Surgical drilling apparatus, surgical tools, and method for determining drilling depth

Abstract

To enable measurement of a drilled hole depth in a bone-drilling procedure.SOLUTION: A surgical drill device for drilling a hole in a workpiece includes a housing, a probe movably attached to the housing, and a transducer assembly. The transducer assembly includes a gear coupled to the probe and at least two rotational sensor apparatuses coupled to the gear to determine an amount of movement of the probe relative to the housing to determine a depth of the hole. The gear has a reference point having an angular path of rotation about a gear axis, where the angular path of rotation is divided into separate first and second arcuate regions. A first sensor apparatus is configured to detect a rotational position of the reference point in the first arcuate region, and a second sensor apparatus is configured to detect a rotational position of the reference point in at least the second arcuate region, with the first sensor apparatus incapable of detecting the reference point in the second arcuate region.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] [Cross - reference to Related Applications] This application claims the priority and all benefits of U.S. Provisional Patent Application No. 62 / 665,024, filed on May 1, 2018, the disclosure of which is hereby specifically incorporated herein by reference. and made a part hereof.

Background Art

[0002] As a type of electric surgical tool or electric surgical system used in orthopedics, an orthopedic drill device can be mentioned. This type of tool has a housing containing a motor. A connecting assembly, which is also part of the drill device, detachably holds a drill bit to the motor, so that the drill bit rotates when the motor operates. The surgical drill device, as its name implies, perforates a treatment object, such as tissue, to which the drill bit is applied. As a type of surgical procedure that requires perforation, a trauma treatment for repairing a fractured bone can be mentioned. In this type of treatment, an elongated rod, sometimes called an intramedullary nail, is used to hold together multiple fracture regions of the bone. To hold the intramedullary nail in place, one or more holes are formed in the bone. These holes are positioned so as to be aligned straight with complementary holes formed in the intramedullary nail. A screw is inserted into each of the aligned bone holes and intramedullary nail holes. These screws hold the intramedullary nail in an appropriate position relative to the bone.

[0003] In another type of treatment, a graft or workpiece known as a plate is fixed to the outer surface in multiple fracture regions of the bone to hold these regions together. Screws hold the plate in place. ​It is held in each region of the bone. To fit the screws that hold the plate into the bone. First, it is necessary to create a hole to receive the screw.

[0004] In a part of the procedure used to create holes in the bone to receive screws, It is desirable to know the depth of the hole from end to end. This information allows the surgeon to determine the depth of the perforation. It becomes possible to select the dimensions of the screw to be fitted into. If the screw is too short If so, the screw will fix and hold the intramedullary nail into which the screw is inserted in the appropriate place. It will become impossible to hold. If the screw is too long, The screw may protrude excessively outside the bone. If it is exposed, the exposed end of the screw may rub against the surrounding tissue. If such a situation occurs, there is a risk that the tissue rubbed by the screw may be damaged. [Overview of the project] [Problems that the invention aims to solve]

[0005] Therefore, measuring the depth of the drilling is essential in many bone drilling procedures.

[0006] Such measurements are often performed using a drilling device and a separate depth gauge. This involves the surgeon inserting a depth gauge into the hole after withdrawing the drill bit from the hole. Therefore, based on tactile feedback, the surgeon will determine the distal end of the gauge. Position the gauge so that the chisel extends to the opening on the other side of the hole. Once this procedure is complete... If so, the surgeon reads the gauge scale and determines the depth of the perforation. This measurement is preferred It's not good. Because this measurement is time-consuming and requires effort to verify the measured depth. This relies on human factors, increasing the risk of infection and extending the time patients are exposed to anesthesia. Because it is possible.

[0007] This disclosure addresses some of these challenges. [Means for solving the problem]

[0008] A surgical drilling device is provided that is configured to operate a drill bit. The arrangement consists of a housing and a probe movably attached to the housing, A probe configured to be positioned in accordance with the object to be placed, and a transducer assembly It is equipped with a transducer assembly with a gear connected to the probe. The gear rotates more than 360° around the gear axis when the probe moves relative to the housing. It is configured to rotate. The gear has a base that has an angular rotation path around the gear axis. The angular rotation path has a vertex, and is divided into a first circular arc region and a second circular arc region. The first arc region is separated from the second arc region. At least two potentiometers or It also includes transducers composed of at least two potentiometers. Each is connected to a gear. The first of at least two potentiometers The control meter is configured to detect the rotational position at a reference point within a first circular arc region. , of at least two potentiometers, the second potentiometer is at least the second The first rotation sensor is configured to detect the rotational position at a reference point within the arc region of the arc, and the first rotation sensor is Therefore, it is impossible to detect the reference point within the second circular arc region.

[0009] The depth of the hole formed in the object to be treated by the drill bit attached to the drill device is also provided. The drill device includes a housing, a probe connected to the housing, a gear connected to the probe, and at least two rotation sensors connected to the gear, and a transducer assembly having a transducer composed of the rotation devices. This method includes the steps of determining the first rotational position of the gear and a plurality of full rotations of the gear in a single rotational direction about the gear axis from the determined first rotational position. Each full rotation corresponds to a predetermined movement amount of the probe relative to the housing. This method also includes the step of determining the second rotational position of the gear The determined second rotational position is the same as or different from the determined first rotational position. This method includes the step of determining the movement amount of the probe relative to the housing from the determined first and second rotational positions and the determined number of full rotations of the gear. including. The determined second rotational position is the same as or different from the determined first rotational position. This method includes the step of determining the movement amount of the probe relative to the housing from the determined first and second rotational positions and the determined number of full rotations of the gear. different. This method includes the step of determining the movement amount of the probe relative to the housing from the determined first and second rotational positions and the determined number of full rotations of the gear. The number of full rotations.

[0010] A surgical drill device may include a housing and a connection assembly disposed within the housing, the connection assembly being configured to removably connect a drill bit, and a probe movably attached to the housing, the probe being configured to be disposed against tissue. A connection assembly configured to removably connect the drill bit, and a probe movably attached to the housing and configured to be disposed against tissue. A probe movably attached to the housing and configured to be disposed against tissue. configured. Further, the drill device may include a transducer assembly. The transducer assembly may include a gear connected to the probe. The gear is configured to rotate more than 360° about the gear axis when the probe moves relative to the housing. The gear rotates through an angular rotation path about the gear axis The transducer assembly may include a gear connected to the probe. The gear is configured to rotate more than 360° about the gear axis when the probe moves relative to the housing. The gear rotates through an angular rotation path about the gear axis centered on the gear axis when the probe moves relative to the housing. The gear rotates through an angular rotation path about the gear axis centered on the gear axis when the probe moves relative to the housing. The gear rotates through an angular rotation path about the gear axis Having a reference point with a path, the angular rotation path is divided into a first circular arc region and a second circular arc region. Therefore, the first arc region is separated from the second arc region. The truss reducer assembly is A transducer comprising at least two rotation sensor devices, at Two rotational sensor devices are rotatably fixed to a gear, equipped with a transducer. The first rotation sensor device detects the rotational position at a reference point within the first arc region. The second rotation sensor device is configured to detect the rotation at a reference point within the second arc region. It is configured to detect position. The first rotation sensor device is based in the second arc region. The reference point cannot be detected, and at least two rotation sensor devices are, The detected rotational position of the reference point in each of the first and second arc regions corresponds to It is configured to generate output signals independently. Also, the drilling device generates independently. Each of the multiple output signals is received and each of the multiple output signals generated independently Based on this, it is configured to determine the depth of the tissue perforation formed by the drill bit. It is equipped with a controller. [Brief explanation of the drawing]

[0011] [Figure 1] This is a perspective view showing a surgical system comprising surgical instruments and an end effector assembly, shown as having a drill bit and tip protector in a single configuration. [Figure 2] Figure 1 is a partially exploded perspective view of a surgical system, showing that the surgical instrument has a measuring module, a drive assembly, and a release mechanism separated from the handpiece body, with the end effector assembly removed from the surgical instrument and the tip protector separated from the distal cutting tip portion of the drill bit. [Figure 3] Figures 1 and 2 are partially exploded perspective views of a surgical instrument, showing the drive assembly and release mechanism separated from the virtual contour line of the handpiece body to illustrate the actuator assembly. [Figure 4] This is a partial isometric cross-sectional view along line 4-4 in Figure 1. [Figure 5] Figures 1-5 show cross-sectional views along the longitudinal direction of the surgical instrument, illustrating how the end effector assembly can be removed from the surgical instrument. [Figure 6] Figures 1-5 are partially exploded perspective views of the measurement module. [Figure 7A-7C] This is a partially exploded front perspective view showing various positioning of the wiper arm relative to the gear reference point, and also showing the gear of the measuring module and a pair of potentiometers rotated 180° relative to each other. [Figure 8] This is a front view showing the positioning of one wiper arm relative to the reference point of the gear, and also showing the gear of the measuring module and a pair of potentiometers rotated 90° relative to each other. [Figure 9] Figures 1-8 are logical flowcharts illustrating a method for determining the depth of the perforation in the object being treated, which is formed by a drill bit attached to a surgical drilling device. [Figure 10] This is the logic flowchart for step 706 of the logic flowchart in Figure 9. [Modes for carrying out the invention]

