. In this method, when performing an implant treatment in which a patient's alveolar tooth (object to be drilled) is drilled with a drill and a fixture is implanted, the object to be drilled is subjected to CT imaging. Next, a simulation of fixture implantation is performed using the CT imaging image obtained by CT imaging to determine the fixture implantation position, and the position is measured on the CT imaging image. Next, marks indicating the fixture implantation position and implantation direction determined by simulation are attached to the CT imaging template. Next, a full-scale mock-up (plaster model) of the upper jaw taken from the patient's oral cavity is created, and a mouthpiece is attached to this mock-up. Next, marks are attached to the mouthpiece, and a wire is implanted at the drilling simulation position using this mark as a guide. (The above is the preliminary preparation). Next, when actually drilling the patient's alveolar tooth, the mouthpiece with marks is attached to the remaining tooth part of the patient, the patient's oral cavity is imaged, and the simulation image of the fixture is displayed overlapping on the captured video. The drill is positioned using the simulation image of the fixture as a guide for drilling.

[0004] ​Conventional drilling methods like this involve taking a CT scan of the object to be drilled, creating a mock-up (plaster model), simulating the drilling process, and then superimposing the simulated virtual image onto the real image to perform drilling according to the simulation. This method is superior in that it is less prone to errors in drilling position and direction. [Prior art documents] [Patent Documents]

[0005] [Patent Document 1] Japanese Patent Publication No. 2013-34764 [Overview of the Initiative] [Problems that the invention aims to solve]

[0006] However, conventional drilling methods require CT imaging, mock-up creation, fixture simulation, etc., which pose a problem as they necessitate large-scale equipment (or complex processes). The present invention has been made in view of the above problems, and aims to provide a drilling device and drilling method that can perform accurate drilling without requiring large-scale equipment (or complex processes), and a fixing mechanism that can appropriately fix the drilled object. [Means for solving the problem]

[0007] [1] The perforation device of the present invention is a perforation device for perforating an object to be perforated, and is characterized by comprising: a display capable of visually viewing a real image that is seen through or captured; a perforation tool; a perforation marking jig; an appearance information acquisition means for acquiring appearance information of the perforation tool and the perforation marking jig; and a control means for creating a virtual three-dimensional image (virtual three-dimensional image) including a perforation direction extension line and a perforation endpoint (endpoint of perforation) by referring to the appearance information of the perforation tool and the perforation marking jig acquired by the appearance information acquisition means, and reflecting the virtual three-dimensional image onto the real image and displaying it on the display.

[0008] In this way, the drilling device includes a display that allows the viewer to see the actual image being scanned or captured, an appearance information acquisition means for acquiring appearance information of drilling tools, etc., and a control means for creating a virtual 3D image including the drilling direction extension line and the drilling endpoint by referring to the appearance information of the drilling tools, etc. acquired by the appearance information acquisition means, and reflecting the virtual 3D image onto the actual image and displaying it on the display. Therefore, drilling can be done based on the drilling direction extension line and the drilling endpoint (using, as a target, and as a guide), and the device can perform accurate drilling without requiring large-scale equipment for CT scanning of the object to be drilled, creation of mock-ups (plaster models), drilling simulations, etc. Furthermore, by changing the position (orientation) of the drilling marker jig and drilling tool, the drilling endpoint and the extension line of the drilling direction can be changed in principle, enabling flexible and accurate drilling according to the condition of the object being drilled at the time. In other words, even if the condition of the object being drilled differs from what was anticipated beforehand, accurate drilling can be performed without the need for large-scale equipment.

[0009] Furthermore, this invention is an application of AR technology in the sense that it reflects a virtual 3D image onto a real-world image. Here, "real image" refers to an image of an object that actually exists, while "virtual 3D image" refers to a 3D image that does not exist or is invisible in reality but is created by a CPU (or computer, software). "Visually observable" means that either a real image formed at a distance greater than the focal length, or a virtual image formed closer than the focal length, may be visually observable. Furthermore, in this application, "appearance information" includes "external shape information" and "characteristic information" of drilling tools, etc. Since "appearance" refers to what is seen from the outside, "appearance information" refers to information such as 3D image information that can be obtained directly or indirectly by viewing drilling tools, etc. from the outside. "External shape information" refers to information about the external shape (including a part of the external shape) of a drilling tool, etc. Since "external shape" refers to the shape seen from the outside, "external shape information" refers to information obtained from the external shape of the drilling tool, etc. For example, this includes information about the contour shape of the end of the drilling tool, such as an ellipse, triangle, or square, or the contour shape of any corners. (If the drilling tool is the drill 34 described later in Figure 1, etc., this includes the uneven shape of the drill bit itself, the right-angle shape of the mounting part where the drill bit is attached to the chuck, the right-angle shape of the drill bit side end of the drilling tool body, the square shape of the gripping part 35 end, etc.) "Characteristic information" refers to the distinctive appearance of drilling tools, etc. For example, when a mark (a mark for identification, recognition, or designation) is attached to a drilling tool, this includes the position, shape, pattern, meaning of the mark, or other distinctive visual information (such as being curved). "External shape information" and "characteristic information" are not always clearly distinguished, and a certain appearance may encompass both. "By referring to the external appearance information of the drilling tool and the drilling marking jig, a virtual three-dimensional image including the drilling direction extension line and the drilling endpoint is created" means, for example, by referring to external appearance information such as the outer shape of the drilling tool or the position of a mark provided on the outside of the tool, a virtual three-dimensional image of the drilling direction extension line of the drilling tool is created, or by referring to external appearance information such as the outer shape of the drilling marking jig or the position of a mark provided on the outside of the drilling marking jig, a virtual three-dimensional image of the drilling endpoint of the drilling marking jig is created. Examples of means for acquiring external information include imaging means (cameras), shape measurement sensors using lasers, infrared rays, ultrasound, etc.

[0010] Furthermore, in the drilling device of the present invention, it is preferable that the drilling tool is provided with a first mark as the external appearance information of the drilling tool, and that the control means creates the drilling direction extension line by referring to the first mark and displays it on the display.

[0011] In this way, the control means only needs to refer to the first mark provided on the drilling tool to create the drilling direction extension line, making it easy to create and further facilitating accurate drilling without requiring large-scale equipment.

[0012] Furthermore, in the drilling device of the present invention, it is preferable that the drilling tool is provided with a plurality of first marks based on the drilling direction, and that the control means creates the drilling direction extension line by referring to the positional information of the plurality of first marks and displays it on the display.

[0013] In this way, the control means only needs to create an extension line of the drilling direction by referring to the positional information of a plurality of first marks provided based on the drilling direction, making it easy to create and further facilitating accurate drilling without requiring large-scale equipment.

[0014] Furthermore, in the perforation device of the present invention, it is preferable that the perforation marking jig is provided with a second mark as the external appearance information of the perforation marking jig, and that the control means creates the perforation endpoint by referring to the second mark and displays it on the display.

[0015] In this way, the control means only needs to refer to the second mark provided on the drilling guide jig to create the drilling endpoint, making the creation process easier and further facilitating accurate drilling without requiring large-scale equipment.

[0016] Furthermore, in the perforation device of the present invention, it is preferable that the perforation marking jig is provided with a plurality of second marks in the longitudinal direction of the jig (direction of the perforation endpoint), and that the control means creates the perforation endpoint by referring to the positional information of the plurality of second marks and displays it on the display.

[0017] By doing so, the control means may create the drilling end point by referring to the position information of a plurality of second marks provided in the longitudinal direction (drilling end point direction) of the jig, so that the creation is easy and it becomes even easier to perform accurate drilling without requiring large-scale equipment.

[0018] [2] In the drilling device of the present invention, it is preferable that the control means displays the virtual three-dimensional image of the extension line of the drilling direction and the virtual three-dimensional image of the drilling end point on the display during drilling.

[0019] By doing so, since the virtual three-dimensional image of the extension line of the drilling direction and the virtual three-dimensional image of the drilling end point are displayed on the display during drilling, and these displays are not made when they are not related to drilling, it is possible to provide a drilling device with a more visible display.

[0020] [3] In the drilling device of the present invention, it is preferable that the control means displays the virtual three-dimensional image of the extension line of the drilling direction and the virtual three-dimensional image of the drilling end point on the display in a display mode different from the real image.

[0021] By doing so, it becomes easy to distinguish between the real image and the virtual three-dimensional images (drilling direction extension line and drilling end point), so it becomes possible to perform even more accurate drilling.

[0022] Here, the "different display mode" means, for example, when the appearance of the drilling tool, the jig for drilling marks, etc. is in black and white tones, displaying the virtual three-dimensional images (drilling direction extension line and drilling end point) in a different color tone (red, blue, etc.), or displaying them flashing when they are not flashing, etc.

[0023] [4] In the drilling device of the present invention, it is preferable to further include a passing notification means for notifying whether the extension line of the drilling direction of the drilling tool passes through the drilling end point or not.

[0024] By doing so, it is possible to determine whether or not the extension line of the drilling direction passes through the drilling end point, making it even easier to perform accurate drilling.

[0025] [5] In the drilling device of the present invention, it is further preferable to include a drilling notification means for notifying that the tip of the drilling part of the drilling tool has approached or reached the drilling end point.

[0026] By doing so, it is possible to determine that the tip of the drilling part of the drilling tool has approached or reached the drilling end point, making it even easier to perform accurate drilling. For example, when the tip of the drilling part approaches the drilling end point, the drilling speed is slowed down, and when the tip reaches the drilling end point, the drilling is terminated. By doing so, it is possible to suppress insufficient drilling and excessive drilling and perform accurate drilling.

[0027] [6] In the drilling device of the present invention, it is preferable that the control means causes the display to display, as the drilling end point, a jig contact point where the tip of the drilling mark jig contacts the object to be drilled, or a point separated from the jig contact point by a certain distance on a straight line connecting the jig contact point and a drilling start point where the drilling tool starts drilling. Note that the "jig contact point" can also be referred to as the "drilling target point".

[0028] By doing so, a jig contact point where the tip of the drilling mark jig contacts the object to be drilled, or a point separated from the jig contact point by a certain distance on a straight line connecting the jig contact point and a drilling start point where the drilling tool starts drilling the object to be drilled, becomes the drilling end point. Therefore, by changing the positions of the jig contact point and the drilling start point, it is possible to easily determine or change the drilling end point, and it becomes even easier to perform accurate drilling without requiring large-scale equipment. For example, when the jig contact point is used as the drilling end point, the tip of the drilling mark jig can be brought into contact with the object to be drilled to easily determine or change the drilling end point. Furthermore, setting the drilling endpoint at a point a certain distance from the jig contact point on a straight line connecting the jig contact point and the drilling start point is convenient in cases where it is difficult to insert the tip of the drilling marker jig, rather than drilling through the object to be drilled (for example, drilling that stops at a point a certain distance or at a certain depth from the surface of the object to be drilled, in other words, drilling to a certain depth from the surface).

[0029] Furthermore, in the drilling device of the present invention, it is preferable to further provide a notification means for notifying when the extension line of the drilling direction coincides with the straight line connecting the jig contact point and the drilling start point and the straight line connecting the jig contact point and the drilling start point (the straight line passing through the drilling end point).

[0030] This approach allows us to determine that the drilling direction is based on a straight line connecting the jig contact point and the drilling start point, that is, a straight line passing through the drilling end point, thus enabling more precise drilling.

[0031] [7] In the drilling apparatus of the present invention, it is preferable that the control means displays an image of the jig contact point on the display.

[0032] This method displays an image of the jig contact point on the screen, making it much easier to determine or change the drilling endpoint.

[0033] [8] In the perforation apparatus of the present invention, it is preferable that the display is a display that allows the real image to be seen by transparency. Here, "through clairvoyance" means that the real image on the other side of the display is visible through the screen. The real image on the other side of the display can be an image that can be viewed directly, or it could be, for example, an image reflected in a mirror.

[0034] In this way, because the display allows for the viewing of real-world images through projection, the real-world image can be viewed as is, and distortions and reductions in resolution of the real-world image are less likely to occur.

[0035] [9] In the drilling apparatus of the present invention, the display is preferably a head-mounted display.

[0036] When the display is a head-mounted display, the person performing the drilling (e.g., the driller) wears the display on their head, allowing them to see the real-world image that changes in accordance with their head movements, along with a virtual 3D image of the drilling endpoint superimposed on it. This makes drilling easier and allows for more precise drilling. For example, it is useful when a driller drills holes in human or animal bones, or when a carpenter drills holes in wood.

[0037]

[10] In the perforation apparatus of the present invention, it is preferable that the display is a display that can visually view a real image by imaging. Here, "by imaging" means that the real image captured by the imaging device is displayed on a screen and becomes visible to the naked eye.

[0038] This method makes it easy to create a virtual 3D image (extension of the drilling direction, drilling endpoint) by referring to the external information of the drilling tool, etc., that has been captured. Furthermore, it becomes even easier to display the captured image and then overlay (superimpose) the virtual 3D image, such as the extension of the drilling direction and drilling endpoint, onto it and display it on a screen.

[0039]

[11] In the perforation device of the present invention, it is preferable that the control means displays the perforation endpoint on the display in such a way that the display position does not change even if the arrangement position of the perforation marking jig changes.

[0040] In this way, even if the arrangement of the drilling markers changes, the indicated position of the drilling endpoint remains unchanged, thus freeing the person drilling from the physical constraints of having to maintain the arrangement of the drilling markers. For example, if a person drilling holds a drilling marker jig in one hand (left hand) and a drilling tool in the other hand (right hand), once the drilling marker jig is positioned in a predetermined location with one hand to determine the position of the drilling endpoint, the position of the drilling endpoint will not change even if the position of the jig changes when the other hand is released from it. This allows the other hand to be used freely.

[0041]

[12] In the perforation device of the present invention, it is preferable to further include a positioning maintenance means for maintaining the position of the perforation marking jig relative to the object to be perforated.

[0042] In this way, the position of the drilling marker jig relative to the object to be drilled is maintained (held, fixed), freeing the driller from the physical constraints of maintaining the position of the drilling marker jig, allowing them to concentrate more on drilling. For example, during the drilling process, the person drilling does not need to hold a drilling marker jig in their hand and maintain its position (posture), thus freeing them from such physical constraints.

[0043]

[13] In the perforation apparatus of the present invention, the means for acquiring the external information is preferably an imaging means. "Imaging means" refers to, for example, a camera (shooting device) that takes still images (still photographs) or moving images (movies, television, videos, etc.). It can also be rephrased as "shooting means."