[0012] Referring to the drawings, the devices are typically associated with medical and / or surgical procedures. A surgical system or surgical drill device configured to perform the function shown in Figures 1-2. It is indicated by reference numeral 60. Note that the same number is used in several drawings. It is used to illustrate structures. In the typical configuration shown herein, surgical systems The TEM60 is used to facilitate the drilling of the target object, such as a patient's tissue or bone. As shown here, unless otherwise indicated, “workpiece” The term should be understood to alternatively refer to tissue and / or bone. Therefore, the illustrated configuration of the surgical system 60 is a handheld surgical instrument 62, and collectively referred to as The end effector assembly is represented by 64. The gentian 64 may be equipped with a drill bit 66 and a tip protector 68. (See Figure 2) As is most commonly shown, the drill bit 66 is a cutting bit collectively referred to as reference numeral 70. Between the tip portion and the insertion portion collectively indicated by reference numeral 72, approximately the length along axis AX It extends in the direction of the hand. The cutting tip portion 70 is configured to engage with the object to be treated, and insert The entry portion 72 facilitates the detachable attachment of the drill bit 66 to the surgical instrument 62. It is configured in such a way.

[0013] To facilitate the attachment of the drill bit 66 to the surgical instrument 62, several configurations are used. Therefore, the tip protector 68 conceals at least a portion of the cutting tip portion 70 of the drill bit 66. It is configured to be detachably fixed to the cutting tip portion 70 of the drill bit 66. This allows the user of the surgical system 60 (for example, a surgeon) to access the surgical instruments 62. This allows for safe handling and positioning of the drill bit 66 during installation. If the end effector assembly 64 is attached to the surgical instrument 62, tip protection The tool 68 is removed from the cutting tip portion 70 of the drill bit 66, and thereafter the surgical system Mu60 can be used for perforating the object being treated.

[0014] Referring to Figures 1-6, in the typical configuration shown here, the surgical instrument 62 is a pistol. It is embodied as a handheld drilling device having a handpiece body 74 with a tubular grip shape. The handpiece body 74 is detachably attached to the battery 76 (to the battery). The mounting method is not shown in detail. However, the handpiece body is pistol-shaped. It has also been considered that it may have any appropriate shape, regardless of whether or not it has a grip. The surgical instrument 62 shown in the illustration uses power to rotate the drill bit 66. A battery that can be detachably attached to the handpiece body 74 to supply 62 The Teri 76 is used. However, the surgical instrument 62 has an internal battery (for example, removable Other forms of power supply, such as a non-functional battery, tethered connection to an external console, or power supply. It is important to understand that this configuration is also possible, and other configurations are also conceivable.

[0015] In the illustrated configuration, the battery 76 or other power source is controlled (as schematically shown in Figure 5). Power is supplied to the device 78, and the controller 78 controls the input control button 80 (also shown in Figure 3) and It is located in communication with the actuator assembly 82. Input control button 80 and Actuator Each tuner assembly 82 is supported by the handpiece body 74. The controller 78 generally controls the actuator assembly in response to the operation of the input control button 80. It is configured to facilitate the operation of 82. The input control button 80, in the illustrated configuration, It has a trigger-type form and responds to the action of the user (e.g., a surgeon), for example, a magnet or It communicates with the controller 78 via an electrical signal generated by the Hall effect sensor. Therefore, Then, when the surgeon activates the input control button 80 to operate the surgical instrument 62, the controller 78 draws power from battery 76 to actuator assembly 82, and the actuator The assembly 82 is used to rotate the drill bit 66, as detailed below. It generates rotational torque. Handpiece body 74, battery 76, controller 78, and Each input control button 80 can be configured in many different ways without departing from the scope of this disclosure. It may be configured to facilitate the generation of rotational torque.

[0016] As shown in Figure 3, the actuator assembly 82 generally consists of the electric motor 84 and a gear set 86. The electric motor 84 and the gear set 86 are each connected to a hand pedal. It is supported within the main body 74. The motor 84 responds to commands, signals, etc. received from the controller 78. It is configured to selectively generate rotational torque accordingly. This is best illustrated in Figure 5. The motor 84 is supported by a pair of bearings 90 against rotation around the shaft AX. It is equipped with a rotor insertion tube 88. A drive gear 92 is positioned adjacent to the gear set 86 and is connected to the rotor. It is connected to the intubation tube 88, rotates simultaneously with the rotor intubation tube 88, and transmits rotational torque to the gear assembly 86. It is used for this purpose. To achieve this purpose, in the illustrated configuration, the gear set 86 is two-stage It is embodied as a compound planetary mechanism and generally includes a ring gear housing 94. The gear housing 94 includes, among other things, a bearing 90, one or more retaining clips 98, and a washer. The output hub 96 is rotatably supported via the shear 100 and / or seal 102. However, other configurations of the gear assembly 86 are also possible.

[0017] Further details on gear assembly 86 can be found, for example, in the article dated February 2, 2018, titled "Handheld surgical instrument U.S. Patent Application No. 15 / 887,507, filed under the title "Lilbit" However, this patent document states that the rotation of the drive gear 92 due to the operation of the motor 84 is the same as that of the output hub 96. It is noted that this results in rotation, and that the output hub 96 rotates simultaneously with the drill bit 66. It is included. Furthermore, the entire contents of this patent document are included here by reference. The actuator assembly 82 shall be provided without departing from the scope of this disclosure. , however, it may be configured to have other embodiments. In a non-limiting example, the illustrated actuaries The drive assembly 82 controls the rotational speed between the drive gear 92 of the motor 84 and the output hub 96. A compound planetary mechanism is used to adjust the degree and torque, but in some configurations other A gear set 86 of the form shown may be used. Furthermore, the actuator assembly shown in the figure The 82 uses an electric brushless DC motor to generate rotational torque, but other A prime mover of a certain type may be used, and other configurations are also possible.

[0018] As mentioned above, the rotational torque generated by the motor 84 has the effect of rotating the output hub 96. Therefore, the output hub 96 rotates simultaneously with the drill bit 66. To achieve this, see Figure As best shown in Figure 5, the surgical instrument 62 further comprises a drive assembly 114. The drive assembly 114 generally has various insertions of the actuator assembly 82. The drive assembly 11 penetrates the tubular component and spline engages with the output hub 96 of the gear assembly 86. 4 facilitates a detachable attachment between the drill bit 66 and the surgical instrument 62. It is configured as follows. The drive assembly 114 generally consists of a drive tube 116 and a drive head 1 18, and the drive unit 120 are included. The drive unit 120 consists of a drive tube 116 and a drive head It extends between and 118 and rotates simultaneously with them. The drive assembly 114 is the drive intubation 1 via spline engagement with the output hub 96 adjacent to 16, and adjacent to the drive head 118. Through the arrangement of the contacting bearing 90, snap ring 100, and seal 102, The piece is supported within the main body 74 so as to be rotatable around axis AX (see Figure 6).

[0019] Further details of the drive assembly 114 can be found, for example, in U.S. Patent Application No. 15 / 887,50 It is also described in document number 7. By referring to the contents of this patent document, the whole thing can be understood. This shall be included. In the illustrated configuration, the drive head 11 of the drive assembly 114 8 is equipped with a connector collectively indicated by reference numeral 126, the connector 126 is surgical When the device 62 is used in connection with an application other than rotating the drill bit 66 of this disclosure It is provided to facilitate the transmission of rotational torque. More specifically, as shown in the diagram. The drive assembly 114 is a surgical instrument 62 (drive intubation hole 122 of drive intubation 116 or drive head A number of different connectors (configurable to engage with any of the 118 connectors 126 and rotate simultaneously) Rotating, driving, or operating various types of surgical instruments, tools, modules, end effectors, etc. It is configured to allow multiple identical surgical instruments 62 to be used. It should be understood that it may be used in medical and / or surgical procedures. However, However, in some forms, the drive assembly 114 is, for example, a surgical instrument 62 in this disclosure. In a configuration used exclusively for the drill bit 66, the drive head 11 has a connector 126. It is also conceivable that the number 8 could be omitted in a different configuration.

[0020] Referring again to Figures 1-3, the illustrated configuration of the surgical instrument 62 is a drill bit 66 A release mechanism, collectively referred to as reference numeral 150, is configured to facilitate removal. Alternatively, it may further include a coupling mechanism. The coupling mechanism 150 generally includes a release subassembly 15 2. It comprises a holder body 154 and a housing adapter 156. Holder body 154 And the housing adapter 156 each actuate the release subassembly 152 Although configured to be fixed to the assembly 82 and the handpiece body 74, many It may be embodied in different configurations, and in some configurations other parts of the surgical instrument 62 It may be integrated into it.