[0044] Thus, if the means for acquiring external information is an imaging means, the external information of the object can be acquired even more easily by imaging (photographing) the object. Furthermore, displaying the captured real-world image on a screen makes it even easier to display the real-world image on the screen, in addition to acquiring external appearance information.

[0045]

[14] In the perforation apparatus of the present invention, the perforation apparatus further comprises a two-dimensional transparent image acquisition means for irradiating the object to be perforated with a detection wave to acquire a two-dimensional transparent image of the object to be perforated, and the control means preferably reflects the two-dimensional transparent image of the object to be perforated onto the real image or the virtual three-dimensional image and displays it on the display.

[0046] Here, the two-dimensional fluoroscopic image acquisition means refers to, for example, an X-ray imaging device, an ultrasonic imaging device, an optical ultrasonic imaging device, etc., which irradiates the object to be drilled with detection waves such as X-rays, electromagnetic waves including laser light, or ultrasound, and detects a two-dimensional fluoroscopic image of the object to be drilled (external shape obscured by obstacles, internal structure such as fractures, etc.) from the state of transmission, absorption, reflection, photoacoustics, etc.

[0047] In this way, a two-dimensional perspective image of the object to be drilled is acquired by the two-dimensional perspective image acquisition means and reflected on the real image or virtual three-dimensional image and displayed on the screen. (Because two-dimensional perspective image acquisition does not require large-scale equipment like three-dimensional perspective image acquisition, the reflection (superposition) of the virtual three-dimensional image onto the real image using two-dimensional perspective images can be performed with even better positional accuracy (including position correction), and areas obstructed by obstacles can also be displayed in the two-dimensional perspective image, etc.) it becomes even easier to perform accurate drilling without requiring large-scale equipment.

[0048]

[15] In the drilling apparatus of the present invention, the two-dimensional fluoroscopic image acquisition means is preferably an X-ray imaging device.

[0049] This approach makes it much easier to perform precise drilling without requiring large-scale equipment, as it allows the use of X-ray imaging devices, which are widely used as a means of acquiring two-dimensional fluoroscopic images.

[0050]

[16] The perforation method of the present invention is a perforation method for perforating an object to be perforated other than a human living body, and is characterized by comprising the steps of: preparing a display capable of visually viewing a real image that is being seen through or captured; preparing a perforation tool; preparing a perforation marking jig; acquiring external information of the perforation tool and the perforation marking jig; creating a virtual three-dimensional image including a perforation direction extension line and a perforation endpoint by referring to the external information; reflecting the virtual three-dimensional image onto the real image and displaying it on the display; and perforating the object to be perforated based on the perforation direction extension line and the perforation endpoint.

[0051] In this way, a display is prepared that allows the actual image being viewed or captured to be seen visually, and a virtual 3D image including the extension line of the drilling direction and the drilling endpoint is reflected on the actual image and displayed on the display. Therefore, drilling can be performed based on the extension line of the drilling direction and the drilling endpoint, and it is possible to provide a drilling method that enables accurate drilling without requiring complex processes such as CT scanning of the object to be drilled, mock-up (plaster model) creation, and drilling simulation.

[0052]

[17] The fixing mechanism of the present invention is a fixing mechanism for fixing an object to be drilled having a through hole drilled using any of the drilling devices described above, characterized in that first and second screws, each having a head and a pair of threaded portions, are inserted into the through hole from different openings of the through hole with the threaded portions of each screw leading, and the object to be drilled is fixed by fitting the pair of threaded portions together with the object to be drilled sandwiched between the heads. Here, a pair of threaded parts refers to a part composed of threads that are in a mating relationship with each other, such as one being a male thread and the other a female thread. Different openings of a through hole refer to two different openings of a through hole (one opening and the other opening).

[0053] In this way, even if the object to be drilled is broken or otherwise separated into multiple pieces, the first and second screws are inserted into the through hole, which is formed to pass through the multiple pieces of the object to be drilled, with their threaded portions leading from different openings of the through hole. The object to be drilled (the multiple pieces of the object to be drilled) is then sandwiched between the heads of the screws, and their threaded portions are fitted together within the through hole, thereby fixing the multiple pieces of the object to be drilled as a single unit (securely fixing them). Furthermore, since the threaded portions with sharp points are on the inside of the object to be drilled and the heads without sharp points are on the outside, injuries from the sharp points of the threaded portions can be prevented after fixing. Since the sharp points of the threaded portions are not exposed on the surface of the object to be drilled, injuries from sharp points can be prevented. In this way, it is possible to properly fix the drilled object, including ensuring safety.

[0054]

[18] In the fixing mechanism of the present invention, it is preferable to place a plate having a hole in a location corresponding to the through hole of the object to be drilled between the object to be drilled and the head of the first screw, or between the object to be drilled and the head of the second screw, and to fix the object to be drilled by fitting the pair of screw portions with the object to be drilled sandwiched between the heads of the first and second screws via the plate.

[0055] In this way, the object to be drilled is sandwiched between two plates (via the plates) between the heads of the first and second screws, and is fixed in place. For example, even if the material of the object to be drilled is brittle or the object to be drilled is fractured, it is possible to fix them together by sandwiching them between the plates (via the plates), thus making it possible to fix the object to be drilled more appropriately.

[0056] "Living organism" refers to the body of a living being. Living organisms include humans, animals (dogs, cats, etc.), fish, etc. Examples of living organisms include the bones of humans and animals. Examples of perforation of living organisms include drilling or inserting pins into bones during surgery on humans and animals. "Living organisms excluding humans" means excluding humans from the definition of living organisms. [Brief explanation of the drawing]

[0057] [Figure 1] This is a diagram illustrating the outline of the drilling device 100 according to Embodiment 1. [Figure 2] This is a diagram illustrating the drilling marking jig 4 of the drilling device 100 according to Embodiment 1. [Figure 3] This is a diagram illustrating the drilling tool 3 of the drilling device 100 according to Embodiment 1. [Figure 4] This is a diagram illustrating the general layout of the circuit and other components of the drilling device 100 according to Embodiment 1. [Figure 5] This is a flowchart illustrating the drilling method of the drilling device 100 according to Embodiment 1. [Figure 6] This diagram illustrates what appears on the display 1 when drilling with the drilling device 100 according to Embodiment 1. [Figure 7] This diagram illustrates the arrangement of the drilling tool 3 and the drilling marking jig 4 when drilling with the drilling device 100 according to Embodiment 1. [Figure 8] This figure illustrates a modified example of the first mark 32 in the drilling device 100 according to Embodiment 1. [Figure 9] This figure illustrates a modified example of the second mark 42 in the drilling device 100 according to Embodiment 1. [Figure 10] This is a diagram illustrating the drilling device 200 according to Embodiment 2. [Figure 11] This is a diagram illustrating the drilling device 300 according to Embodiment 3. [Figure 12] This is a diagram illustrating the drilling device 400 according to Embodiment 4. [Figure 13]This is a diagram illustrating the drilling device 500 according to Embodiment 5. [Figure 14] This is a diagram illustrating the drilling device 600 according to Embodiment 6. [Figure 15] This is a diagram illustrating the drilling device 700 according to Embodiment 7. [Figure 16] This is a diagram illustrating the drilling device 900 according to Embodiment 9. [Figure 17] This is a diagram illustrating the drilling device 1000 according to Embodiment 10. [Figure 18] This is a diagram illustrating the drilling device 1100 according to Embodiment 11. [Figure 19] This is a diagram illustrating the outline of the drilling device 1200 according to Embodiment 12. [Figure 20] This is a diagram illustrating the drilling device 1200 according to Embodiment 12. [Figure 21] This is a diagram illustrating the drilling device 1300 according to Embodiment 13. [Figure 22] This is a diagram illustrating the drilling device 1400 according to Embodiment 14. [Figure 23] This is a diagram illustrating the drilling device 1500 according to Embodiment 15. [Figure 24] This is a diagram illustrating perforation and other processes when plate P is present in Embodiment 15. [Figure 25] This is a diagram illustrating the drilling device 1600 according to Embodiment 16. [Figure 26] This is a diagram illustrating the fixing mechanism 1700 according to Embodiment 17. [Figure 27] This is a diagram illustrating the fixing mechanism 1800 according to Embodiment 18. [Modes for carrying out the invention]

[0058] The perforation apparatus and perforation method of the present invention will be described below based on the embodiments shown in the figures. Each drawing is a schematic diagram and does not necessarily strictly reflect the actual shape, structure, configuration, process, etc. The embodiments described below do not limit the invention as defined in the claims. Furthermore, not all of the components and their combinations described in each embodiment are essential to the present invention. In the following description, the same reference numerals will be used across embodiments for components that can be considered substantially equivalent, and further explanation may be omitted.

[0059] [Embodiment 1] The drilling device and drilling method according to Embodiment 1 will be described with reference to Figures 1 to 7. First, we will explain using Figures 1 to 4. Figure 1 will describe the overview of the drilling device 100 according to Embodiment 1, Figure 2 will describe the drilling marking jig 4, Figure 3 will describe the drilling tool 3, and Figure 4 will describe the overview of the hardware circuit configuration.

[0060] Overview of the drilling device 100 The perforation device 100 according to Embodiment 1 shown in Figure 1 is a perforation device in which the operator M (the person performing the perforation) uses a perforation tool 3 to drill into the target W (bone W1) of a living organism (human or animal) designated as the target W. The drilling device 100 includes a display 1 that allows the user to visually view a real image 11 (see Figure 6) that is being viewed or captured, a drilling tool 3, a drilling mark jig 4, an imaging means 7 (an appearance information acquisition means for acquiring appearance information of the drilling tool 3, etc.), and a control means 2 that creates a virtual 3D image 12 including a drilling direction extension line 31 and a drilling endpoint 41, reflects it on the real image 11, and displays it on the display 1. The operator M drills with the drilling tool 3 based on the virtual 3D image 12 including the drilling direction extension line 31 and the drilling endpoint 41 reflected on the real image 11 visible on the display 1. The drilling device 100 uses a type of augmented reality (AR) technology in which the virtual 3D image 12 is reflected on the real image 11 on the display 1. Here, the real image 11 is an image of a real object that actually exists, and in contrast to this is the virtual 3D image 12, which does not actually exist but is created by the control means 2 (CPU 21). The drilling endpoint 41 and the drilling direction extension line 31 are virtual 3D images 12 created by the control means 2 on the display 1, and are not the real image 11. In Figure 1, in order to make the present invention easier to understand, the virtual 3D image 12 (drilling endpoint 41 and drilling direction extension line 31), which is not visible in the real world, is drawn in the figure.

[0061] As shown in Figure 1, the display 1 is a head-mounted display 6. The display 1 allows the viewer to see a real image 11. The display 1 can be of two types: one that allows the viewer to see a real image 11 through transparency (including semi-transparency, see-through), and another that allows the viewer to see a real image 11 captured by the imaging means 7 and displayed on the display 1. Either type of display 1 is acceptable, and these can be easily constructed using, for example, a liquid crystal panel, an EL (Electro-Luminescence) panel, etc. The real image 11 is viewed on display 1, and a virtual 3D image 12 of the drilling endpoint 41 and the drilling direction extension line 31 is also displayed on display 1. Display 1 (head-mounted display 6) is also equipped with an imaging means (camera) 7 as a means of acquiring external information. Display 1 and the imaging means (camera) 7 and the control means (controller) 2 are connected by a cable 61, which transmits and receives signals from one to the other, or transmits and receives signals between the two. Furthermore, when displaying the captured image 11 on the display 1, the imaging means (camera) 7 has the function of capturing the image 11 in order to display it on the display 1, in addition to its function as a means of acquiring external information.

[0062] As shown in Figure 2, the perforation marking jig 4 has a needle portion 44 and a gripping portion 45. The perforation marking jig 4 (in this case, the needle portion 44) is provided with a second mark 42, for example, by indentation, printing, or by attaching a sticker with the mark printed on it. The control means 2 causes the imaging means 7 to capture an image of the second mark 42 (visual information), calculates the distance 46 to the tip 43 of the needle portion 44 (by referring to the visual information), determines the perforation endpoint 41 and displays it on the display 1. Alternatively, the control means 2 may use the imaging means 7 to capture an image of the outer shape of the drilling guide jig 4 (either the entire outer shape or a part of the outer shape) instead of the second mark 42, and determine the drilling endpoint 41 by referring to the resulting visual information and displaying it on the display 1.

[0063] Furthermore, as shown in Figures 1 and 3, the drilling tool 3 held in the right hand of the operator M is an electric drill, and has a drill 34 (drill bit) for drilling the object to be drilled W and a gripping part 35 for gripping the drilling tool 3. The drill 34 is attached to the gripping part 35 by an attachment mounting part 37 (chuck). The gripping part 35 has a built-in battery (not shown) for power. The drilling tool 3 (in this case, the drill 34) has a first mark 32 provided at a certain distance 36 from the tip 33, for example, by indentation, printing, or attaching a sticker with the mark printed on it. The control means 2 causes the imaging means 7 to image the first mark 32, calculates the drilling direction of the drill 34, determines the drilling direction extension line 31, and displays it on the display 1.

[0064] The surgeon M grasps the gripping portion 45 of the perforation marker jig 4 with his left hand and brings the tip of the needle portion 44 into contact with the perforation endpoint 41 in the bone W1. If the bone W1 is exposed, the needle is brought into contact with it directly. If there is muscle W2 or the like on the outside, the needle is passed through the muscle W2 and brought into contact with the bone W1. Reference numeral 430 indicates the point where the perforation marker jig 4 (the tip of the needle portion 44 of the perforation marker jig 4) contacts the bone W1 (jig contact point). In Embodiment 1, the jig contact point 430 is the perforation endpoint 41. The control means 2, similar to the case of the drilling tool 3, for example, uses the imaging means 7 to capture an image of the first mark 32 of the drilling tool 3 or the outer shape (all or part of the outer shape) of the drilling tool 3 (external appearance information) to acquire external appearance information of the drilling tool 3, and then, referring to the external appearance information of the drilling mark jig 4, creates a virtual 3D image 12 of the drilling endpoint 41, reflects it on the actual image 11, and displays it on the display 1. In addition, the control means 2 refers to the external appearance information of the drilling tool 3 to create a virtual 3D image 12 of the drilling direction extension line 31, reflects it on the actual image 11, and displays it on the display 1. When drilling, operator M can use the drilling endpoint 41 and the extension line 31 of the drilling direction as drilling guides, enabling accurate drilling without the need for large-scale equipment.