[0021] As previously stated, the drill bit 66 of this disclosure generally consists of a cutting tip portion 70 and an insertion portion Between minutes 72 and the shaft AX, the contact surface 124 of the drill bit 66 and the drive assemblies extend along the shaft AX, and the drive assemblies extend along the shaft AX. Through engagement with the hole 122 of the drive tube 116 of the rim 114, as described herein Furthermore, it is configured to be detachably attached to the surgical instrument 62 shown throughout the drawings. The drive tube 116 is connected to the output hub 9 of the gear set 86 of the actuator assembly 82. In conjunction with 6, it promotes the rotation of the drill bit 66 around axis AX.

[0022] Referring to Figure 2, the drill bit 66 has a body collectively indicated by reference numeral 176. It is equipped with the shaft 176 along the axis AX between the proximal end 178 and the distal end 180. It extends like this. The distal end 180 of the body portion 176 is provided with a groove 182. The groove 182 is, Arranged spirally around axis AX, to facilitate perforation of the target object such as tissue. It extends to the tip of the drill bit 66 (see Figure 2). In the illustrated configuration, the drill bit The bearing T66 is connected to the body 176 between the proximal end 178 and the distal end 180. It also has a region 184. The bearing region 184 is the measurement probe 13 of the measurement module 128. 4 is sized to be accepted within and rotate relative to the measuring probe 134. Here, the bearing region 184 essentially defines the "stepped" outer surface of the body 176. It is fixed. This stepped outer surface of the bearing area 184 rotates along the length of the drill bit 66. Support is provided, and in the illustrated configuration, the adjacent distal and proximal regions of the torso 165 It has a diameter larger than the diameter. However, the shaft of the body 176 of the drill bit 66 Receiving region 184 is configured to have other forms without departing from the scope of this disclosure. Please also understand that this is also good. Furthermore, although it is described as drill bit 66 in this disclosure, Drill bit 66 is suitable for other suitable end effectors or burs or leeches with similar characteristics. It could also be configured as a rotating end effector, like a M.

[0023] The illustrated configuration of the surgical system 60 is collectively represented by the measurement module indicated by reference numeral 128. It also has Joules. The measurement module 128 gives the surgeon measurement capabilities during use. It is configured to be detachably attached to the surgical instrument 62 for the purpose of hanging. To achieve this, the measurement module 128 is configured as best shown in Figures 4 and 5. Generally speaking, the housing 130, guide bush 132, measuring probe 134 (i.e., Lobe or measuring tube), and sensor assembly, here, transducer assembly It is equipped with 136. The housing 130 is detachably attached to the surgical instrument 62. Generally, it is designed to support various components of the measurement module 128. The housing 130 is a pair of housings that are connected to each other or attached to each other. Formed as a component 138, it facilitates cleaning or inspection of the measuring module 128. It is designed to be disassembled for this purpose. The measuring module is an integral component of the surgical instrument and Please understand that it may be formed in this way.

[0024] In the illustrated configuration, the housing component 138 and the guide bush 132 are relative to each other. It has complementaryly shaped feature parts, for example, housing component 138 A guide bush 132 is formed in which a web or rib is fitted inside (in detail) A notch (not shown) between housing component 138 and guide bush 132 Guide bush 13 is positioned to prevent relative axial and rotational movement. 2 is used together with transducer assembly 136, as will be described in detail below. It also has 142 windows.

[0025] The measuring probe 134 is positioned within the guide bush 132 and is axially aligned with the handpiece. It is supported to move parallel to AX. (Partially shown in Figure 2) Elongated concave A groove 143 is formed in the measuring probe 134 in the transverse direction and extends in the longitudinal direction. Although not specifically shown, the elongated groove 143 is shaped to receive the movement-stopping element. They are positioned and arranged. The moving stop element is supported by the housing 130, and in the same way. It passes through an opening formed transversely on the side of the guide bush 132. This configuration The measuring probe 134 may move forward or backward in the axial direction relative to the guide bush 132. This limits the range and prevents the measuring probe 134 from rotating around axis AX. It functions in such a way. However, the measurement module 128 does not deviate from the scope of this disclosure. Even if the movement of the measuring probe 134 is restricted or blocked by other means, I hope you understand the good.

[0026] As shown in the figure, the measuring probe 134 is connected to the gear of the transducer assembly 136. It further comprises rack teeth 144 that are screwed into 146, as shown in Figure 5. The window 142 of the guide bush 132 facilitates the screwing of the rack teeth 144 and the gear 146. It is positioned adjacent to the transducer assembly 136 for this purpose. The gear 146 is It has a shaft portion 147 that extends along the common gear axis CAX. The gear 146 itself is As the probe 134 moves along axis AX relative to the housing 130, the common gear It can rotate more than 360° around axis CAX.

[0027] The transducer assembly 136 measures against the housing 130 along axis AX. To generate an electrical signal representing the change in the position of the probe 134, the axis of the measuring probe 134 It is designed to respond to the rotation of gear 146 caused by directional movement. Therefore, The deducer assembly 136 can bring enhanced functionality to the surgical instrument 62. Please understand that. For example, in some configurations, the transducer assembly Ri 136 is positioned to communicate with controller 78. Controller 78, for example, performs To slow down the rotation of the drill bit 66 at a specific drilling depth into the object, the measuring pro It is preferable that the drive of motor 84 be interrupted or adjusted based on the movement of step 134. Furthermore, the transducer assembly 136 is related to the surgeon's movement of the measuring probe 134. To provide information such as real-time drilling depth and the maximum drilling depth recorded in history, To display the following, output device 148, for example, a display screen, one or more light-emitting diodes It is often arranged to connect with LEDs, etc., but other configurations are also possible.

[0028] The controller 78 processes instructions or performs the functions described herein. It is equipped with one or more microprocessors for processing algorithms stored in Mori. Alternatively or additionally, controller 78 may perform the functions described herein. One or more microcontrollers, subcontrollers, and field programmers can be used. Bullgate arrays, system-on-chip, discrete circuits, and / or other suitable It may also be equipped with hardware, software, or firmware. The controller 78 is or, as shown in Figure 5, within the handpiece body 74 or elsewhere within the surgical system 60 It may be mounted on the device or installed remotely. The memory is for data and computer use. Any memory suitable for storing read commands may be used. For example, as an example of memory, Normal memory, external memory, or random access memory (RAM), non-volatile RAM ( Cloud-based memory embodied as NVRAM, or flash memory, or Other suitable forms of memory can be mentioned.

[0029] In some embodiments, the controller 78 includes an internal clock to manage the passage of time. In one embodiment, the internal clock is the microcontroller clock. Microcontroller clocks use crystal resonators, ceramic resonators, resistors, and capacitors. It may consist of an RC oscillator or a silicon oscillator. Other examples of internal clocks are also quite possible. Internal clocks are hardware or software It may be operated by either or both of the following embodiments. The microprocessor and microcontroller clocks work together to determine the time. Signals are sent to various components according to the set timing parameters, and the components are operated accordingly. It is designed to do so.

[0030] In the embodiments described herein, the transducer is best shown in Figures 6-8. Assembly 136 comprises at least two rotation sensor devices. These rotation sensors The device, in this case, has a pair of potentiometers positioned close to each other within the housing component 138. These are indicated as 500 and 501. To simplify the following explanation, 1 This section describes the pair of potentiometers 500 and 501.

[0031] As best shown in Figures 7-8, they may be the same or they may be different. Each of the potentiometers 500 and 501 is a rotatable potentiometer, and It comprises a body portion 502 and a rotor portion 507 located within the main body portion 502. The rotor portion 507 of the control meters 500 and 501 are connected via the shaft portion 147. It is then connected to gear 146, and thereby gear 146 is centered on the common gear shaft CAX It can rotate in conjunction with the rotation. The main body part 502 is fixed to the housing part 138. They are connected in this way, so that the rotor part 507 does not rotate when it rotates. Main body part In some embodiments, 502 is integrated with the housing portion 138. In particular, the potentiometer The rotor portion 507 of the chometers 500 and 501 rotates in conjunction with the rotation of the gear 146. The through gear shaft CAC can rotate 360° around its center. In other words, potentiometer 5 00,501 limits the rotation of the rotor portion 507 relative to the main body portion 502 to less than 360°. It is a type that does not have a stopper (i.e., a stopping member). To put it another way, The rotor portion 507 rotates freely together with the gear 146.

[0032] The main body portion 502 includes a pair of terminal portions 503 and 504 connected to the resistive element 505. The first terminal portion 503 is connected to a power source, for example, a battery 76 (i.e., an electric power supply). The second terminal is connected and accepts a first reference signal (i.e., a predetermined voltage) from the power supply. Sub-part 504 is connected to a second reference signal. In some embodiments, the second reference The secondary signal is ground. From terminals 503, 504, and 506, respectively. The main body portion 502 functions as a cavity for housing an extending conductor (e.g., a flexible circuit). An internal passage (not shown) is provided. Also, the main body 502 is connected to the controller 78. In other words, it also includes a third terminal portion 506 that is electrically connected.