[0065] Overview of the circuit of the drilling device 100 As shown in Figure 4, the display 1 and the imaging means (camera) 7 are connected via a cable 61 by the control means 2. The control means 2 is composed of a microcomputer and includes a CPU (Central Processing Unit) 21, ROM (Read Only Memory) 22, RAM (Random Access Memory) 23, I / O (Input / Output controller) 24, and an internal bus 25 of the microcomputer that electrically connects them. The ROM 22 stores programs (a series of instructions designed to perform processing, control, etc.) and various data for performing various controls and calculations, including display control and input / output control. Various data and programs are loaded into RAM 23 and used as work memory for the CPU 21 to perform various processing. The CPU 21 reads and executes programs that describe instructions (processing) for the CPU 21.

[0066] The internal bus 25 of the control means (microcomputer) 2 is connected to cable 61 via interface 26, and cable 61 acts as an external bus. A display 1, an imaging means (camera) 7, etc., are connected to cable 61, and the control means 2 receives signals such as various data from these devices via cable 61, and outputs signals such as various data and control signals to them. The control means 2 can also be described as a CPU 21 that executes functions such as reading a program and displaying it on display 1.

[0067] Drilling method The drilling method of the drilling device 100 according to Embodiment 1 will be explained using Figures 5 and 6. Figure 5 is a flowchart illustrating the drilling method of the drilling device 100 according to Embodiment 1. Figure 6 is a diagram illustrating what appears on the display 1 when drilling with the drilling device 100 according to Embodiment 1. Figure 6(A) is a diagram illustrating how the real image 11 and the virtual 3D image 12 of the drilling endpoint 41 reflected therein appear on the display 1, and Figure 6(B) is a diagram illustrating how the virtual 3D image 12 of the drilling direction extension line 31 appears on the display 1.

[0068] In Figures 6(A) and 6(B), the reference numeral 11 is used to indicate the display unit of Display 1. This is to show that the majority of the images visible on Display 1 (visually observable images), whether they are images viewed through see-through or other means of transparency, or images captured by the imaging means 7, are real images and not virtual images. On the other hand, reference numeral 12 in parentheses indicates virtual images (virtual 3D images). (The same applies to other figures.)

[0069] Furthermore, in Figure 6, dotted lines are drawn to the left and right of the solid line representing bone W1, and dotted lines are also drawn to the left and right through the perforation endpoint 41. These dotted lines indicate the position of bone W1 and are drawn to make the present invention easier to understand; they are not displayed on the display 1.

[0070] The drilling method of the drilling device 100 according to Embodiment 1 is as follows: Step (a): A step of preparing a display 1 on which the real image 11 to be projected or captured can be viewed. Step (b): Step of preparing the drilling tool 3, Step (c): Step of preparing the drilling marking jig 4, Step (d): A step of acquiring visual information of the drilling tool 3 and the drilling marking jig 4, creating a virtual 3D image 12 including the drilling direction extension line 31 and the drilling endpoint 41 by referring to the visual information, and reflecting the virtual 3D image 12 onto the real image 11 and displaying it on the display 1, and Step (e): A step of drilling the object to be drilled W (W1) based on the drilling direction extension line 31 and the drilling endpoint 41. Includes.

[0071] Step (a) is the step of preparing a display 1 on which the real image 11 to be projected or captured can be viewed. In this step, a display 1 is prepared that allows the viewer to see the real image 11 that is being viewed or captured. As the display 1, for example, AR (Augmented Reality) glasses (display) can be used, but other options include MR (Mixed Reality) glasses, VR (Virtual Reality) glasses, etc. These glasses only differ in what they display, and should be used in such a way that they reflect a virtual 3D image 12, including the drilling direction extension line 31 and the drilling endpoint 41, onto the real image 11 that is being viewed or captured.

[0072] Step (b) is the step of preparing a drilling tool 3 for drilling holes in the object to be drilled W. In this step, a drilling tool 3 is prepared for drilling into the object to be drilled W (W1). In this step, it is preferable that the control means 2 acquires three-dimensional information of the appearance of the drilling tool 3 in advance, for example, by having the imaging means 7 photograph the drilling tool 3, prior to drilling. Alternatively, it is preferable to store CAD three-dimensional information of the appearance of the drilling tool 3 in advance, for example, in ROM 22 (instead of ROM 22, for example, an optical disc, HDD, various semiconductor memories other than ROM 22 may be used).

[0073] Step (c) is the step of preparing a drilling marker jig 4 (for indicating the drilling endpoint 41). In this step, a drilling guide jig 4 (for indicating the drilling endpoint 41) is prepared. In this step, it is preferable that the control means 2 acquires three-dimensional information of the appearance of the drilling guide jig 4 in advance of drilling, for example, by having the imaging means 7 photograph the drilling guide jig 4. Alternatively, it is preferable to store CAD three-dimensional information of the appearance of the drilling guide jig 4 in the ROM 22 in advance.

[0074] Step (d) is a step in which the appearance information of the drilling tool 3 and the drilling marking jig 4 is acquired, a virtual three-dimensional image 12 including the drilling direction extension line 31 and the drilling endpoint 41 is created by referring to the appearance information, and the virtual three-dimensional image 12 is reflected on the real image 11 and displayed on the display 1. In this process, the imaging means 7 acquires external information of the drilling tool 3, etc., and the control means 2 refers to this external information to create a virtual three-dimensional image 12 including the drilling direction extension line 31, etc., and reflects the virtual three-dimensional image 12 onto the real image 11 and displays it on the display 1. This process corresponds, for example, to steps S11 to S31 in Figure 5.

[0075] These steps relate to the process where "the imaging means 7 acquires external information of the drilling tool 3, etc., the control means 2 creates a virtual 3D image 12 by referring to the external information, and reflects the virtual 3D image 12 onto the real image 11 and displays it on the display 1," and will be briefly explained. First, we will explain the case in which a monocular camera is used as the imaging means 7, and the first mark 32 to the second mark 42 (mark 32, etc.) attached to the drilling tool 3 or drilling mark jig 4 (drilling tool 3, etc.) is used as the visual information acquired or referenced by the imaging means 7. The control means 2, for example, causes the imaging means 7 to take a picture of the drilling tool 3 in a circle, thereby acquiring and storing 3D image information of the external appearance of the drilling tool 3 prior to drilling. Alternatively, 3D image information from the design CAD may be stored. In this way, 3D image information of the entire external appearance of the drilling tool 3, as well as 3D image information of marks 32, etc., are acquired or stored in advance. As a result, 3D image information regarding their relative positional relationships is also acquired or stored simultaneously.

[0076] During drilling, the control means 2 causes the imaging means 7 to photograph the mark 32, etc., and compares the captured image with a previously acquired known 3D image (information). It is preferable to perform this photography multiple times, changing the relative position between the imaging means 7 and the mark 32, etc. In the case of a monocular camera, the image obtained by imaging is a 2D image, and 3D image information can be acquired by changing the shooting position. Then, 3D images of Mark 32 and other objects are created based on these known 3D images, adjusted to the size of the captured image. Then, the position of that virtual 3D image is aligned with the position of the captured image. Then, the shape of that virtual 3D image is adjusted to match the shape of the captured image. If the shapes are the same, they are matched as is; if the shapes are distorted, they are distorted. If the virtual 3D image of Mark 32, etc., created in this way does not superimpose onto the captured image to match, repeat the above operation multiple times until it matches as closely as possible. The order in which the size, position, and shape are matched is arbitrary. Then, based on the virtual 3D images such as Mark 32, a virtual 3D image 12 including the drilling direction extension line 31 is created and reflected on the actual image 11 of the drilling tool 3 and displayed on the display 1.

[0077] Furthermore, the appearance (information) acquired or referenced by the imaging means 7 is not limited to the mark 32, etc., but may also be, for example, the external shape (information) of the drilling tool 3, etc. This could be the contour shape of a square or other shape at the end of the drilling tool 3, etc., or the contour shape of a corner if the drilling tool 3, etc. has a corner, etc. Even if such appearance (information) is used instead of the mark 32, etc., a virtual three-dimensional image 12 including the drilling direction extension line 31 can be created in the same way as when the mark 32, etc. is used, and reflected in the actual image 11 of the drilling tool 3 and displayed on the display 1.

[0078] Furthermore, instead of a monocular camera, a stereo camera with cameras mounted on both sides of the head-mounted display 6 may be used as the imaging means 7. Using a stereo camera makes it easy to perform 3D measurement or 3D image creation using triangulation, so to speak, by using two or more viewpoints corresponding to the two eyes of a human. 3D image information can be acquired without changing the imaging position.

[0079] Alternatively, instead of a monocular camera, the imaging means 7 may be, for example, a semiconductor laser that emits radar waves and a light-receiving element that receives light reflected from the drilling tool 3, etc., and the distance may be calculated from the time from emission to reception and the phase difference between the original wave and the reflected wave to perform three-dimensional measurement or create a three-dimensional image of the drilling tool 3, etc.

[0080] Let us return to the explanation of steps S11 to S31 above. In this process, for example, first, the operator M indicates the end point of the drilling using the drilling marker jig 4 (S11, where "S" means "step", and so on). Figure 6(A) shows what is visible on the display 1. Reference numeral 41 is a virtual 3D image 12 of the end point of the drilling. Reference numeral 11 is the actual image that is visible on the display 1 by fluoroscopy (see-through) or imaging, and any image other than the 3D image of the end point of the drilling indicated by reference numeral 41 is the actual image 11. Here, for clarity, the part of the needle portion 44 that cannot be seen (the part leading to the tip 43, hidden by the object to be drilled W) is shown with a dotted line. The control means 2 may display the needle portion 44 in this hidden part as a virtual 3D image 12 on the display 1. When the surgeon M grasps the gripping part 45 of the perforation marker jig 4 with his left hand and inserts the needle part 44 into the target W to be perforated, the tip 43 makes contact with the bone W1 beneath the muscle W2. The surgeon M designates a suitable contact point as the perforation endpoint 41.

[0081] When drilling, the control means 2 reflects a virtual three-dimensional image 12, including the drilling direction extension line 31, onto the actual image 11 of the object to be drilled and displays it on the display 1, which can serve as a drilling guide display during drilling. Here, "during drilling" refers to the time when drilling is about to be done or when drilling is in progress. For example, when operator M is about to start drilling, pressing a switch (not shown) provided on the drilling tool 3 sends a command signal to the control means 2 (PU21) to display the drilling direction extension line, and the control means 2 displays the drilling direction extension line 31 on the display 1. Also, for example, when operator M is about to start drilling, pressing a switch (not shown) provided on the drilling mark jig 4 sends a command signal to the control means 2 (PU21) to display the drilling endpoint, and the control means 2 displays the drilling endpoint 41 on the display 1. Furthermore, for example, when operator M is about to start drilling, pressing a switch (not shown) on display 1 (head-mounted display 6) sends a command signal to control means 2 (PU21) to display the drilling direction extension line and the drilling endpoint. In response, control means 2 displays the drilling direction extension line 31 and the drilling endpoint 41 on display 1. In this way, the control means 2, during drilling, reflects a virtual three-dimensional image 12, including the drilling direction extension line 31, onto the actual image 11 of the object to be drilled, and displays it on the display 1.

[0082] Furthermore, if the operator M is a novice or inexperienced person (hereinafter referred to as "novice, etc.") and the tip 43 of the drilling marker jig 4 is not in contact with the appropriate location on the target W (bone W1) to be drilled, for example, an experienced person or a person with advanced skills (hereinafter referred to as "experienced person, etc.") may temporarily take over from operator M to bring the tip 43 of the drilling marker jig 4 into contact with the appropriate location on the target W (bone W1) to be drilled, and while maintaining that state, the experienced person, etc. may hand over the drilling marker jig 4 to the novice operator M so that the correct location is set as the drilling endpoint 41.

[0083] Next, the control means 2 instructs the imaging means 7 (camera) to photograph the perforation marking jig 4 (second mark 42) with its tip 43 in contact with the perforation endpoint 41 in the object to be perforated W (bone W1) (S13). This allows the imaging means 7 (and control means 2) to acquire external information of the perforation marking jig 4. It is necessary that the second mark 42 is exposed outside the object to be perforated W (bone W1) and can be photographed.

[0084] Then, the control means 2 creates a virtual 3D image 12 of the drilling endpoint 41 by referring to the captured appearance information (3D information) of the second mark 42 (of the drilling marker jig 4) with the appearance information (3D information) of the drilling marker jig 4 that has been acquired in advance (by comparing the two) (S15). The control means 2 causes the imaging means 7 to capture the appearance information (3D information) of the second mark 42 (of the drilling marker jig 4), thereby making the imaging means 7 function as an appearance information acquisition means for acquiring appearance information. In this case, the drilling guide jig 4 is provided with multiple second marks 42 based on the long axis direction (direction of the drilling endpoint) of the needle portion 44, and the tip 43 of the needle portion, which lies in the plane formed by the multiple second marks 42 and the long axis direction of the needle portion 44, is the drilling endpoint 41. Therefore, the control means 2 creates the drilling endpoint 41 by referring to the multiple second marks 42 (visual information of the drilling guide jig 4 acquired by being photographed in S13) in relation to the visual information obtained in advance.

[0085] Then, the control means 2 causes the virtual three-dimensional image 12 of the drilling endpoint 41 to be displayed on the display 1 (S17). As shown in Figure 6(A), the control means causes the display 1 to reflect and display a virtual 3D image 12 (a virtual 3D image 12 of the drilling endpoint 41) onto the real image 11 that is visible through the display 1 (see-through) or captured and displayed by the imaging means 7. In addition, the point where the tip 43 of the drilling marker jig 4 (the needle part 44) is in contact with the bone W1 is displayed as the drilling endpoint 41 (virtual 3D image 12).

[0086] Furthermore, for the control means 2 to display the drilling endpoint 41, etc., on the display 1, for example, each memory element of RAM 23 can be associated with each pixel of the display 1 (in the case of color display, each pixel can be associated with one of the three primary colors (R, G, B) and three memory elements can be associated with it), the contents of the memory elements can be rewritten, and the display 1 can be driven to display according to the contents of the memory elements using a driver for driving the display 1. Alternatively, instead of RAM 23, a memory means such as semiconductor memory mounted on the display 1 (head-mounted display 6) can be used to store information corresponding to each pixel of the display 1, and the display 1 can be driven to display using a driver for driving the display 1.

[0087] Meanwhile, regarding the puncture tool 3, the operator M positions the puncture tool 3 toward the object to be punctured W, determining the direction of puncture (S21). If the operator M is a novice or inexperienced person, and the drilling direction of the drilling tool 3 is not appropriate, an experienced person may temporarily take over from operator M, orient the drilling tool 3 in the correct direction, and while maintaining that direction, hand over the drilling tool 3 to the novice operator M.

[0088] Next, the control means 2 instructs the imaging means 7 (camera) to take a photograph of the drilling tool 3 positioned (aimed) toward the object to be drilled W with the drilling direction determined (S23). This allows the imaging means 7 (control means 2) to acquire external information of the drilling tool 3. In this case, it is necessary that the first mark 32 is exposed outside the object to be drilled W (bone W1) and can be photographed. The control means 2 compares the external information (3D information) of the first mark 32 of the drilling tool 3 that has been photographed with the previously acquired external information (3D information) of the drilling tool 3 to create a virtual 3D image 12 of the drilling direction extension line 31 (S25). The control means 2 causes the imaging means 7 to photograph the external information (3D information) of the first mark 32 (of the drilling tool 3), thereby making the imaging means 7 function as an external information acquisition means for acquiring external information. Here, since the drilling tool 3 is provided with multiple first marks 32 based on the drilling direction, the control means 2 creates the drilling direction extension line 31 by referring to the multiple first marks 32 (visual information of the drilling tool 3 acquired by being photographed in S23) with respect to the visual information obtained in advance (similar to creating the drilling endpoint 41 by referring to multiple second marks 42).

[0089] The control means 2, similar to S17, displays a virtual three-dimensional image 12 of the drilling direction extension line 31 on the display 1 (see S27, Figure 6(B)).

[0090] In this way, the control means 2 reflects (superimposes) a virtual three-dimensional image (a virtual three-dimensional image of the drilling endpoint 41 and the drilling direction extension line 31) 12 onto the real image (a real image of the object to be drilled W, the drilling tool 3, the drilling marking jig 4, etc.) 11 that is seen through the display 1 or captured by the imaging means 7 and displayed on the display 1, and displays it on the display 1 (S31, see Figure 6(B)).

[0091] Furthermore, if the display 1 is an image seen through or captured by the display, and in addition to the virtual 3D image 12 of the drilling endpoint 41 and the drilling direction extension line 31, the control means 2 displays the virtual 3D image 12 of the drilling tool 3 and / or drilling marking jig 4 superimposed on these real images, the control means 2 adjusts the position, tilt, and size (magnification) of the virtual 3D image 12 of the drilling tool 3 and / or drilling marking jig 4 to match the real image 11 and displays it on the display 1. In addition, the control means 2 may create a virtual 3D image 12 of part (or all) of the appearance of the drilling tool 3 and / or drilling marking jig 4, in addition to the drilling endpoint 41 and the drilling direction extension line 31, and display it superimposed on the real image 11. This ensures that the position, tilt, and size (magnification) of these virtual 3D images 12 match those of the real image 111, making it easy to determine whether the drilling endpoint 41 and the drilling direction extension line 31 are correct.

[0092] Furthermore, the control means 2 may cause the virtual three-dimensional images 12 of the drilling direction extension line 31 and the drilling endpoint 41 to be displayed on the display 1 in a different display manner from the actual image 11, making it even easier to recognize that these are not the actual image 11. Different display manners include, for example, if the actual image 11 is based on a black and white color scheme, displaying it in a different color (red, blue, gold, silver), or flashing. The control means 2 may display the virtual three-dimensional image 12 of the drilling direction extension line 31 and the virtual three-dimensional image 12 of the drilling endpoint 41 in the same display manner (e.g., the same color, same flashing), or in different display manners (e.g., different colors, flashing one and not flashing the other).

[0093] Furthermore, if the position (posture, tilt, etc.) of the drilling tool 3 changes, the control means 2 detects the change by imaging with the imaging means 7 and changes the direction of the drilling direction extension line 31 in response to the change, displaying it on the display 1. Also, if the position of the drilling mark jig 4 changes, the control means 2 detects the change by imaging with the imaging means 7 and changes the position of the drilling endpoint 41 in response to the change, displaying it on the display 1.

[0094] Display 1 may be either a display that allows the viewer to see the real image 11 through projection, or a display that displays an image of the real image 11 captured by the imaging means 7. If display 1 is a display that allows the viewer to see the real image 11 through transparency such as see-through, then the primary image visible on display 1 is the real image 11 seen through display 1. Furthermore, if the display 1 is a display that shows an image captured (photographed) of a real image 11 by the imaging means 7, and is a visually viewable display, then the main image visible on the display 1 is the real image 11 captured by the imaging means 7.

[0095] The control means 2 reflects (superimposes) a virtual three-dimensional image 12, including the drilling direction extension line 31 and the drilling endpoint 41, onto the real image 11 that is seen through or captured and displayed using a see-through or the like. The control means 2 may display on the display 1 by reflecting (superimposing) the virtual 3D image 12 onto the real image 11, but it may also reflect (superimpose) other virtual 3D images 12 as well.

[0096] For example, a virtual 3D image 12 may be created and displayed for parts that the operator M cannot see with the naked eye, such as the drilling tool 3 or the drilling marking jig 4. In this way, the invisible parts of the drilling tool 3, etc., are displayed as a virtual 3D image 12, making it possible to drill more accurately.

[0097] Alternatively, for example, a virtual 3D image 12 may be created and displayed of the parts that the operator M can visually observe (the parts that the imaging means 7 can image) using the drilling tool 3 or the drilling marking jig 4. In this way, if the virtual 3D image 12 of the drilling tool 3, etc., matches their actual images 11, it can be determined that the extension direction of the drilling direction extension line 31 and the position of the drilling endpoint 41 are accurate, enabling more precise drilling. Conversely, if they do not match, it is possible that the extension direction of the drilling direction extension line 31 and the position of the drilling endpoint 41 are inaccurate, thus preventing inaccurate drilling.

[0098] Furthermore, step (d) is Step (d1): A step of acquiring visual information of the drilling tool 3, creating a virtual 3D image 12 including the drilling direction extension line 31 by referring to the visual information, and reflecting the virtual 3D image 12 onto the real image 11 and displaying it on the display 1. Step (d2): A step of acquiring the appearance information of the drilling marking jig 4, creating a virtual 3D image 12 including the drilling endpoint 41 by referring to the appearance information, and reflecting the virtual 3D image 12 onto the real image 11 and displaying it on the display 1. You can do it like this. In other words, the perforation method may be a perforation method that includes steps (a), (b), (c), (d1), (d2), and (e).

[0099] Step (e) is the step of drilling the object to be drilled W(W1) based on the drilling direction extension line 31 and the drilling endpoint 41. This process corresponds to S33 in Figure 5. In this step, operator M uses the extension line 31 of the drilling direction and the virtual 3D image 12 of the drilling endpoint 41 as drilling guides and drills based on these indicators (S33).

[0100] Arrangement (position) of the drilling tool 3 and the drilling marking jig 4. Figure 7 is a diagram illustrating the arrangement of the drilling tool 3 and the drilling marking jig 4 when drilling with the drilling device 100 according to Embodiment 1. The area enclosed by the rectangle on the display 1 is visible. As shown in Figure 7(A), if the arrangement (position) of the drilling tool 3 and the drilling marking jig 4 is such that the first mark 32 can be imaged but the second mark cannot (see the dotted arrow from the imaging means 7 in the figure; this dotted arrow is drawn for clarity and is not actually displayed), then a virtual 3D image 12 of the drilling direction extension line 31 can be created, but a virtual 3D image 12 of the drilling endpoint 41 cannot be created. Therefore, it becomes difficult to perform accurate drilling.

[0101] On the other hand, as shown in Figure 7(B), when the placement of the drilling tool 3 and the drilling marking jig 4 is such that both the first mark 32 and the second mark can be imaged in relation to the imaging means 7 (see the dotted arrow from the imaging means 7 in the figure; this dotted arrow is drawn for clarity and is not actually displayed; the same applies to Figures 14 and 15 described later), a virtual three-dimensional image 12 of the drilling direction extension line 31 and the drilling endpoint 41 can be created. This makes it possible to drill accurately. Therefore, as shown in Figure 7(B), the operator M positions the drilling tool 3 and the drilling marking jig 4 in relation to the imaging means 7 so that the first mark 32 and the second mark can be captured by the imaging means 7. The same applies if the imaging means 7 is not mounted on the display 1 (head-mounted display 6) but is mounted or installed in another location.

[0102] Modified version of Mark 42 No. 2 Figure 8 is a diagram illustrating a modified example of the second mark 42 (of the drilling guide jig 4) in the drilling device 100 according to Embodiment 1. Figures 8(A) to 8(G) are diagrams illustrating each of the modified examples. In Figure 8(A), the second mark 42 is provided in a straight line on the outer circumference of the needle portion 44. In Figure 8(B), the second mark 42 is provided in a straight line on the gripping portion 45. In Figure 8(C), the second mark 42 is provided on the gripping portion 45 in a straight line connecting multiple second marks 42 based on the long axis direction of the needle portion 44. In Figure 8(D), three second marks 42 are provided on the gripping portion 45, symmetrically with respect to the axis direction of the needle portion 44. In Figure 8(E), the second marks 42 are distributed between the needle portion 44 and the gripping portion 45. In Figure 8(F), the second mark 42 is provided on the gripping portion 45 as a pattern or symbol. In Figure 8(G), the second mark 42 is provided in a pattern-like manner over a wide area of ​​the gripping portion 45.

[0103] Modified version of Mark 32 (No. 1) Figure 9 is a diagram illustrating a modified example of the first mark 32 (of the drilling guide jig 4) in the drilling device 100 according to Embodiment 1. Figures 9(A) to 9(G) are diagrams illustrating each modified example and are similar to Figures 8(A) to 8(G). In Figure 9(A), the first marks 32 are provided linearly on the outer circumference of the drill 34. In Figure 9(B), the first marks 32 are provided linearly on the gripping portion 35. In Figure 9(C), multiple first marks 32 on the gripping portion 35 are provided based on the long axis direction of the drill 34. In Figure 9(D), three first marks 32 are provided on the gripping portion 35, symmetrically with respect to the axis direction of the drill 34. In Figure 9(E), the first marks 32 are distributed between the drill 34 and the gripping portion 35. In Figure 9(F), the first marks 32 are provided on the gripping portion 35 as a pattern or symbol. In Figure 9(G), the first marks 32 are provided in a pattern-like manner over a wide area of ​​the gripping portion 35.

[0104] The perforating device 100 described above has the effects described in [1][2][3][6][8][9]

[10]

[13] above. Furthermore, the perforation method has the effects described above in

[14] .

[0105] [Embodiment 2] Figure 10 is a diagram illustrating the drilling device 200 according to Embodiment 2. Embodiment 2 is explained using Figure 10, which shows what it looks like on display 1, and diagrams of other parts are omitted (the same applies to other embodiments). The drilling device 200 according to Embodiment 2 is basically the same as the drilling device 100 according to Embodiment 1, but differs in that it further includes a passage notification means that notifies whether the extension line 31 of the drilling direction of the drilling tool 3 passes through the drilling endpoint 41, or whether the extension line 31 of the drilling direction of the drilling tool 3 does not pass through the drilling endpoint 41. In the drilling device 200, a drilling endpoint passage notification display unit 84a is provided on the display 1, and serves as a passage notification means that displays whether or not the extension line 31 of the drilling direction passes through the drilling endpoint 41.

[0106] As shown in Figure 10(A), when the extension line 31 of the drilling tool 3 in the drilling direction passes the drilling endpoint 41, the control means 2 displays a "○" mark and the message "The extension line in the drilling direction passes the drilling endpoint" on the drilling endpoint passing notification display unit 84a. On the other hand, if the extension line 31 of the drilling tool 3 in the drilling direction does not pass through the drilling endpoint 41, the control means 2 displays an "×" mark and the message "The extension line in the drilling direction does not pass through the drilling endpoint" on the drilling endpoint passing notification display unit 84a, as shown in Figure 10(B). Note that either a mark like "○" or "×" or a message is acceptable. Furthermore, the control means 2 may also use sound (buzzer, music, voice, etc.).

[0107] The perforation device 200 according to Embodiment 2 has the effects described in [4] above. Furthermore, the drilling device 200 according to Embodiment 2 is the same as the drilling device 100 according to Embodiment 1 in all respects except that it is equipped with a passage notification means (drilling endpoint passage notification display unit 84a) that indicates whether or not the drilling direction extension line 31 passes through the drilling endpoint 41. Therefore, it also has the applicable effects of the drilling device 100 or drilling method according to Embodiment 1.

[0108] [Embodiment 3] Figure 11 is a diagram illustrating the drilling device 300 according to Embodiment 3. The drilling device 300 according to Embodiment 3 is basically the same as the drilling device 100 according to Embodiment 1, but differs in that it further includes a drilling notification means that notifies when the tip of the drilling part of the drilling tool 3 approaches or has reached the drilling endpoint 41. In the drilling device 300, a drilling endpoint distance notification display unit (85a, 85b) is provided on the display 1, which serves as a drilling notification means that notifies when the tip of the drilling part of the drilling tool 3 approaches or has reached the drilling endpoint 41.

[0109] In the drilling device 200 according to Embodiment 2, as shown in Figure 11(A), when the tip of the drilling part of the drilling tool 3 approaches the drilling endpoint 41, the control means 2 displays "5 mm to the drilling endpoint (tip of drilling part)" on the drilling endpoint distance notification display unit 85a. The control means 2 also displays an arrow pointing from the tip of the drill 34 towards the drilling endpoint 41 and the message "5 mm remaining" near the drilling direction extension line 31 (drilling endpoint distance notification display unit 85b). On the other hand, when the tip of the drilling part of the drilling tool 3 reaches the drilling endpoint 41, the control means 2 displays "(Drilling tip) Reached drilling endpoint" as shown in Figure 11(B) (Drilling endpoint distance notification display unit 85a). The control means 2 also displays "Reached" near the drilling direction extension line 31 (Drilling endpoint distance notification display unit 85b). Note that either the drilling endpoint distance notification display unit 85a or 85b may be present. The display on the drilling endpoint distance notification display unit 85b may be either a graphic such as an arrow or a message such as "5mm remaining". Furthermore, the control means 2 may also use sound (buzzer, music, voice, etc.).

[0110] The drilling device 300 according to Embodiment 3 has the effects described in [5] above. Furthermore, the drilling device 300 according to Embodiment 3 is the same as the drilling device 100 according to Embodiment 1 in all respects except that it further includes a drilling notification means for notifying that the tip of the drilling part of the drilling tool 3 is approaching or has reached the drilling endpoint 41. Therefore, it also has the applicable effects of the drilling device 100 or drilling method according to Embodiment 1.