[0033] The rotor portion 507 of potentiometers 500 and 501 is connected to the wiper arm 5 It also has 08. The wiper arm 508 extends radially outward from the common gear shaft CAX. The radially outer end 512 is connected (i.e., contact or electrical connection) to the resistive element 505. It is configured to be such as, or centered on a common gear shaft CAX relative to the main body portion 502. The relative rotational positioning of the wiper arm 508 is dependent on the positioning along the gap 511. It is configured as follows: Other parts of the wiper arm 508, here on the common gear shaft CAX The portion indicated as the radially inward end portion 513 terminating at a corresponding point is the third terminal portion 50 It is connected to 6 (i.e., electrically connected). Gear 146 is connected via shaft portion 147 It is connected to each of the rotor parts 507. Therefore, the common gear shaft CAX The rotation of the gear 146 centered on the common gear shaft CAX and their respective stationary body parts Similar rotation of wiper arm 508 around potentiometers 500 and 501 centered on 502 A change will occur.

[0034] The resistive element 505 has an arc shape that defines an arc length AL between a pair of terminal portions 503 and 504. It is shaped in such a way that it is positioned along the surface of the main body portion 502 between the terminal portions 503 and 504. The gap 511 is between the second terminal portion 504 and the first terminal portion 503. An additional arc length AAL extends along a portion of the body portion 502 and does not include the resistance element 505. It has been defined.

[0035] As mentioned above, the wiper arm from the radial inner end 513 to the radial outer end 512 The length of wiper arm 508 corresponding to the radius (r) of arm 508 is: The radially outer end 512 is connected to the resistance element 505 or is located along the gap 511. It is configured in such a way that the wiper arm 508 is centered on the common gear shaft CAX. When rotated 360°, the arc length AL of the resistance element 502 and the additional arc length of the gap 511 are determined. AAL is the arc defined by the radially outer end 512 of the wiper arm 508. This corresponds to the sum of the arc length AL and the additional arc length AAL. The total arc length is equal to 2πr, where r is the distance from the radial outer end 512 to the rotation center CA. It is defined as the radius length of the wiper arm 508 up to X.

[0036] In some embodiments, as described above, when the total arc length is equal to 2πr, the resistive element 505 arc element AL is 360 of wiper arm 508 by a single rotation of gear 146. (This corresponds to a rotation of 330° or less) and is less than or equal to 11πr / 6, corresponding to a gap of 511. The arc length AAL is 360° of the wiper arm 508 due to a single rotation of gear 146. The remainder of the rotation, i.e., corresponding to 30° or more and less than 360°) πr / 6 or more It is less than 2πr.

[0037] One or both of the wiper arms 508 of potentiometers 500, 501 are resistive element 5 When it makes contact with 05 and is positioned, an output signal is generated from the wiper arm 508 and the controller 78 This output signal is transmitted to the wiper arm along the arc length AL of the resistor element 505. Corresponding to the relative positioning of 508, the first terminal portion 503 is received by the resistive element. The first reference signal is converted. Wiper arm 508 and third terminal portion 50 The magnitude of the first reference signal received by the controller 78 through 6 is obvious to those skilled in the art. To ensure smooth operation, when the wiper arm 508 is positioned near the first terminal portion 103, it should be strong. As the wiper arm 508 is rotated to a position closer to the second terminal portion 504, It becomes weaker. Conversely, one wiper arm 508 of potentiometers 500, 501 is between When positioned within gap 511, an interruption signal is generated from wiper arm 508 to controller 78 It is either transmitted to or no signal is generated (the position within this gap is highly ohmic) (known as the floating position corresponding to the resistance). One or one received by controller 78 Multiple output signals or interruption signals are stored in the controller 78, as will be further described below. Interpreted by the algorithm, the relative position of probe 100 to housing 130 Determine the position, and then use this information to determine the object to be treated formed by the drill bit. For example, it will determine the relative depth of the perforation in the tissue or bone.

[0038] Furthermore, as shown in Figures 6-8, the pair of potentiometers 500 and 501 are these At least one wiper arm 508 of potentiometers 500, 501 is connected to these potentiometers The relative rotational position determination of each wiper arm 508 by tensioners 500 and 501. Regardless of the direction, they always contact the corresponding resistive element 505 in the z direction. They are adjacent and overlapping. Therefore, the wiper arm is always in contact with the resistance element 505. At least one output signal generated via 508 is received by controller 78, Using the output signal, the process formed by the drill bit is performed as described in detail below. The relative depth of the hole drilled into the object can be determined.

[0039] To achieve this, as shown in Figures 7 and 8, when viewed from the z direction, one of them The main body portion 502 of potentiometer 500 is the main body portion of the other potentiometer 501. With respect to 502, the resistive element 505 of the second potentiometer 501 is at least the first potentiometer The common gear shaft CAX is positioned so as to be aligned along the entire gap 511 of the tension meter 500. As such, they are misaligned in the rotational direction. This misalignment in the rotational direction of the two resistance elements 505 is As shown in Figures 7 and 8, the relative position of these resistance elements 505 in the z direction The arrangement is based on a reference placed around gear 146, which rotates 360° around the common gear axis CAX. This can be confirmed by comparing it with point 146a.

[0040] The common gear shaft CAX is centered on the main body portion 502 of the first potentiometer 500. The rotation of the main body portion 502 of the second potentiometer 501 is as shown in Figures 7 and 8. It is preferable that this be defined by the rotation angle in the Cartesian coordinate system. Specifically, see Figure 7A. -In Figure 7C, the x-axis of the Cartesian coordinate system is shown as the left-right axis, and the y-axis of the Cartesian coordinate system... The axis is shown as the vertical axis, and the z-axis should be the axis running from the front to the back of the paper. The upper position is The first position is indicated as 0°, the bottom position as 180°, and the right and left positions as 90°, respectively. and are shown at 270°. For example, as shown in Figures 7A-7C, the first The main body part 502 of potentiometer 500 is connected to the main body part 5 of the second potentiometer 501. Rotate 02 180° around the common gear axis CAX (or vice versa) When the main body portion 502 is fixed in this position, as a result, each potentiometer The terminal portions 503, 504, and 506 of 500 and 501 are 18 degrees relative to each other in the rotational direction. 0° displacement (as shown in Figures 7A-7C, the terminal portion of potentiometer 500) Points 503, 504, and 506 are located at 180° and are terminals of potentiometer 501. (Minutes 503, 504, and 506 are at the 0° position). In the second example, as shown in Figure 8 The first potentiometer 500 is connected to the second potentiometer 501 via a common gear shaft. Rotate the main body 502 90° counterclockwise around the CAX and fix it in this position. As a result, the terminals 503, 504, and 506 of each potentiometer are , they are offset by 90° in the rotational direction relative to each other (as shown in Figure 8, potentiometers The terminals 503, 504, and 506 of the TA500 are at the 0° position, and the potentiometer 5 The terminals 503, 504, and 506 of 01 are at a 90° angle. The common gear shaft CAX The positional misalignment of the central potentiometers 500 and 501 relative to each other in other rotational directions is also That misalignment affects at least one wiper arm 508 of potentiometers 500, 501. Possible as long as it is sufficient to ensure that it makes contact with the resistive element 505. Please understand the following. In some embodiments, the gap 511 between terminal portions 503 and 504 is Since it corresponds to a rotational displacement of approximately 30°, the rotational displacement is 3° relative to each other. Any angle between 0° and 330°, for example, 45°, 60°, 75°, 105°, 12° It would be good if the values ​​were 0°, 150°, 210°, 270°, etc.

[0041] Compare the rotational displacement of the resistance element 505 of the pair of potentiometers 500 and 501. To achieve this, a reference point 146a is attached to the relative position of gear 146. (Explanation and illustration are simplified.) To achieve this, as shown in Figure 7A, the reference point 146a is the first when viewed from the z direction. This corresponds to the intersection of the resistive element 505 on the potentiometer 500 and the first terminal portion 503. It is positioned on the gear 146. For illustrative purposes, the gear 146 is the first It is divided into a second circular arc region 146b and a second circular arc region 146c, and these regions 146b,1 46c, in total, corresponds to a 360° rotation (i.e., a complete rotation of gear 146). The first circular arc region 146b, when viewed from the z direction, is the first potentiometer 500. Corresponding to the arc length AL of the resistive element 505, the second arc region 146c is viewed from the z direction. Sometimes an additional arc length AAL associated with the gap 511 of the first potentiometer Corresponding. The first and second arc regions 146b and 146c, which are the static reference regions, correspond to gear 14 When point 6 and reference point 146a rotate around the common axis CAX, they do not rotate, and the first potato The static arc length AL of the resistance element 505 of the damper 500 and the additional arc length of the gap 511 It maintains a fixed equivalence relationship with AAL.