[0111] [Embodiment 4] Figure 12 is a diagram illustrating the drilling device 400 according to Embodiment 4. The perforating device 400 according to Embodiment 4 is basically the same as the perforating device 100 according to Embodiment 1, but differs in that it is equipped with a positioning maintenance means (perforating marking jig mounting device 48) that maintains the position of the perforating marking jig 4 relative to the object to be perforated W.

[0112] The perforation device 400 according to Embodiment 4, as shown in Figure 12, has a perforation marking jig mounting fixture 48 that has multiple gripping parts (48a, 48c). One of the multiple gripping parts, gripping part 48a, is configured to grip the perforation marking jig 4, and another gripping part 48c is configured to grip the object to be perforated W. Each gripping part (48a, 48c) has a spring (48f, 48g), and uses its force to grip the perforation marking jig 4 and the object to be perforated W, respectively. These gripping parts (48a, 48c) are connected to arms (48b, 48d), and the arms (48b, 48d) are connected by a rotatable joint 48e, so that the positional relationship between the gripping parts 48a and 48c is kept constant, and even if the operator M is not gripping the drilling marker jig 4, the position (orientation) of the drilling marker jig 4 relative to the object to be drilled W is maintained (the position of the point where the tip 43 of the drilling marker jig 4 contacts the object to be drilled W (W1) is maintained). The indicated position of the drilling endpoint 41 is also maintained. Alternatively, components such as bolts and nuts may be used instead of springs (48f, 48g).

[0113] The perforating device 400 according to Embodiment 4 has the effects described in

[12] above. Furthermore, the drilling device 400 according to Embodiment 4 is the same as the drilling device 100 according to Embodiment 1, except that it further includes a positioning maintenance means (drilling marking jig mounting fixture 48) for maintaining the position of the drilling marking jig 4 relative to the object to be drilled W. Therefore, it also has the applicable effects of the drilling device 100 or drilling method according to Embodiment 1.

[0114] [Embodiment 5] Figure 13 is a diagram illustrating the drilling device 500 according to Embodiment 5. The perforating device 500 according to Embodiment 5 is basically the same as the perforating device 100 according to Embodiment 1, but differs in that it is equipped with a positioning maintenance means for maintaining the position of the perforation marking jig 4 relative to the object to be perforated W. The drilling device 500 according to Embodiment 5 (see Figure 13) is similar to the drilling device 400 according to Embodiment 4 (see Figure 12) in that it has a positioning maintenance means for maintaining the position relative to the object to be drilled W. However, in Embodiment 4, the positioning maintenance means for maintaining the position relative to the object to be drilled W (drilling mark jig mounting fixture 48) is separate from the drilling mark jig 4, whereas in Embodiment 5, the positioning maintenance means for maintaining the position relative to the object to be drilled W (drilling mark jig mounting fixtures 49A, 49B) is integrated with the drilling mark jig (4A, 4B).

[0115] Figure 13 is a diagram illustrating the drilling device 500 according to Embodiment 5. Figure 13(A) is a diagram illustrating how the drilling mark jig 4A is positioned at a predetermined location relative to the object to be drilled W(W1) as seen on the display 1. Figure 13(B) is a diagram illustrating the positioning. Figure 13(C) is a cross-sectional view of the positioning. Figure 13(D) is an explanatory diagram of a modified example.

[0116] In the perforation device 500 according to Embodiment 5, as shown in Figures 13(A), 13(B), and 13(C), the perforation marking jig (4A) is integrated with a positioning maintenance means (perforation marking jig mounting fixture 49A) that maintains its position relative to the object to be perforated W, thereby maintaining the position (orientation) of the perforation marking jig (4A) relative to the object to be perforated W. The drilling marking jig 4A has a threaded portion 45a (female thread) and a needle portion 44a, and when rotated, the tip 43a drills into the object to be drilled W (W1). The needle portion 44a may be omitted, and the threaded portion 45a (female thread) may extend all the way to the tip 43a. The threaded portion 45a (female thread) does not need to be provided along the entire direction of drilling, but may be provided only in a part of it.

[0117] The drilling marking jig mounting fixture 49A has a threaded portion 49a2 (female thread) and an overhang portion 49a1 (a portion that protrudes like an overhang around the threaded portion 49a2). The threaded portion 49a2 (female thread) has a configuration (thread pitch, irregularities, etc.) that corresponds to the threaded portion 45a (male thread) provided on the drilling marking jig 4A. The portion of the overhang portion 49a1 facing the object to be drilled W (W1) has a flat surface, a curved surface (concave surface, convex surface, etc.), and helps to maintain a constant position of the object to be drilled W (W1) with a flat surface. In addition, an adhesive (including a tack) may be provided between the object to be drilled W (W1) and the overhang portion 49a1. Furthermore, if irregularities are formed on the surface of the object to be drilled W (W1), corresponding irregularities may be provided so that the two interlock. The drilling marking jig 4A is rotated a predetermined number of times in a direction intersecting the drilling direction (by turning the screw), which adjusts the depth to which the tip 43a drills into the object to be drilled W(W1), and the overhang portion 49a1 maintains the position of the drilling marking jig 4A relative to the object to be drilled W(W1). In this way, it is configured like a kind of insect pin or thumbtack.

[0118] Furthermore, the drilling marking jig 4A is provided with a second mark 42a in a location such that even when the tip 43a penetrates the inside of the object to be drilled W and reaches the drilling endpoint, it will remain outside the object to be drilled W.

[0119] A modified example of the drilling device 500 according to Embodiment 5 will be explained using Figure 13(D). In this modified example, a drilling mark jig 4B is used, but instead of the drilling mark jig mounting fixture 49A (drilling mark jig 4A) shown in Figures 13(A) to (C), the drilling mark jig mounting fixture 49A is used as shown in Figure 13(D). The drilling mark jig mounting fixture 49B is the drilling mark jig mounting fixture 49A with a suction cup 49a3 added. The suction cup 49a3 is joined to the drilling mark jig 4B around the central screw portion 49a2, but not at other points. By pressing the perforation marking jig attachment 49B against the object to be perforated W(W1), the air between the suction cup 49a3 and the object to be perforated W(W1) is released, and the perforation marking jig 4B (perforation marking jig attachment 49B) is attracted to the object to be perforated W(W1). In Figures 13(A) to (D), the threaded portion 45a is a male thread and the threaded portion 49a2 is a female thread, but it is also possible for the threaded portion 45a to be a female thread and the threaded portion 49a2 to be a male thread.

[0120] The perforating device 500 according to Embodiment 5 has the effects described in

[12] above. Furthermore, the perforation device 500 according to Embodiment 5 is the same as the perforation device 100 according to Embodiment 1 in that it further includes positioning maintenance means (perforation marking jig mounting fixtures 49A, 49B) for maintaining the position of the perforation marking jigs (4A, 5B) relative to the object to be perforated W, and therefore also has the applicable effects of the perforation device 100 or perforation method according to Embodiment 1.

[0121] [Embodiment 6] Figure 14 is a diagram illustrating the drilling device 600 according to Embodiment 6. The perforating device 600 according to Embodiment 6 is basically the same as the perforating device 100 according to Embodiment 1, but the control means 2 differs from the perforating device 100 according to Embodiment 1 in that, regarding the display of the perforation endpoint 41, the display position is displayed on the display 1 in such a way that the display position does not change even if the arrangement position of the perforation marking jig 4 changes.

[0122] In the drilling device 600 according to Embodiment 6, as shown in Figure 14(A), when the drilling mark jig 4 is positioned, the control means 2 displays the drilling endpoint 41 at a display position determined from the position of the jig on the display 1. The drilling tool 3 is also positioned with the drilling direction toward the drilling endpoint 41, and the control means 2 displays the drilling direction extension line 31 on the display 1. This is the same as in the drilling device 100 according to Embodiment 1.

[0123] However, in Embodiment 6, even if the placement position of the drilling mark jig 4 changes afterward, when the control means 2 receives a command to maintain the drilling endpoint display position, it displays the drilling endpoint 41 determined at the predetermined placement position on the display 1 without changing its display position (see Figure 14(B)). If operator M wants to maintain the display position of a certain drilling endpoint 41 (or a certain drilling endpoint 41 and a certain drilling direction extension line 31) regardless of the physical position of the drilling endpoint 41 (i.e., maintain the display position at a certain point), operator M issues a drilling endpoint display position maintenance command. For example, operator M issues a drilling endpoint display position maintenance command (signal) by pressing a switch (not shown) provided on the drilling tool 3. The CPU 21 (control means 2) detects that the command has been issued and executes the command, thereby maintaining the display of the drilling endpoint 41 (or a certain drilling endpoint 41 and a certain drilling direction extension line 31) at a certain display position.

[0124] In this case, it is convenient to provide a perforation endpoint display (position) maintenance mode display unit 88a and display "Perforation endpoint display maintenance mode" to indicate that the control means 2 is in perforation endpoint display maintenance mode, which maintains the display position of the perforation endpoint 41 regardless of the placement position of the perforation mark jig 4. Figure 14(B) shows how the control means 2 displays the drilling endpoint 41, which has been determined at the predetermined placement position, on the display 1 without changing its display position. In this case, even though the operator M releases (removes, etc.) the drilling marker jig 4 that was being held in his left hand, and the drilling marker jig 4 is not pointed towards the object to be drilled W (the predetermined placement is not made), the control means 2 displays the drilling endpoint 41 on the display 1 without changing its display position, which had been determined once.

[0125] Furthermore, even after the drilling endpoint 41 has been determined, the position of the drilling endpoint 41, which was determined as optimal, may actually change due to the movement of the object to be drilled W (W1). However, the control means 2 may continue to display the same position as before the change. In such cases, the control means 2 may display a warning on the display 1 indicating that the drilling endpoint 41 may not be displayed in the correct position. Whether or not the object to be drilled W(W1) has moved can be detected, for example, by attaching a third mark W3 (a mark for detecting changes in the position of the object to be drilled) to the object to be drilled W(W1) by attaching a sticker with the mark on it, drawing the mark by hand, etc., and then capturing the image with the imaging means 7.

[0126] To indicate that the drilling endpoint 41 may not be displayed in the correct position, for example, the control means 2 may provide warning display units 88b and bbc on the display 1 to display warnings such as "Warning: Not displayed correctly" or "The object to be drilled has changed. The drilling endpoint or drilling direction extension line may not be displayed correctly." Alternatively, the area where the drilling endpoint 41 or drilling direction extension line 31 that may not be displayed correctly is shown may be enclosed as a warning area display unit 88d, and the area within it may be colored white, black, gray, colored, have diagonal lines, or have a mesh pattern to warn the user. Note that 88b, 88c, and 88d can be used as 88b alone, 88c alone, 88d alone, a combination of 88b and 88c, a combination of 88b and 88d, or a combination of 88c and 88d. Furthermore, the control means 2 may also use sound (buzzer, music, voice, etc.).

[0127] The perforating device 600 according to Embodiment 6 has the effects described in

[11] above. Furthermore, the perforation device 600 according to Embodiment 6 is the same as the perforation device 100 according to Embodiment 1, except that the control means 2 displays the position of the perforation endpoint 41 on the display 1 in such a way that the position of the perforation endpoint 41, once determined, does not change even if the position of the perforation marking jig 4 changes. Therefore, it also has the applicable effects of the perforation device 100 or perforation method according to Embodiment 1.

[0128] [Embodiment 7] Figure 15 is a diagram illustrating the drilling device 700 (700A, 700B) according to Embodiment 7. Figure 15(A) is a diagram illustrating the drilling device 700A, and Figure 15(B) is a diagram illustrating the 700B. The drilling device 700 (700A, 700B) according to Embodiment 7 is basically the same as the drilling device 100 according to Embodiment 1, but in Embodiment 1 the jig contact point 430 is used as the drilling endpoint 41, whereas in Embodiment 7 the drilling endpoint 41 is a point located at a certain distance 440 from the jig contact point 430 on the straight line connecting the jig contact point 430 and the drilling start point 38 where the drilling tool 3 begins drilling the object to be drilled W (W1).

[0129] In the drilling device 700A according to Embodiment 7, as shown in Figure 15(A), the control means 2 displays on the display 1 the drilling endpoint 41, which is a point located a certain distance 440 from the jig contact point 430 on the straight line 431 connecting the jig contact point 430 and the drilling start point 38 where the drilling tool 3 begins drilling the object to be drilled W(W1).

[0130] For example, to avoid damaging fragile tissues such as blood vessels and nerves within the object to be perforated W(W1), it may be necessary to prevent the perforating tool 3 from penetrating too deep into the object to be perforated W(W1), or to stop the perforation midway without penetrating all the way through. In such cases, for example, the operator M may press a switch (not shown) on the perforating tool 3 to send a signal instructing that the perforation endpoint 41 be a point a certain distance 440 from the jig contact point 430 on the straight line 431 connecting the jig contact point 430 and the perforation start point 38 where the perforating tool 3 begins to perforate the object to be perforated W(W1). The command is then executed when the CPU 21 receives this signal. The certain distance 440 can be pre-stored in the ROM 22, or transmitted to the CPU 21 by the operator M using a switch (not shown) on the perforating tool 3. The control means 2 then displays on the display 1 a point located a certain distance 440 away from the jig contact point 430 as the drilling endpoint 41. Furthermore, the straight line 431 (a straight line passing through both points) connecting the jig contact point 430 and the drilling start point 38 coincides with the extension line 31 of the drilling direction.

[0131] In this case, if the control means 2 also displays the jig contact point 430 on the display 1, it becomes even easier to determine or change the drilling endpoint 41. Furthermore, if the control means 2 displays the jig contact point 430 on the display 1 in a different size, color, or other display manner than the drilling endpoint 41, it becomes easier to distinguish between the two. Furthermore, if the display of the drilling direction extension line 31 is limited to the display of a virtual 3D image 12 between the drilling start point 38 and the drilling end point 41, the control means 2 may also cause the display 1 to display a virtual 3D image 12 of a straight line between the jig contact point 430 and the drilling end point 41. The two straight lines may be displayed in different ways, such as with different line colors and thicknesses.

[0132] The drilling device 700B shown in Figure 15(B) is similar to the drilling device 700A shown in Figure 15(A) in that the control means 2 displays on the display 1 a point at a certain distance 440 from the jig contact point 430 on the straight line 431 connecting the jig contact point 430 and the drilling start point 38 where the drilling tool 3 starts drilling the object to be drilled W(W1), as the drilling end point 41. However, in Figure 15(A), the longitudinal direction (straight line) of the needle part 44 of the drilling mark jig 4 does not coincide with the straight line 431, whereas in Figure 15(B) it coincides with the straight line 431. The straight line 431 can also be called the drilling direction extension line 31.

[0133] Furthermore, if the longitudinal direction (straight line) of the needle portion 44 of the perforation marking jig 4 coincides with the straight line 431 (perforation direction extension line 31), the control means 2 will display a different display on the display 1 than when they do not coincide (for example, changing from a non-flashing display to a flashing display, increasing the line thickness, changing the color, etc.), which will make accurate perforation even easier. Other aspects are the same as those of the drilling device 700A shown in Figure 15(A).

[0134] The perforation device according to Embodiment 7 has the effects described in [6] and [7] above. Furthermore, the drilling device 700 (700A, 700B) according to Embodiment 7 is the same as the drilling device 100 according to Embodiment 1 in all respects except for the point where the drilling endpoint 41 is located at a certain distance 440 from the jig contact point 430 on the straight line connecting the jig contact point 430 and the drilling start point 38. Therefore, it also has the effects of the drilling device 100 or drilling method according to Embodiment 1.

[0135] [Embodiment 8] The drilling device according to Embodiment 8 is basically the same as the drilling device 100 according to Embodiment 1, but differs from the drilling device 100 according to Embodiment 1 in that it uses bone wire instead of the drilling tool 3.

[0136] The drilling device according to Embodiment 8 is the same as the drilling device 100 according to Embodiment 1, except that a bone wire is used instead of the drilling tool 3, so the explanation is omitted.

[0137] Traditionally, when the target bone W (W1) to be perforated is significantly deformed and unstable in various locations, percutaneous bone wire insertion is performed as surgical treatment. The direction and depth of bone wire insertion during the procedure are determined by visual inspection and X-ray fluoroscopy. In contrast, as in Embodiment 8, it becomes possible to accurately determine the direction and depth of bone wire insertion without requiring a large-scale device. Furthermore, conventionally, bone wire insertion was performed after fracture reduction during surgery, so if a CT scan was taken before the surgery, the CT images could not be used directly. In contrast, as in Embodiment 8, it becomes possible to accurately insert bone wires without the need for CT imaging before surgery. In particular, doctors with little surgical experience face the challenge of not knowing which direction and to what depth to insert the bone wire, but as shown in Embodiment 8, it is possible to resolve these issues. Furthermore, when using X-rays for imaging, there is the issue of radiation exposure to the physician (operator M) and the patient (the object being perforated W). However, as shown in Embodiment 8, these issues can be resolved.

[0138] Furthermore, the drilling device according to Embodiment 8 is the same as the drilling device 100 according to Embodiment 1, except that it uses bone wire instead of the drilling tool 3. Therefore, it also has the effects of the drilling device 100 or drilling method according to Embodiment 1.

[0139] [Embodiment 9] Figure 16 is a diagram illustrating the drilling device 900 according to Embodiment 9. The perforating device 900 according to Embodiment 9 is basically the same as the perforating device 100 according to Embodiment 1, but differs in that the person performing the perforation is a carpenter M9 instead of a surgeon M, and the object to be perforated is wood W9 (wooden boards W91, W92) instead of a living organism.

[0140] As shown in Figure 16, the drilling device 900 according to Embodiment 9 is made of wood W9 (wooden boards W91 and W92) and the object to be drilled W9 (W91 and W92). The drilling device 900 is a drilling device for a carpenter M9 to stack the wooden boards W91 and W92 of the object to be drilled W9 (wooden boards) and drill holes in them, then pass bolts through the holes and fix them with nuts.

[0141] The perforating device 900 according to Embodiment 9 is the same as the perforating device 100 according to Embodiment 1, except that the person doing the perforating is a carpenter M9 instead of a surgeon M, and the object to be perforated is wood W9 (a wooden board) instead of a living organism. Therefore, it has the corresponding effects of the perforating device 100 or perforating method according to Embodiment 1.

[0142] [Embodiment 10] Figure 17 is a diagram illustrating the perforation device 1000 according to Embodiment 10. The perforation device 1000 according to Embodiment 10 is basically the same as the perforation device 100 according to Embodiment 1, but differs in that the person performing the perforation is a steel frame construction worker M10 instead of an operator M, and the object to be perforated is a steel frame W10 instead of a living organism.

[0143] As shown in Figure 17, the perforation device 1000 according to Embodiment 10 is a steel frame (steel column) W10 to be perforated. The perforation device 1000 is a perforation device used by a steel frame construction worker M10 to perform work by perforating the steel frame W10 to be perforated and passing electrical wires or pipes through the holes.

[0144] The perforation device 1000 according to Embodiment 10 is the same as the perforation device 100 according to Embodiment 1, except that the person performing the perforation is a steel frame construction worker M10 instead of a surgeon M, and the object to be perforated is a steel frame W10 instead of a living organism. Therefore, it has the applicable effects of the perforation device 100 or perforation method according to Embodiment 1.

[0145] [Embodiment 11] Figure 18 is a diagram illustrating the drilling device 1100 according to Embodiment 11. The drilling device 1100 according to Embodiment 11 is basically the same as the drilling device 100 according to Embodiment 1, but differs in that the person doing the drilling is a concrete wall construction worker M11 instead of an operator M, and the object to be drilled is a concrete wall W11 instead of a living organism.

[0146] As shown in Figure 18, the drilling device 1100 according to Embodiment 11 is a concrete wall W11 that is to be drilled. The drilling device 1100 is a drilling device for concrete wall construction worker M11 to drill into the concrete wall W11 that is to be drilled and install a guide sign.

[0147] The perforation device 1100 according to Embodiment 11 is the same as the perforation device 100 according to Embodiment 1, except that the person performing the perforation is a concrete wall construction worker M11 instead of a surgeon M, and the object to be perforated is a concrete wall W11 instead of a living organism. Therefore, it also has the applicable effects of the perforation device 100 or perforation method according to Embodiment 1.

[0148] [Embodiment 12] Figure 19 is a diagram illustrating the perforation device 1200 according to Embodiment 12. The perforation device 1200 according to Embodiment 12 is basically the same as the perforation device 100 according to Embodiment 1, but further includes a two-dimensional perspective image acquisition means 81 that irradiates the object to be perforated W1 with a detection wave 84 to acquire a two-dimensional perspective image 8 of the object to be perforated W1, and the two-dimensional perspective image 8 is reflected (superimposed) on the real image 11 or a virtual three-dimensional image 12 and displayed on the display 1.

[0149] In Embodiment 12, an X-ray imaging device was used as the two-dimensional fluoroscopic image acquisition means 81 (see Figure 19). The two-dimensional fluoroscopic image acquisition means 81 (X-ray imaging device) generates detection waves 84 (X-rays) from a detection wave generator 82 (X-ray tube) and irradiates the object to be perforated W1. The detection waves 84 (X-rays) that have passed through the object to be perforated W1 are detected and visualized by a detection unit 83 (image tube) to form a two-dimensional fluoroscopic image 8. The control means 2 then uses general-purpose image recognition technology to reflect the two-dimensional fluoroscopic image 8 onto a real image 11 or a virtual three-dimensional image 12 and displays it on the display 1. Furthermore, while the detection wave 84 (X-rays) may be applied to the target W1 to be drilled continuously or at all times during drilling, it is not necessarily required. For example, to reduce the risk of X-ray exposure, it may be done only once, or with a set limit on the number of times, such as two or three times.

[0150] Figure 20 is a diagram illustrating the drilling device 1200 according to Embodiment 12, and Figures 20(A) to (D) are diagrams illustrating what can be seen on the display 1 at each stage of drilling.

[0151] First, before the detection wave 84 is irradiated onto the object to be drilled W1, it looks as shown in Figure 20(A).

[0152] Then, when the detection wave 84 is irradiated, the two-dimensional projection image 8 of the object to be drilled W1 (the outline of the object to be drilled W1 shown by the dotted line and its oblique fracture) is reflected (superimposed) on the actual image 11 (or its virtual three-dimensional image 12) of the object to be drilled W1, etc. (see Figure 20(B)).

[0153] Next, the operator M determines the drilling endpoint 41 by moving the drilling marker jig 4 while viewing a two-dimensional fluoroscopic image 8 of the object to be drilled W1 (see Figure 20(C)). The determined drilling endpoint 41 is displayed on the display 1 as a circle (or red) by the control means 2.

[0154] Then, operator M moves the drilling tool 3 while viewing the virtual 3D image 12 of the drilling endpoint 41, which is reflected (superimposed) on the real image 11, and the 2D perspective image 8 of the object to be drilled W1, so that the extension line 31 of the drilling direction passes through the drilling endpoint 41 (see Figure 20(D)). Once it passes, the control means 2 changes the drilling endpoint 41 to, for example, a square mark (or green).

[0155] Furthermore, once the drilling endpoint 41 is determined by the operator M, even if the drilling marker jig 4 moves away from the object to be drilled W1 or the object to be drilled W1 moves, the drilling endpoint 41 may be moved in accordance with the movement of the object to be drilled W1, so that the drilling endpoint 41 indicates the same location relative to the object to be drilled W1. Such control can be achieved, for example, by the control means 2 identifying the drilling endpoint 41 relative to the two-dimensional fluoroscopic image 8 of the object to be drilled W1 using general-purpose image recognition technology, etc. It can be done.

[0156] The perforating device 1200 according to the above-described embodiment 12 has the effects described in

[14] above. Furthermore, the perforation device 1200 according to Embodiment 12 is similar to the perforation device 100 according to Embodiment 1 in that it is further equipped with a two-dimensional perspective image acquisition means 81 and displays a two-dimensional perspective image 8 of the object to be perforated W1, and therefore also has the corresponding effects of the perforation device 100 according to Embodiment 1. Furthermore, if the means for acquiring two-dimensional fluoroscopic images is an X-ray imaging device, it also has the effects described in

[15] above.

[0157] [Embodiment 13] Figure 21 is a diagram illustrating the perforation device 1300 according to Embodiment 13, and Figures 21(A) to (D) are diagrams illustrating what is visible on the display 1 at each stage of perforation. The perforation device 1300 according to Embodiment 13 is a more concrete embodiment of the perforation device 1200 according to Embodiment 12. The following explanation will be given using Figure 21.

[0158] [0 Display of 2D perspective image 8] Figure 21(A) shows how, similar to Figure 20(B) described in Embodiment 12, the two-dimensional perspective image 8 (dotted line) of the object to be drilled W1, acquired by the two-dimensional perspective image acquisition means 81, is reflected on the real image 11 by the control means 2 and displayed, as seen on the display 1. On the display 1, the boundary between the bone W1 and the muscle W2 (two dotted lines in the vertical direction), the fracture site of the bone W1 (dotted line in the diagonal direction), etc., are displayed in the two-dimensional perspective image 8.

[0159] [1. Fixing the tip of the drilling marking jig] First, the operator M, while looking at the display 1 which shows a two-dimensional fluoroscopic image 8 of the object to be drilled W1, inserts the drilling marker jig 4 into an appropriate location on the object to be drilled (W, W1) and fixes its tip (see Figure 21(B)). Then, the operator M determines the jig contact point 430 (the contact point with the object to be drilled W1) as the drilling endpoint 41.

[0160] [2 Image recognition of the perforation marking jig 4] Then, the control means 2 performs image recognition of the appearance of the drilling marker jig 4, etc. Image recognition may be performed, for example, based on image recognition commands using command buttons (not shown) by the operator M, commands for determining the drilling endpoint 41, etc.

[0161] [3 Virtual 3D image display of the drilling endpoint 41] Next, the control means 2, based on the recognized image of the drilling marker jig 4 (for example, the appearance, the second mark 42 (not shown), etc.), reflects (superimposes) it onto the actual image 11 of the object to be drilled W1 to display a virtual three-dimensional image 12 of the drilling endpoint 41 on the display 1, for example, as a circle (or red) (see Figure 21(B)). The display of the drilling endpoint 41 may be performed based on a display command for the drilling endpoint 41, a determination command for the drilling endpoint 41, etc., issued by the operator M.

[0162] Furthermore, even if the object to be drilled (W1) or the drilling guide jig 4 moves slightly (is moved), the drilling endpoint 41 may be moved in accordance with the movement based on their images to display the correct location. In addition, if the drilling endpoint 41, once determined, moves and the distance between the points before and after the move exceeds a certain amount, a warning may be issued by displaying a warning message, hiding the display of the drilling endpoint 41, or emitting a warning sound.

[0163] [4 Virtual 3D image display of the drilling direction extension line 31] Next, the surgeon M looks at the display 1, which shows a two-dimensional fluoroscopic image 8 of the object to be punctured W1, and searches for the direction of the puncture (see Figure 21(C)). Here, the drilling tool 3 is also subjected to image recognition of its appearance, etc., by the control means 2, similar to the drilling mark jig 4. Then, based on the image of the appearance recognized by the image recognition system, a virtual three-dimensional image 12 of the drilling direction extension line 31 is superimposed on the actual image 11, etc., and displayed on the display 1. This display may be performed, for example, when the operator M issues a command to display the drilling direction extension line 31.

[0164] Then the following operations and controls are performed. [5. Adjust so that the extension line 31 of the drilling direction passes through the drilling endpoint 41.] [6. Changes in the display of the drilling endpoint 41] To explain these points, the operator M adjusts the drilling direction of the drill 34 while looking at the display 1 which shows a two-dimensional fluoroscopic image 8 of the object to be drilled W1, etc., so that the extension line of the drilling direction 31 passes through the drilling endpoint 41. The control means 2 displays this before the point is passed, as shown in Figure 21(C), but once it is passed, it changes the drilling endpoint 41 to, for example, a square (or green), as shown in Figure 21(D), to indicate that the drilling direction is correct (appropriate).

[0165] [7 Drilling towards the drilling endpoint 41] Next, operator M drills along the extension line 31 of the drilling direction. If, during the drilling process, the actual drilling direction deviates and the drilling direction extension line 31 no longer passes through the drilling endpoint 41, the control means 2 may, for example, turn off the display of the drilling endpoint 41, return to the original display (circle or red, see Figure 21(C)), emit a warning sound, or otherwise indicate that the drilling direction is incorrect.

[0166] [8 Reaching the end point of the perforation 41] Then, when the drilling reaches the drilling endpoint 41, the control means 2 changes the indicator for the drilling endpoint 41 to, for example, a red mark (or yellow) to indicate that it has been reached (see Figure 21(E)).