[0042] When gear 146 rotates about the common gear shaft CAX in the first rotational direction, Accordingly, the reference point 146a is centered on the common gear axis CAX for each rotation of gear 146. Along the angular rotation path AR (i.e., the circular arc rotation path), the first circular arc region 146b and the second It rotates through the arc region 146c. Therefore, gear 146 is centered on the common gear axis CAX. When it rotates 360° in the first rotational direction, the relative position of gear 146 in the first rotational direction Depending on the amount of rotation, the reference point 146a is always in either the first circular arc region 146b or the second circular arc region. It is located in one of the 146c locations.

[0043] Referring first to Figure 7A, gear 146 is the wiper of the first potentiometer 500. The arm 508 is positioned so that it is located at the intersection of the resistive element 505 and the terminal portion 503. At the same time, the wiper arm 508 of the second potentiometer 501 is resistive. It is positioned at the point between the first and second terminal portions 503 and 504 on 505. In this position, the reference point 146a is within the first circular arc region 146b of the gear 146, and both The wiper arm 508 outputs a signal through electrical connections to each of the resistor elements 505. It is generated for the controller 78 through the third terminal portion 506. However, (potential The first terminal portion 503 in each of the meter 500 and 501 is supplied Assuming that the reference signal is the same, the magnitude of each output signal is the potentiometer The respective wires for the first and second terminal portions 503 and 504 of meters 500 and 501 They differ from each other due to the positioning of the par arm 508.

[0044] In Figure 7B, gear 146 is connected to the wiper arm 50 of the first potentiometer 500. 8 is positioned at the intersection of the resistive element 505 and the second terminal portion 504, and the second The wiper arm 508 of the potentiometer is closer to the first terminal portion 50 in Figure 7A. It is rotated so as to be positioned near 3. In this position, reference point 146a is It remains within the first arc region 146b of gear 146 (however this position is as shown in Figure 7A). (The position is different from the relative position). In this case, both wiper arms 508 are in their respective positions. By connecting the resistive element electrically, the output signal is transmitted to the controller 78 through the third terminal portion 506. In contrast, it generates. However, the magnitude of each output signal is as shown in Figure 7A. This is different from the magnitude of the output signal.

[0045] In Figure 7C, gear 146 is connected to the wiper arm 50 of the first potentiometer 500. 8 is positioned within the gap 511 and the wiper of the second potentiometer 501 Arm 508 resists at a position near the center between the first and second terminal portions 503 and 504. It is rotated to align with element 505. At this position, the reference point 146a is the gear. Located within the second arc region 146c of 146, the wiper of the second potentiometer 501 Only the 508 generates an output signal to the controller 78 through the third terminal 506. However, the magnitude of each output signal is as shown in Figures 7A and 7B. It differs from the magnitude of the output signal. Furthermore, the output signal of the first potentiometer 500 is , interrupted. This is because there is an electrical current between the wiper arm 508 and the resistive element 5050. An open floating state where there is no contact, resulting in high resistance (megaohm resistance) This is because it is occurring. Therefore, the controller 78 outputs from the second potentiometer 501. It receives only the force signal, (and no signal from the first potentiometer 500). (or receive an interruption signal).

[0046] Although not shown in the diagram, gear 146 is connected to the wiper arm 508 of the second potentiometer 501. within gap 511 (i.e., between terminal portions 503 and 504 along the plane of paper in Figures 7A and 7C) When rotated to the position, the wiper arm 508 of the first potentiometer 500 is , located approximately in the center between the first and second terminal portions 503 and 504 along the resistive element 505, The reference point 146a is located within the first circular arc region 146b. In this case, the second potentiometer The output signal of meter 501 is interrupted because of wiper arm 508 and resistor element 5 This is because there is no electrical contact between 05 and the first terminal portion. Therefore, the controller 78 is the first terminal portion Approximately half of the output signal of the first reference signal supplied through 503 is used by the first potentiometer. It receives from -500, (and does not receive any signal from the second potentiometer 501) (Receive a squid or interruption signal).

[0047] As shown in Figures 7A-7C, when gear 146 rotates 360°, the reference point 146 Regardless of the position of a, the wipers at each potentiometer 500, 501 At least one of the arms 508 is electrically connected to its corresponding resistive element 505. Therefore, regardless of the position of the reference point, the corresponding output signal is generated and transmitted to the controller 78. This output signal is then used to shape the drill bit, as will be explained in more detail below. The relative depth of the perforation in the treated object can be determined.

[0048] Furthermore, Figures 7A-7C show the case when the reference point 146a is within the first circular arc region 146b. Regardless of its relative position within the first arc region 146b, the first potentiometer 500 This confirms that the wiper arm 508 makes electrical contact with the corresponding resistive element 505. Furthermore, Figures 7A-7C show that when the reference point 146a is within the second circular arc region 146c, Regardless of its relative position within the arc region 146c of the second potentiometer 501, This confirms that the resistor arm 508 makes electrical contact with the corresponding resistor element 505. In other words, in the configuration shown in Figures 7A-7C, the pair of potentiometers 500 and 501 At least one wiper arm 508 has a reference point 146a in the first arc region 146b Or, regardless of whether it is located in the second arc region 146c, the corresponding resistance is always It comes into contact with the anti-element 505.

[0049] In Figure 8, the main body portion 502 of the second potentiometer 501 is the first potentiometer The main body portion 502 of meter 500 is 9 (unlike the 180° in Figures 7A-7C) It is rotated 0°. Similar to the configuration in Figures 7A-7C, relative to the first potentiometer 500 The amount of rotation of the second potentiometer 501 is the gap 51 of the second potentiometer 501. Ensure that 1 is not aligned straight with the gap 511 of the first potentiometer 500. That is sufficient.

[0050] Therefore, as shown in the embodiments described herein, each resistive element 505 is rotated To achieve this overlapping effect, which causes a positional shift in the direction of rotation, a potentiometer 500,5 01 is the main body portion 502 connected to the housing portion 138, which is the second potentiometer The gap 511 of meter 501 is aligned straight with the gap 511 of the first potentiometer 500. To ensure that it does not fall, the gear shaft 147 is positioned so that it is rotated to a sufficient degree of displacement. They are connected. In other words, if the first and second potentiometers 500 and 501 are connected The arc length AL of each resistance element 505 is 11πr / 6 (therefore, the gap 511 is πr / 6). If so, then the common gear axis CAX is the center (related to the range from πr / 6 to 11πr / 6). ) The main body portion 502 of the second potentiometer 501 in the range of 30° to 330° By rotational positioning, the distance between the first and second potentiometers 500 and 501 is determined. This ensures that the gaps 511 do not overlap when viewed from the z direction.

[0051] In other words, Figures 7 and 8 show a pair of objects that are rotated 180° and 90° relative to each other. The main body parts 502 of potentiometers 500 and 501 are shown, but the potentiometers Positional displacements of meters 500 and 501 in other rotational directions are also possible. Specifically, The main body parts 502 of potentiometers 500 and 501 are connected to a common gear shaft CAX. The center is shifted by any angle within the range of 30° to 330°, and each main body By fixing the 502 in this position, all of the gear 146 at the reference point 146a At the relative positions (rotating in conjunction with each other), at least one of the wiper arms 508 is This ensures that it makes contact with the corresponding resistive element 505. In other words, as shown in Figures 7 and 8. The aforementioned pair of two potentiometers 50 are represented by the two embodiments described above. By using 0,501, at least one of the pair of potentiometers 500,501 One is related to the rotational positioning of the wiper arm 508 by potentiometers 500 and 501. Furthermore, it remains in a non-floating state at all times, and this allows for the determination of the drilling depth by the method described below. Therefore, it is possible to obtain effective measurement values ​​used by the controller 78. It is also possible to use three or more potentiometers in this way.

[0052] Next, referring to Figures 9 and 10, as mentioned above, the drill bit 6 of the drilling device 60 A method for determining the perforation depth of the object to be treated, formed by 6, is also provided. Generally, see Figure 9. As shown, logic 700 for determining the drilling depth includes three basic steps. Initially, in step 702, the drilling device 60 is positioned relative to the object to be treated. Specifically, the drilling device 60 cuts the cutting tip of the distal end 180 of the drill bit 66. The part 79 is positioned so that it is positioned relative to the object to be treated. Next, step 7 In step 04, the drilling device 60 is activated, and the cutting tip portion 70 of the drill bit 66 is processed. It is advanced into the object to be placed and a hole or void with a drilling depth is formed. Part of step 704 and The controller 78 then instructs the power supply to use a first reference signal (typically in the form of a reference voltage). The number is passed through the first terminal portion 503 to the respective potentiometers 500 and 501. To send to each of the resistor elements 505. Finally, in step 706, step By determining the total distance the probe moves relative to the housing during 704, the drilling depth is The determination in step 706 is made by the controller 78. The determination in step 706 is made by the drilling device 60. It may be done after completion, or at any point during drilling, in the latter case instantaneously The interim drilling depth will be determined and continuously updated.

[0053] Figure 10 provides a more detailed explanation of the logic in step 706. First, In step 708, the controller 78 may, in some cases, activate the drilling device 60. Before the step, the initial or first rotational position of the reference point 146a of gear 146 is determined. Specifically, the initial rotational position of the reference point 146a of gear 146 is determined in step 704. Before the drilling device 60 is activated, in step 702 the drilling device 60 is used to treat the object When positioned relative to, each of the at least two wiper arms 508 It is determined based on the positioning. At this position, each initial signal is at least two Each signal is generated from at least one of the wiper arms 508. Corresponding to the upward positioning of the wiper arm 508, as a function of the first reference signal that has been supplied. The controller 78 receives each initial signal and, based on each received initial signal, controls the gears. Determine the initial position of reference point 146a. To facilitate the determination of the initial position of the reference point. Furthermore, the memory of the controller 78 includes information stored regarding the size of the gear 146, Interpreting the magnitude of the received initial input signal, the gear corresponding to the magnitude of the received initial input signal A pre-stored algorithm capable of identifying the relative positions of 146 reference points 146a. It includes.

[0054] In step 710, the controller 78 operates the drilling device during the aforementioned step or Later, the common gear shaft CAX was controlled by at least two potentiometers 500, 501. Determine the total number of rotations of the gear 146 in a single central rotational direction.

[0055] More specifically, during step 710, the controller 78 controls the potentiometer 500, 50 Determine the number of clearly separate interrupt signals generated from one or both wiper arms 508. Each interruption signal is set so that gear 146 rotates in a single direction, and the reference point 14 of gear 146 6a enters the second arc region 146c, thereby the potentiometer 500, 50 1. Wiper A of the applicable one or both (typically, the first potentiometer 500) This occurs when the gear 508 is located within the gap 511. The wiper arm 508 rotates further, and rotates around the common gear shaft CAX. Depending on the direction, at a position corresponding to the first terminal portion 503 or the second terminal portion 504 The interruption signal ends when it begins to make contact with the resistive element 505.

[0056] In step 712, after or at any point during step 704 The controller 78 then determines the final or second rotational position of the reference point 146a of the gear 146. Specifically, the final rotational position of gear 146 at reference point 146a is the drilling device. Position of each of at least two wiper arms 508 after operation has finished Determined by placement. At this position, the final or second signal is at least The signal is also generated by at least one of the two wiper arms 508. Each signal is a resistance The function of the transmitted first reference signal corresponds to the positioning of the wiper arm on the anti-element 505. It is converted as follows. The controller 78 receives the final or second signal and stores it in the memory of the controller 78. Using an algorithm stored internally, based on the last or second signal received, gear 1 Determine the final position of reference point 146a of the 46 reference points.

[0057] In step 714, the controller 78 controls the initial rotation determined in step 710. The position or first rotational position and the final rotational position or second position determined in step 712 Determine the change in the rotational position of the gear 146 at the reference point 146a between the gear and the rotational position. More specifically, the controller 78 receives the initial signal or the first signal and the received final The signal is compared with the second signal, and the algorithm stored in the memory of the controller 78 is used. Then, based on the compared signals, the change in position is calculated.

[0058] Finally, in step 716, the controller 78 controls gear 1 that occurred during step 712. 46 determined total rotations and the determined reference point of gear 146 in step 714 The drilling depth is determined from the change in the determined rotational position of 146a. More specifically, control The device 78 uses an algorithm stored in memory to determine the number of interrupt signals and Based on the determined change in the rotational position of the reference point 146a of gear 146, the housing 130 The relative movement of the probe 100 is calculated, and based on the determined relative movement, the probe penetrates. Further calculate the hole depth. As part of step 716, the controller 78 outputs a signal to the DI The signal is sent to the spray 148 and corresponds to the drilling depth visible to the operator of the drilling device 60. It is recommended to display the measured values ​​on the display 148.

[0059] In each step of logic 700 in Figure 10, the controller 78 controls any single Based on the initial signal received and any single final signal received, or based on both initial signals received Based on the timing signal or the final signal received by both wiper arms 508 The resistance elements 505 corresponding to the initial and final positions of the reference point 146a were in contact. At that time, based on the received initial combination signal or the received final combination signal, gear 1 Determine the initial or first position and the final or second position of the 46 reference points 146a, This configuration determines the initial and final positions of the reference point 146a of the gear 146. It's okay.

[0060] In a further embodiment, the controller 78 controls the potentiometer 500 during step 710. The generated signals received from each of the 501 are processed sequentially, and the reference point 146 of the gear 146 It is configured to continuously determine the position. In this regard, the controller 78 has a potentiometer The signal received from either meter 500 or 501 is used as the initial signal, and gear 14 The relative position of reference point 146a of 6 is continuously determined, and when the initial signal is in an interrupted state ( That is, between the corresponding wiper arm 508 of potentiometer 500 or 511 When located within gap 511, receive from the second potentiometer 500 or 501. It is best to use only the signals that have been used.

[0061] Furthermore, the controller 78 receives an interruption signal from one of the potentiometers 500 or 501. The number of rotations of gear 146 may be determined based on the number of units, or the potentiometer may be configured to determine the total number of rotations of gear 146. Based on the number of interruption signals received from both meter 500 and 501, the total rotation of gear 146 It may be configured to determine the number of rotations.

[0062] In a further embodiment, a pair of superimposed elements in the z-direction, as shown in Figures 7 and 8 In contrast to the configuration having potentiometers 500, 501, potentiometers 500, 5 01 may be positioned left and right in the x direction. In this case, for example, additional (as shown in the figure) The gear (which cannot be screwed) should be screwed onto gear 146. Then the gear shaft of the additional gear It is preferable that the rotor portion 307 of the second potentiometer 501 be connected. The rotation causes an additional gear to rotate, and both the first and second potentiometers 500 and 501 The wiper arm 508 rotates as described above. The embodiments shown in Figures 7 and 8 above. The main body portion 502 of the second potentiometer 501 is positioned in a similar manner. As a result, at least one of both wiper arms 508 always resists its corresponding resistance. It comes into contact with element 505.

[0063] The surgical system 60 described herein is a surgical system utilizing a single potentiometer. While addressing the shortcomings of the drilling device, the surface formed by the drill bit 66 of the drilling device This invention provides a method for accurately measuring the drilling depth of an object to be drilled. Specifically, it provides a method for measuring the drilling depth of an object with a small wiper arm. At the very least, one of them should be configured to make contact with the corresponding resistance element regardless of the position of the gear's reference point. By utilizing at least two potentiometers, the floating state can be avoided. It is possible to incorporate at least one additional potentiometer. By doing so, the gear and the connected single rotation potentiometer can be increased without increasing the diameter of the gear. Ensure that the meter does not rotate so that the wiper arm is positioned within the gap. This makes it possible to avoid undesirable size and drilling issues with the drilling machine. Surgical drill device with a single potentiometer that may obstruct the surgeon's view This will eliminate further shortcomings.

[0064] The systems described herein are for non-surgical applications, such as processing materials other than tissue, for example. Furthermore, please understand that it may be used for drilling wood, metal, or plastic. Furthermore, this system may be used with end effectors other than drill bits. I want you to understand this.

[0065] We have considered several configurations above. However, in this specification we will not consider the following. This configuration is not intended to be exclusive, or to imply any specific nature of the disclosed content. There is no intention to restrict the form. Other specific configurations are also possible. For example, In this specification, at least two potentiometers in the transducer assembly Regarding the use of the potentiometer, the first potentiometer is the reference point within the second arc region of the gear. Unable to detect, the second potentiometer detects the reference point within the second arc region. The configuration is described, but additional potentiometers other than the pair of potentiometers are not included. Utilize and ensure that at least one potentiometer is positioned at all locations within the first and second arc regions. Furthermore, it may be possible to detect the rotational position of the reference point of the gear. The aforementioned potentiometers or rotational sensor devices are typically of the same type, but different Multiple potentiometers or rotational sensor devices of the same type or different dimensions may be used. Furthermore, other types of sensor devices may be placed in surgical drilling devices, such as measuring precision. Hall sensors and the like that can increase the degree of rotation can work in conjunction with the rotation sensors described herein. It may be used. Furthermore, it is also conceivable that separate gears be independently connected to the probe. In this case, each of the separate gears is connected to one or more potentiometers, and the front According to the configuration of the rotation sensor device described above, the drilling depth and the positive position of each probe relative to the housing It is also conceivable that the system be configured to ensure accurate measurements. Furthermore, as mentioned above, The configuration of the lance reducer assembly is specifically shown with respect to the removable measurement module. However, transducer assemblies equipped with gears and sensor devices are used in surgical drills. It could also be installed in a part of the device that cannot be removed.