[0167] Furthermore, similar to Embodiment 12, once the drilling endpoint 41 is determined by the operator M, the drilling marker jig 4 may be made to indicate the same location relative to the drilling endpoint 41 even if the drilling marker jig 4 moves away from the object to be drilled W1 or the object to be drilled W1 moves.

[0168] The perforating device 1300 according to Embodiment 13 described above is a more specific version of the perforating device 1200 according to Embodiment 12, and therefore possesses the corresponding effects of the perforating device 1200 according to Embodiment 12. Furthermore, by changing the display of the drilling endpoint 41 in accordance with whether or not the drilling direction extension line 31 passes through the drilling endpoint 41, it becomes easy to determine whether or not the drilling direction is correct. Alternatively, by changing the display of the drilling endpoint 41 in response to whether or not the drilling endpoint 41 has been reached, it becomes easy to determine whether or not the drilling endpoint has been reached.

[0169] [Embodiment 14] Figure 22 is a diagram illustrating the drilling device 1400 according to Embodiment 14. The drilling device 1400 according to Embodiment 14 is basically the same as the drilling device 1300 according to Embodiment 13, but differs in that the drilling endpoint 41 is not the jig contact point 430, but a point located a certain distance (L1) away from the jig contact point 430 in the opposite direction of drilling (see Figure 22(D)).

[0170] [0 Display of 2D perspective image 8] The operations and control in this process are the same as in Embodiment 13 (see Figure 21(A)) (see Figure 22(A)).

[0171] [1. Fixing the tip of the drilling marking jig] The operations and control in this process are the same as in Embodiment 13 (see Figure 21(B)) (see Figure 22(B)).

[0172] [2 Image recognition of the perforation marking jig 4] In this process, the operation and control are performed by the control means 2, as in Embodiment 13, and image recognition of the appearance of the drilling mark jig 4 is performed.

[0173] [3 Virtual 3D image display of the drilling endpoint 41] The operations and control in this process are the same as in Embodiment 13. The control means 2 displays a virtual 3D image 12 of the jig contact point 430 on the display 1, for example, as a circle (or red) (see Figure 22(B)).

[0174] [4 Virtual 3D image display of the drilling direction extension line 31] Similar to Embodiment 13, the control means 2 displays a virtual three-dimensional image 12 of the drilling direction extension line 31 on the display 1 (see Figure 22(C)).

[0175] Then the following operations and controls are performed. [5-1 Adjust so that the drilling direction extension line 31 passes through the jig contact point 430] [6. Changes in the display of the jig contact point 430] [6-2 Indication of the end point of the perforation 41] To explain these points, similar to Embodiment 13, operator M adjusts the drilling direction of the drill 34 so that the extension line 31 of the drilling direction passes through the drilling endpoint 41. The control means 2 displays this before the point is passed, as shown in Figure 22(C), but once it is passed, it changes the display of the jig contact point 430 to, for example, a square (or green), as shown in Figure 22(D), to indicate that the drilling direction is correct (appropriate).

[0176] At the same time, the control means 2 displays a point on the drilling direction extension line 31, in the opposite direction (left direction) to the drilling direction (right direction in the diagram), at a certain distance L1 from the jig contact point 430, as the drilling endpoint 41, for example, as a diamond (or blue) (see Figure 22(D)). This drilling endpoint 41 is, so to speak, the point where the drilling stops just before it reaches the jig contact point 430. The control means 2, for example, draws a circle 435 with a radius of distance l1 centered on the jig contact point 430, and determines and displays the drilling endpoint 41 by a software algorithm that defines the point where the circle 435 intersects with the drilling direction extension line 31 as the drilling endpoint 41.

[0177] [7 Drilling towards the drilling endpoint 41] Next, operator M drills along the extension line 31 of the drilling direction, similar to embodiment 13.

[0178] [8 Reaching the end point of the perforation 41] Then, when the drilling reaches the drilling endpoint 41, the control means 2 changes the indicator of the jig contact point 430 to, for example, a triangle (or yellow) (see Figure 22(E)). In addition, instead of changing the display of the jig contact point 430, the control means 2 may change the display of the drilling endpoint 41 to, for example, a red mark (or yellow), similar to Embodiment 13.

[0179] Furthermore, once the drilling endpoint 41 is determined by the operator M, the drilling marker jig 4 may be made to indicate the same location relative to the drilling endpoint 41 even if the drilling marker jig 4 moves away from the object to be drilled W1 or the object to be drilled W1 moves, similar to Embodiment 12.

[0180] The perforating device 1400 according to the above-described embodiment 14 is the same as the perforating device 1300 according to embodiment 13, except for the point where the perforation endpoint 41 is a point a certain distance away from the jig contact point 430 in the opposite direction to the direction of perforation. Therefore, it has the corresponding effects of the perforating device 1300 according to embodiment 13. Furthermore, since the drilling endpoint 41 is set at a point a certain distance away from the jig contact point 430, it is possible to set the drilling endpoint 41 even in a location where the tip of the drilling marking jig 4 cannot contact the object to be drilled W1, and it also has the effect of suppressing over-drilling (for example, drilling all the way through the object to be drilled W1).

[0181] [Embodiment 15] Figure 23 is a diagram illustrating the perforation device 1500 according to Embodiment 15, and Figure 24 is a diagram illustrating perforation, etc., when a plate P is present in Embodiment 15. The perforating device 1500 according to Embodiment 15 is basically the same as the perforating device 1300 according to Embodiment 13, but differs in that the plate P is positioned outside the object to be perforated (W1) (see Figures 23 and 24). Here, plate P is screwed to the target W1 to be drilled using screws 95, and is used to fix the fractured area of ​​the target W1. A hole P01 is provided in plate P to guide the insertion of the screw 95 (see Figures 24(B) and (C)). Note that there are two methods for screw 95: one where the tip does not protrude outside the target W1 (see Figure 24(B)), and another where it protrudes slightly (see Figure 24(C)). The former method reduces the risk of injury from the pointed tip, while the latter method strengthens the effect between the target W1 (its bone cortex) and the screw 95 (note that in this embodiment, the pointed tip is covered by muscle W2, making injury from the pointed tip unlikely). For plate P and screw 95, materials such as stainless steel, titanium, ceramics, and plastic can be used. If both plate P and screw 95 are made of different materials, the fastening is likely to loosen due to the difference in thermal expansion coefficients. However, using the same material can reduce such loosening.

[0182] The steps from [0 Display of 2D perspective image 8] to [8 Reaching the drilling endpoint 41] in Embodiment 13 are basically the same in Embodiment 15. Figures 23(A) to (E) of Embodiment 15 correspond to Figures 21(A) to (E) of Embodiment 13, respectively, and are basically the same.

[0183] However, since a plate P with a hole P01 is positioned outside the object to be drilled (W1), the operator M first inserts the drill 34 into the hole P01 in the plate before drilling the object to be drilled W1. Then, as in Embodiment 13, the operator M moves the drilling tool 3 and adjusts it so that the extension line of the drilling direction 31 passes through the (provisional) drilling endpoint 41. However, unlike Embodiment 13, the hole P01 in the drilling guide plate may cause the drilling direction of the drill 34 (extension line of the drilling direction 31) to deviate from the target location (the drilling direction may be prone to deviation) (see Figure 24(A)). Therefore, the operator M, while viewing the two-dimensional fluoroscopic image 8 of the object to be drilled W1, moves the jig contact point 430 while searching for a suitable location for the drilling endpoint 41 (within the range of the direction of oscillation) in accordance with the direction of oscillation of the drill 34 (extension line of drilling direction 31), and determines a suitable drilling endpoint 41 and extension line of drilling direction 31 to drill (see Figures 23(B)~(E)). Alternatively, the position of the plate P itself is moved to align the drilling direction with the target location. It is also acceptable to use a combination of these methods. Note that, as in Embodiment 13, the display of the drilling endpoint 41 changes when the extension line of drilling direction 31 passes through the drilling endpoint 41 or when the drilling reaches the drilling endpoint 41 (see Figures 23(D)(E)).

[0184] Once the perforation is complete, the operator M screws screw 95 into the hole W21 made in the target W1 to be perforated, and fixes plate P to the target W1 (see Figures 24(B) and (C)).

[0185] The perforating device 1500 according to the above-described embodiment 15 is the same as the perforating device 1300 according to embodiment 13, except that the plate P is placed on the outside of the object to be perforated (W1). Therefore, it has the corresponding effects of the perforating device 1300 according to embodiment 13. Furthermore, if a two-dimensional fluoroscopic image 8 of the object to be drilled W1 is available, it is possible to determine an appropriate drilling endpoint 41 and drilling direction extension line 31, even if the drilling direction extension line 31 is deviated by the hole P01 in the plate, by viewing the image, thereby enabling more accurate drilling.

[0186] [Embodiment 16] Figure 25 is a diagram illustrating the perforation device 1600 according to Embodiment 16. Figure 25(A) is a diagram illustrating perforation by the perforation device 1600, and Figure 25(B) is a diagram illustrating the fixing of the perforated object W1. The drilling device 1600 according to Embodiment 16 is basically the same as the drilling device 1500 according to Embodiment 15, but differs in that the plate P' is positioned outside the object to be drilled W1 such that the direction of the drill 34 (or screw 95') relative to the hole P01' in the plate P' is constant. Examples of such plates P' include those in which the diameter (or shape) of the hole P01' is approximately the same as the diameter of the drill 34 (or a shape that prevents play), and so-called locking plates (plates in which a pair of male and female threads are formed between the corresponding drill 34 or screw 95').

[0187] If the plate P' is located outside the object to be drilled W1, applying the drill 34 (or screw 95') to the hole P01' will uniquely determine the direction of the drill 34 (or screw 95') without deviation (see Figure 25(A)). The control means 2 then displays a virtual 3D image 12 of the uniquely determined drilling direction extension line 31 on the display 1. The operator M places the tip of the drilling marker jig 4 at the intersection of the drilling direction extension line 31 with the outside of the object to be drilled W1. The control means 2 then designates this intersection as the jig contact point 430 and displays its virtual 3D image 12 on the display 1. This jig contact point 430 may also be the drilling endpoint. However, similar to the drilling device 1400 of Embodiment 14 (see Figure 22), the drilling endpoint 41 may be a point located a certain distance (L1) from the jig contact point 430 in the opposite direction of drilling. Furthermore, when the drilling reaches the drilling endpoint 41, the indicator (shape, color, etc.) of the jig contact point 430 (or the drilling endpoint 41) may be changed (see Figure 25(A)). Other points are the same as in Embodiment 15 (or Embodiment 14), so we will omit the explanation.

[0188] A screw 95' is placed in the drilled area W1, in a hole (drilled hole) that spans the fracture site of the area W1. Then, in conjunction with the plate P', it fixes the fracture site of the area W1 (see Figure 25(B)).

[0189] The drilling device 1600 according to the above-described embodiment 16 is the same as the drilling device 1500 (or 1400) according to embodiment 15 (or 14), except that the plate P' is positioned outside the object to be drilled W1 such that the direction of the drill 34 (or screw 95') relative to the hole P01' in the plate P' is constant. Therefore, it has the corresponding effects of the drilling device 1500 (or 1400) according to embodiment 15 (or 14).

[0190] [Embodiment 17] Figure 26 is a diagram illustrating the fixing mechanism 1700 according to Embodiment 17. Figure 26(A) shows the state before inserting the first and second screws (95A, 95B) into the hole W21, Figure 26(B) shows the state during insertion, and Figure 26(C) shows the state in which the object to be drilled W1 is fixed, all of which are cross-sectional views centered on the hole W21.

[0191] To make Embodiment 17 easier to understand, this cross-sectional view is not an accurate cross-sectional view. For example, things that would normally be visible on the other side of the hole W21 are omitted from the illustration. A virtual three-dimensional image 12 of the drilling endpoint 41 and the drilling direction extension line 31 is displayed on the display 1. When the two-dimensional fluoroscopic image acquisition means 81 (e.g., an X-ray imaging device) described in Embodiments 12 to 15 is not used, the cross-sections of the first and second screws (95A, 95B) are not displayed on the display 1. However, when the two-dimensional fluoroscopic image acquisition means 81 (e.g., an X-ray imaging device) is used, the same display as shown in Figure 26 is shown.

[0192] The fixing mechanism 1700 shown in Figure 26 is a fixing mechanism that fixes the object to be drilled (W1) by inserting first and second screws (95A, 95B), each having a head (95A3, 95B3) and a pair of threaded portions (95A1, 95B1) that are in a relationship to be fitted together, into the through hole (W21) from different openings of the through hole (W21) (upper and lower openings in the figure) with the threaded portion leading, and fitting the pair of threaded portions (95A1, 95B1) into the through hole (W21) with the object to be drilled (W1) sandwiched between the heads (95A3 and 95B3).

[0193] To explain in more detail, the object to be drilled W1 has a hole W21 (through hole) formed by a drilling device (100, etc.) of one of the embodiments described above (see Figure 26(A)).

[0194] Then, operator M uses the virtual three-dimensional images 12 of the drilling endpoint 41 and the extension line 31 of the drilling direction displayed on the display 1 as a guide to insert the first and second screws (95A, 95B) into the through hole W21 (see Figure 26(B)). These first and second screws (95A, 95B) each have a threaded portion (95A1, 95B1), a head (95A3, 95B3), and a cylindrical portion (95A2, 95B2) provided between them as needed. The threaded portion 95A1 of the first screw 95A is provided on the outer circumference of the cylindrical portion formed in a cylindrical shape, and the threaded portion 95B1 of the second screw 95B has its outer circumference entering the hole W21 and its inner circumference corresponding to the outer circumference of the cylindrical portion. One of the threaded portions (95A1, 95B1) is a male thread and the other is a female thread, and both threads are formed to fit together. The first and second screws (95A, 95B) are inserted into the hole W21 (through hole) with the threaded portion (95A1, 95B1) leading, respectively. The heads of both screws (95A3, 95B3) are, for example, spherical, aspherical, or flat and do not have a pointed tip. On the other hand, the threaded portions (95A1, 95B1) have a pointed tip (including the irregularities of the screw) at their leading edge.

[0195] Then, operator M inserts the first and second screws (95A, 95B) into the hole W21 (through hole) from the threaded side, and fits the threaded parts (95A1, 95B1) into the hole W21. Meanwhile, the heads (95A3, 95B3) catch on the opening of the hole W21 and remain in place, so the object to be drilled W1 is sandwiched and fixed between the heads (95A3 and 95B3) (see Figure 26(C)).