[0066] The technical terms that have been used are intended to explain rather than restrict. This is illustrated. Many modifications and changes are possible in light of the above implications, and this disclosure is not specific. It may be carried out by methods other than those described herein.

[0067] The terms "include," "includes," and "Include" (to include, to have) are equivalent to the term "comp It has the same meaning as "rise," "comprises," and "comprising" (to be prepared). I hope you understand. Also, "first", "second", "third Terms such as ) are used in this specification for the purpose of providing non-restrictive examples for clarity and consistency. It should be understood that this is used to identify the structural features and components of a structure.

[0068] This disclosure is intended to be defined in the independent claims, and specific features are defined in the dependent claims. The subject matter of a claim disclosed in a section and dependent on one independent claim is, in relation to other independent claims, It may be implemented.

[0069] Furthermore, this disclosure includes the following clauses, and the specific features disclosed in the separate clauses are as follows: It is recommended that the implementation be carried out in the same specific manner as described in detail with reference to the configuration and drawings. .

[0070] [Clause I] A measuring module configured to be detachably attached to a surgical instrument, Housing and Measurement intubation and, The measuring tube is connected to the gear shaft when the probe moves relative to the housing. A transducer assembly with gears configured to rotate more than 360° at its core. A gear having a reference point having an angular rotation path centered on the gear axis The angular rotation path is divided into a first circular arc region and a second circular arc region, and the first circular arc A transducer assembly in which the region is separated from the second arc region, A transducer comprising at least two potentiometers, the small At the very least, each of the two potentiometers is connected to the gear, -sa and Equipped with, Of the at least two potentiometers, the first potentiometer is the first It is configured to detect the rotational position at a reference point within the arc region, and the at least two of the The second potentiometer of the potentiometers is at least within the second arc region The first rotation sensor is configured to detect the rotational position at a reference point, and the first rotation sensor is configured to detect the rotational position at a reference point. The measurement module is designed so that it cannot detect the reference point within the second arc region. .

[0071] [Clause II] A measuring module configured to be detachably attached to a surgical instrument, Housing and Measurement intubation and, A transducer assembly, Connected to the measuring tube, the gear shaft moves when the measuring tube moves relative to the housing. A gear configured to rotate more than 360° around a central point, wherein the gear It has a reference point having an angular rotation path centered on an axis, and the angular rotation path is a first circular arc region and a second It is divided into two arc regions, and the first arc region is separated from the second arc region. , gears and, A transducer comprising at least two rotation sensor devices, the small At the very least, each of the two rotation sensor devices is rotatably fixed to the gear. and transducer Equipped with, The first rotation sensor device detects the rotational position at the reference point within the first arc region. The second sensor device is configured to measure the rotation of a reference point within the second arc region. The first rotation sensor device is configured to detect the rotation position, and within the second arc region The reference point cannot be detected, and the at least two rotation sensors The device detects the reference point in each of the first and second arc regions. The transducer is configured to independently generate an output signal corresponding to the rotated position. User assembly and, Each of the independently generated output signals is received, and the independently generated Based on each of the multiple output signals, the depth of the tissue perforation formed by the drill bit A controller configured to determine the value A measurement module equipped with the following features.