[0196] The above-described fixing mechanism 1700 has the effects described in

[16] above. Furthermore, as in embodiments 12 and 13, if a two-dimensional fluoroscopic image acquisition means 81 (X-ray imaging device) is used, the operator M can fix the patient more appropriately by viewing the two-dimensional fluoroscopic image 8.

[0197] [Embodiment 18] Figure 27 is a diagram illustrating the fixing mechanism 1800 according to Embodiment 18. The fixing mechanism 1800 according to Embodiment 18 is basically the same as the fixing mechanism 1700 according to Embodiment 17, but differs in that the object to be drilled W1 is fixed via plates (P1, P2) placed on its outside.

[0198] Figure 27(A) shows the drilling of hole W21, Figure 27(B) shows the insertion of the first and second screws (95A, 95B) into the drilled hole W21, and Figure 27(C) shows the fixing of the object to be drilled W1. Note that the object to be drilled W1 is crushed or pulverized over a wide area (the area between the two dashed lines above and below the object to be drilled W1).

[0199] When drilling a hole W21 in the target W1 to be drilled, the operator M first prepares plates (P1, P2) (see Figure 27(A)). Both the first and second plates (P1, P2) may be prepared, or only one (P1) may be prepared. In the embodiment 18 described here, both are prepared.

[0200] These first and second plates (P1, P2) have holes (P11, P21) that are too small or too large for the heads (95A2, 95B2) of the first and second screws (95A, 95B) to pass through. Operator M places the first and second plates (P1, P2) on the outside (both sides) of the object to be drilled W1, so as to cover the object to be drilled W1, which has been divided into multiple pieces by crushing or other means.

[0201] Next, the operator M places the tip of the drill 34 of the drilling tool 3 into the hole P11 of the first plate P1. At this time, the direction of the drill 34 changes due to the hole P11, and the direction of the drilling direction extension line 31 is likely to change (vibrate). Therefore, the operator M appropriately moves the position of the first plate P1 or the second plate P2 to match the change in the direction of the drilling direction extension line 31, thereby changing the location of the drilling endpoint 41. Alternatively, the operator readjusts the direction of the drilling direction extension line 31 to the drilling endpoint 41. This location of the drilling endpoint 41 becomes the location of the hole P21 in the second plate P2. While moving the drill 34, the operator determines the direction of the drilling direction extension line 31 and the location of the drilling endpoint 41, taking into consideration the state of the object to be drilled W1, and places the first and second plates (P1, P2) in appropriate locations according to that determination. The surgeon M drills into the object to be drilled W1 along these positions to form a hole P21 (through hole).

[0202] Next, surgeon M inserts the first and second screws (95A and 95B) into hole W21 (through hole) from different openings, with the threaded portions (95A1 and 95B1) leading (see Figure 27(B)).

[0203] Next, the surgeon M fits the threaded portions (95A1, 95B1) of the first and second screws (95A, 95B) into the hole W21 (see Figure 27(C)). At this time, the heads (95A2, 95B2) are stopped at the openings of the holes (P11, P21) in the plates (P1, P2) and cannot advance any further into the hole W21. As a result, the object to be drilled W1 is sandwiched and fixed between the heads (95A3 and 95B3) of the first and second screws (95A, 95B) via the plates (P1, P2).

[0204] The fixing mechanism 1800 according to embodiment 18 has the effects described in

[17] above. Furthermore, the fixing mechanism 1800 according to Embodiment 18 is the same as the fixing mechanism 1700 according to Embodiment 17 in respects other than fixing the object to be drilled W1 via plates (P1, P2) arranged on its outside, and therefore also has the corresponding effects of the fixing mechanism 1700 according to Embodiment 17.

[0205] [Embodiment 19] Embodiment 19 is an embodiment in which the operator M in Embodiments 12 to 18 is replaced by a carpenter (woodworker), and the object to be drilled W1 is wood (a broken wooden board or column) instead of bone (no drawing). Even in this manner, the only difference is that the object to be drilled, W1, is made of wood instead of bone, so it still possesses the corresponding effect among embodiments 12 to 18.

[0206] [Embodiment 20] Embodiment 20 is an embodiment in which the operator M in Embodiments 12 to 18 is replaced by a steel frame construction worker, and the object to be drilled W1 is a steel frame (broken steel frame) instead of a bone (no drawing available). Even in this way, the only difference is that the object to be drilled W1 is a steel frame instead of a bone, so it still has the corresponding effect among the effects of embodiments 12 to 18.

[0207] [Embodiment 21] Embodiment 21 is an embodiment in which the operator M in Embodiments 12 to 18 is replaced by a concrete wall construction worker, and the object to be drilled W1 is a concrete wall (a fractured concrete wall) instead of bone (no drawing available). Even in this way, the only difference is that the object to be drilled W1 is a concrete wall instead of bone, so it has the corresponding effect among the effects of embodiments 12 to 18.

[0208] Although the present invention has been described above based on the embodiments described above, the present invention is not limited to the embodiments described above. It can be implemented in various forms without departing from the spirit of the invention. For example, the following modifications are also possible.

[0209] (1) In the embodiments 1 to 21 described above, the control means 2 used the imaging means 7 to refer to the external appearance information of the drilling tool 3 or the drilling marking jig 4, but a shape measurement sensor using, for example, a laser, infrared, or ultrasonic wave may be used. (2) In the embodiments 1 to 8 described above, there is one imaging means 7 (visual information acquisition means), but there may be multiple means. If there are multiple means, it becomes even easier to obtain three-dimensional visual information. (3) In the embodiments 1 to 21 described above, one imaging means 7 (appearance information acquisition means) is provided, and the imaging means 7 is used for imaging and for referencing appearance information. However, the imaging means 7 may be used for imaging, and an appearance information acquisition means (another imaging means or shape measurement sensor) may be provided for referencing appearance information. (4) In the embodiments 1 to 21 described above, the imaging means 7 is mounted on the display 1 (head-mounted display 6), but it may also be mounted on the floor, wall, ceiling, ground, fence, tripod, stand (with or attached casters), etc. (5) In the embodiments 1 to 21 described above, the display 1 is a head-mounted display 6 and is mounted on the head, but the display 1 may be mounted on the floor, wall, ceiling, ground, fence, tripod, stand (with or attached casters), etc., instead of a head-mounted display 6. (6) In the embodiments 1 to 21 described above, the person holding the drilling tool 3 and the drilling marking jig 4 (e.g., operator M) was the same person, but they may be held by different people. (7) In the embodiments 12 to 15 described above, the two-dimensional fluoroscopic image acquisition means 81 is an X-ray imaging device, the detection wave 84 is an X-ray, the detection wave generation unit 82 is an X-ray tube, and the detection unit 83 is an image tube. However, the two-dimensional fluoroscopic image acquisition means 81 may be an ultrasonic imaging device, the detection wave 84 may be an ultrasonic wave, the detection wave generation unit 82 may be an ultrasonic generator, and the detection unit 83 may be a reflected wave detection means. Alternatively, the two-dimensional translucent image acquisition means 81 may be an optical ultrasonic imaging device, the detection wave 84 may be laser light (pulsed light), the detection wave generation unit 82 may be a laser light generator, and the detection unit 83 may be an ultrasonic detector that detects ultrasonic waves emitted from the area irradiated with laser light. [Explanation of Symbols]

[0210] W...Target to be drilled, W1...Target to be drilled (bone), W2...Muscle, W3...Third mark, W9...Target to be drilled (wood), W91...Target to be drilled (wooden board), W92...Target to be drilled (wooden board), W10...Target to be drilled (steel frame), W11...Target to be drilled (concrete wall), W21...Hole, M...Person doing the drilling (operator), M9...Person doing the drilling (carpenter), M10...Person doing the drilling (steel frame construction worker), M11...Person doing the drilling (concrete wall construction worker), 100, 200, 300, 400, 500, 600, 700 (700A, 700B), 800, 900, 1000, 1100, 1200, 1300, 1400, 1500…Drilling device, 1600, 1700…Fixing mechanism, 1…Display, 11…Real image, 12…Virtual 3D image, 2…Control means, 21…CPU, 22…ROM, 23…RAM, 24…I / O, 25…Internal bus, 26…Interface, 3…Drilling tool, 31…Drilling direction extension line, 32…First mark, 33…Tip, 34…Drill (drill bit), 35…Gripping part, 36…Distance, 37…Attachment mounting part (chuck), 38…Drilling start point, 4…Drilling marking jig, 41…Drilling end point, 42…Second mark, 43…Tip, 44…Needle part 45...Gripping part, 46...Distance, 48...Attachment for drilling mark jig, 48a...Gripping part, 48b...Arm, 48c...Gripping part, 48d...Arm, 48e...Joint, 48f...Spring, 48g...Spring, 4A...Drilling mark jig, 43a...Tip, 44a...Needle part, 45a...Screw part (male thread), 42a...Second mark, 49A...Attachment for drilling mark jig, 49a1...Overhang part, 49a2...Screw part (female thread), 49B...Attachment for drilling mark jig, 48a3...Suction cup, 430...Jig contact point, 6...Head-mounted display, 61...Cable, 7...Imaging means (camera), 8...2D perspective image , 81...2D perspective image acquisition means, 82...Detection wave generation unit, 83...Detection unit, 84...Detection wave, 84a...Drilling endpoint passing notification display unit, 85a...Drilling endpoint distance notification display unit, 85b...Drilling endpoint distance notification display unit, 88a...Drilling endpoint display maintenance mode display unit, 88b...Warning display unit, 88c...Warning display unit, 95, 95'...Screw, 95A...First screw, 95B...Second screw, 95A1, 95B1...Threaded part, 95A2, 95B2...Head, 95A3, 95B3...Cylindrical part, P, P'...Plate, P01, P01'...Hole, P1...First plate, P2...Second plate, P11,21…hole,

Claims

1. A perforating device for perforating an object to be perforated, The aforementioned drilling device, A display that allows viewing of the real image being projected or captured, Drilling tools and A jig for marking holes, An appearance information acquisition means for acquiring appearance information of the drilling tool and the drilling marking jig, A control means that, by referring to the appearance information of the drilling tool and the drilling marking jig acquired by the appearance information acquisition means, creates a virtual three-dimensional image including the drilling direction extension line and the drilling endpoint, and reflects the virtual three-dimensional image onto the real image and displays it on the display, A drilling device characterized by comprising the following features.

2. In the drilling device according to claim 1, The drilling apparatus is characterized in that the control means displays the virtual three-dimensional image of the extension line of the drilling direction and the virtual three-dimensional image of the drilling endpoint on the display during drilling.

3. In the perforation device according to claim 1 or 2, The drilling apparatus is characterized in that the control means causes the virtual three-dimensional image of the drilling direction extension line and the virtual three-dimensional image of the drilling endpoint to be displayed on the display in a display manner different from that of the actual image.

4. In a drilling device according to any one of claims 1 to 3, The aforementioned drilling device further, A passage notification means that notifies whether the extension line of the drilling direction of the drilling tool passes through or does not pass the drilling endpoint. A drilling device characterized by comprising the following features.

5. In a drilling device according to any one of claims 1 to 4, The aforementioned drilling device further, A drilling notification means that notifies when the tip of the drilling part of the drilling tool approaches or reaches the drilling endpoint. A drilling device characterized by comprising the following features.

6. In a drilling device according to any one of claims 1 to 5, The drilling apparatus is characterized in that the control means displays on the display the drilling endpoint as the jig contact point where the tip of the drilling mark jig contacts the object to be drilled, or a point located at a certain distance from the jig contact point on a straight line connecting the jig contact point and the drilling start point where the drilling tool begins drilling.

7. In the drilling device according to claim 6, The control means causes the image of the jig contact point to be displayed on the display. A perforating device characterized by the following features.

8. In a drilling device according to any one of claims 1 to 7, The perforation device is characterized in that the display is a display that allows the viewer to see a real image through transparency.

9. In the perforation device according to claim 8, The drilling device is characterized in that the display is a head-mounted display.

10. In a drilling device according to any one of claims 1 to 8, The perforation device is characterized in that the display is a display that allows a real image to be visually observed through imaging.

11. In a drilling device according to any one of claims 1 to 10, The drilling apparatus is characterized in that the control means displays the drilling endpoint on the display in such a way that the display position does not change even if the arrangement of the drilling marker jig changes.

12. In a drilling device according to any one of claims 1 to 10, The aforementioned drilling device further, Positioning and maintaining means for maintaining the position of the perforation marking jig relative to the object to be perforated. A drilling device characterized by comprising the following features.

13. In a drilling device according to any one of claims 1 to 12, A drilling apparatus characterized in that the means for acquiring external information is an imaging means.

14. In a drilling device according to any one of claims 1 to 13, The drilling device further includes a two-dimensional transparent image acquisition means that irradiates the object to be drilled with a detection wave to acquire a two-dimensional transparent image of the object to be drilled. The control means reflects the two-dimensional perspective image of the object to be drilled onto the real image or the virtual three-dimensional image and displays it on the display. A perforating device characterized by the following features.

15. In the perforation device according to claim 14, The aforementioned two-dimensional fluoroscopic image acquisition means is an X-ray imaging device. A perforating device characterized by the following features.

16. A perforation method for perforating targets other than human living organisms, A process of preparing a display that allows the viewer to see the real image being projected or captured. The process of preparing drilling tools, The process of preparing a jig for marking the drilling points, A step of acquiring visual information of the drilling tool and the drilling marking jig, creating a virtual three-dimensional image including the drilling direction extension line and the drilling endpoint by referring to the visual information, and displaying the virtual three-dimensional image on the display by reflecting it on the real image, and A step of drilling the object to be drilled based on the extension line of the drilling direction and the drilling endpoint, A perforation method characterized by including the following.

17. A fixing mechanism for fixing an object to be drilled that has a through hole drilled using a drilling device according to any one of claims 1 to 15, A fixing mechanism characterized by inserting first and second screws, each having a head and a pair of threaded portions, into the through hole from different openings of the through hole, with the threaded portions of each screw leading, and fitting the pair of threaded portions together with the object to be drilled sandwiched between the heads, thereby fixing the object to be drilled.

18. In the fixing mechanism described in claim 17, At least one of the spaces between the object to be drilled and the head of the first screw, or between the object to be drilled and the head of the second screw, is a space corresponding to the through hole in the object to be drilled. A fixing mechanism characterized by arranging a plate having a hole in a certain place, and fitting the pair of screw portions together with the object to be drilled sandwiched between the heads of the first and second screws via the plate, thereby fixing the object to be drilled.

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