[0072] [Clause III] A transducer assembly used with a surgical instrument having a probe and a housing, A gear connected to the probe and configured to rotate more than 360° about a gear shaft when the probe moves relative to the housing, the gear having a reference point with an angular rotation path about the gear shaft, the angular rotation path being divided into a first arc region and a second arc region, the first arc region being away from the second arc region, and the gear; A transducer composed of at least two potentiometers, each of the at least two potentiometers being connected to the gear; Comprising; Among the at least two potentiometers, a first potentiometer is configured to detect a rotational position at a reference point within the first arc region, and a second potentiometer among the at least two potentiometers is configured to detect at least the rotational position at the reference point within the second arc region, and the first potentiometer is unable to detect a reference point within the second arc region. A transducer assembly. [Example of Embodiment 1] A surgical drilling device configured to operate a drill bit, Housing and A probe movably mounted on the housing, configured to be positioned in accordance with the object to be treated, A transducer assembly, A gear connected to the probe and configured to rotate more than 360° about a gear axis when the probe moves relative to the housing, wherein the gear has a reference point having an angular rotation path about the gear axis, and the angular rotation path is divided into a first arc region and a second arc region, and the first arc region is separated from the second arc region, A transducer comprising at least two potentiometers, each of which is connected to the gear, and Equipped with, A transducer assembly wherein the first of the at least two potentiometers is configured to detect the rotational position at a reference point within the first arc region, the second of the at least two potentiometers is configured to detect the rotational position at a reference point within at least the second arc region, and the first potentiometer is configured not to detect the reference point within the second arc region. A surgical drill device equipped with [a specific feature]. [Example of Embodiment 2] The surgical drill device according to Embodiment 1, wherein the at least two potentiometers are configured to independently generate output signals corresponding to the detected rotational position of the reference point in each of the first and second arc regions. [Example of Embodiment 3] Each of the potentiometers is further connected to a controller, The surgical drill device according to Embodiment 2, wherein the controller is configured to receive each of the independently generated plurality of output signals and to determine the amount of movement of the probe relative to the housing based on each of the independently generated plurality of output signals. [Example of Embodiment 4] Equipped with an additional display, The controller is configured to generate a drilling depth signal corresponding to the determined drilling depth, which is received by the display. The surgical drilling device according to Embodiment 3, wherein the drilling depth signal is displayed on the display so that the user can see it. [Example of Embodiment 5] Each of the two potentiometers is A main body having a pair of terminal portions electrically connected to a resistive element, wherein one of the pair of terminal portions is configured to receive a first reference signal, the other of the pair of terminal portions is connected to a second reference signal, the resistive element has an arc shape defining the arc length between the pair of terminal portions, and the pair of terminal portions are separated from each other by a gap defining an additional arc length, A rotor portion connected to the main body portion and connected to the gear, wherein the rotor portion comprises wiper arms electrically connected to the third terminal portion of the main body portion, and each of the wiper arms rotates in the rotational direction about the gear axis as a result of the rotation of the gear in the rotational direction about the gear axis, and Equipped with, Each output signal is generated at the third terminal portion by the positioning of the wiper arm in the at least two potentiometers along the arc length of each resistive element, and each output signal corresponds to its relative position along the arc length of each resistive element and is converted with respect to the received first reference signal. The positioning of each of the wiper arms in the at least two potentiometers within the gap generates an interruption signal. A surgical drill device according to any one of Embodiments 1 to 5, wherein at least one of the wiper arms in the at least two potentiometers is positioned to connect to each of its resistance elements along the arc length according to each of the possible rotational positions among a plurality of rotational positions at the reference point of the gear when the gear rotates 360° about the gear axis. [Example of Embodiment 6] Each potentiometer is further equipped with a controller connected to it. The surgical drilling device according to Embodiment 5, wherein the controller is configured to receive each of the independently generated output signals and to determine the depth of the perforation of the tissue formed by the drill bit based on each of the independently generated output signals. [Example of Embodiment 7] The arc length of the resistive element on the main body of each potentiometer is 11πr / 6 or less. The surgical drill device according to Embodiment 5 or 6, wherein r is the radius length in each of the at least two wiper arms. [Example of Embodiment 8] A surgical drill device according to any one of Embodiments 5 to 7, wherein the main body portion of one of the at least two potentiometers rotates with respect to the main body portion of the other potentiometer of the at least two potentiometers at an angle greater than 0° and less than 360° about the gear axis. [Example of Embodiment 9] A surgical drill device according to any one of Embodiments 5 to 8, wherein the main body portion of one of the at least two potentiometers rotates with respect to the main body portion of the other potentiometer of the at least two potentiometers at an angle within the range of 30° to 330° about the gear axis. [Example of Embodiment 10] The surgical drill device according to any one of Embodiments 5 to 9, wherein the body portion of one of the at least two potentiometers is rotated 180° around the gear axis relative to the body portion of the other of the at least two potentiometers. [Example Embodiment 11] The surgical drill device according to any one of Embodiments 5 to 10, wherein at least two potentiometers of the at least two wiper arms are positioned to be electrically connected to each resistance element at at least one of a plurality of rotational positions at the reference point of the gear. [Example of Embodiment 12] At least two of the two wiper arms are positioned so as to be electrically connected to each resistance element at at least one of a plurality of rotational positions at the reference point of the gear. Each connected wiper arm generates an output signal, each output signal corresponding to its relative position along the arc length of each resistive element, and is converted with respect to the received first reference signal. The surgical drill device according to Embodiment 6, wherein the controller is configured to receive and combine each of the generated output signals and to determine the amount of movement of the probe relative to the housing based on each of the received and combined output signals. [Example of Embodiment 13] Each connected wiper arm generates an output signal, each output signal corresponding to its relative position along the arc length of each resistive element and corresponding to the received first reference signal. The surgical drill device according to Embodiment 12, wherein the controller is configured to receive the plurality of generated output signals, select one of the plurality of generated output signals, and determine the amount of movement of the probe relative to the housing based on the one of the generated output signals. [Example of Embodiment 14] The surgical drill device according to Embodiment 6, wherein when the wiper arm of one of the at least two potentiometers is positioned to connect to its resistive element, the controller is configured to receive the generated corresponding output voltage signal from one of the at least two potentiometers and to determine the amount of movement of the probe relative to the housing based on the generated corresponding output signal. [Example of Embodiment 15] The controller is further configured to determine the total number of rotations of the gear that rotates in the rotational direction around the gear shaft, Each full rotation corresponds to a predetermined amount of movement of the probe relative to the housing, The surgical drill device according to Embodiment 3, wherein the controller is configured to determine the total amount of movement of the probe relative to the housing based on the corresponding output signals generated, the interruption signals generated, and the number of total rotations determined. [Example of Embodiment 16] The controller is further configured to determine the total number of rotations of the gear that rotates in the rotational direction around the gear shaft, Each full rotation corresponds to a predetermined amount of movement of the probe relative to the housing. The surgical drill device according to Embodiment 6, wherein the controller is configured to determine the total amount of movement of the probe relative to the housing based on the corresponding output signals generated, the interruption signals generated, and the number of total rotations determined. [Example Embodiment 17] The surgical drill device according to any one of embodiments 1 to 16, further comprising a connecting assembly disposed within the housing, configured to detachably connect the drill bit. [Example of Embodiment 18] A method for determining the drilling depth of an object to be treated formed by a drill bit attached to a drilling device, wherein the drilling device is Housing and A probe connected to the housing, A transducer assembly comprising a gear connected to the probe and a transducer consisting of at least two rotation sensor devices connected to the gear. In a method that includes, A step of determining the first rotational position of the gear, A step of determining the number of total rotations of the gear in a single rotational direction about the gear axis from the first rotational position determined above, wherein each total rotation corresponds to a predetermined amount of movement of the probe relative to the housing, A step of determining a second rotational position in the gear, wherein the determined second rotational position is the same as or different from the determined first rotational position. A step of determining the amount of movement of the probe relative to the housing from the first and second rotational positions determined and the number of total rotations of the gear determined. A method that includes this. [Example of Embodiment 19] The drilling device also includes a controller connected to the transducer assembly, The method according to Embodiment 18, further comprising the step of generating a drilling depth signal corresponding to the determined amount of movement of the probe relative to the housing using the controller. [Example of Embodiment 20] The drilling device also includes a display connected to the controller, The method according to Embodiment 19, further comprising the step of displaying the generated drilling depth signal on the display. [Example of Embodiment 21] Each of the at least two rotation sensor devices is composed of a potentiometer, Each of the multiple potentiometers is A main body having a pair of terminal portions connected to a resistive element, wherein one of the terminal portions of the pair is configured to receive a first reference signal, the other terminal portion of the pair is connected to a second reference signal, the resistive element has an arc shape defining the arc length between the pair of terminal portions, and the pair of terminal portions are separated from each other by a gap defining an additional arc length, A rotor portion connected to the main body portion and connected to the gear, wherein the rotor portion comprises wiper arms connected to a third terminal portion, and each of the plurality of wiper arms rotates in the single rotational direction about the gear axis as a result of the rotation of the gear in the single rotational direction about the gear axis, and Equipped with, Each output signal is generated at the third terminal portion by the positioning of each wiper arm along the arc length of each resistive element, and each output signal corresponds to its relative position along the arc length of each resistive element and to the received first reference signal. The positioning of each wiper arm within the aforementioned gap generates an interruption signal. The method according to Embodiment 19 or 20, wherein at least one of the plurality of wiper arms is positioned to connect to its respective resistance element along the arc length according to one of the possible rotational positions of the gear when the gear rotates 360° in the first rotational direction about the gear axis. [Example of Embodiment 22] The step of determining the total amount of movement of the probe relative to the housing is, The steps include supplying the first reference signal to one of the pair of terminal portions, After the drilling device has been positioned relative to the object to be treated, and before the step of operating the drilling device, the steps include generating initial signals corresponding to the initial rotational positions of the gears from each of the at least two wiper arms, The steps include transmitting each of the generated initial signals to the controller, After the step of operating the drilling device, the final positioning of each of the at least two wiper arms corresponding to the final rotational position of the gear is determined. The step of operating the drilling device, followed by the step of generating each final signal corresponding to the determined final position in each of the at least two wiper arms from each of the at least two wiper arms, The step of operating the drilling device includes determining the number of obviously separate interruption signals generated from one of the at least two wiper arms, The steps include generating an additional signal corresponding to the number of clearly different interruption signals determined above and transmitting it to the controller, The steps include processing each of the generated initial signals, each of the generated final signals, and each of the generated additional signals by the controller, The controller generates drilling depth signals corresponding to each of the processed initial signals, each of the processed final signals, and the additional processed signals. The method according to Embodiment Example 21, which includes the following: [Example of Embodiment 23] A surgical drilling device configured to operate a drill bit, Housing and A connecting assembly disposed within the housing, configured to detachably connect the drill bit, A probe movably mounted to the housing, configured to be positioned corresponding to tissue, A transducer assembly, A gear connected to the probe and configured to rotate more than 360° about a gear axis when the probe moves relative to the housing, wherein the gear has a reference point having an angular rotation path about the gear axis, and the angular rotation path is divided into a first arc region and a second arc region, and the first arc region is separated from the second arc region, A transducer comprising at least two rotational sensor devices, wherein the at least two rotational sensor devices are rotatably fixed to the gear, and Equipped with, A transducer assembly comprising: a first rotation sensor device configured to detect the rotational position at a reference point within the first arc region; a second rotation sensor device configured to detect the rotational position of the reference point within the second arc region; the first rotation sensor device being unable to detect the reference point within the second arc region; and each of the at least two rotation sensor devices being configured to independently generate output signals corresponding to the detected rotational positions at the respective reference points in the first and second arc regions. A controller configured to receive each of the independently generated multiple output signals and to determine the depth of the perforation of the tissue formed by the drill bit based on each of the independently generated multiple output signals, A surgical drill device equipped with [a specific feature].

Claims

1. A surgical drilling device configured to operate a drill bit, Housing and A probe movably mounted on the housing, configured to be positioned in accordance with the object to be treated, A transducer assembly, A gear connected to the probe and configured to rotate more than 360° around the gear axis when the probe moves relative to the housing, A transducer comprising at least two potentiometers, each of which is connected to the gear and configured to independently generate an output signal in accordance with the rotation of the gear, wherein the two potentiometers have different measuring ranges to cover the full 360° rotation range of the gear, A controller configured to receive the output signals from at least two of the potentiometers and to determine the depth of the tissue perforation formed by the drill bit based on the output signals. A transducer assembly comprising A surgical drill device equipped with [a specific feature].

2. Equipped with an additional display, The controller is configured to generate a drilling depth signal corresponding to the determined drilling depth, which is received by the display. The surgical drilling device according to claim 1, wherein the drilling depth signal is displayed on the display so that the user can see it.

3. Each of the two potentiometers is A main body having a pair of terminal portions electrically connected to a resistive element, wherein one of the pair of terminal portions is configured to receive a first reference signal, the other of the pair of terminal portions is connected to a second reference signal, the resistive element has an arc shape defining the arc length between the pair of terminal portions, and the pair of terminal portions are separated from each other by a gap defining an additional arc length, A rotor portion connected to the main body portion and connected to the gear, wherein the rotor portion comprises a wiper arm electrically connected to a third terminal portion of the main body portion, and the wiper arm rotates about the gear axis due to the rotation of the gear about the gear axis, and Equipped with, The positioning of the wiper arm along the arc length of the resistive element generates an output signal at the third terminal portion, and the output signal corresponds to the relative positioning along the arc length of the resistive element and is converted with respect to the first reference signal. The positioning of the wiper arm within the gap generates an interruption signal. The surgical drill device according to claim 1, wherein the wiper arm is positioned to connect to the resistance element along the arc length according to the rotational position of the gear when the gear rotates 360° around the gear axis.

4. The arc length of the resistive element on the main body portion of each potentiometer is 11πr / 6 or less. The surgical drill device according to claim 3, wherein r is the radius length of each of the wiper arms.

5. The surgical drill device according to claim 3, wherein the main body portion of one of the at least two potentiometers rotates with respect to the main body portion of the other potentiometer of the at least two potentiometers at an angle greater than 0° and less than 360° about the gear axis.

6. The surgical drill device according to claim 3, wherein each wiper arm of the at least two potentiometers is positioned to be electrically connected to each resistive element at at least one rotational position of the gear.

7. Each wiper arm of the at least two potentiometers is positioned to be electrically connected to each resistance element at at least one rotational position of the gear, Each wiper arm of the at least two potentiometers generates an output signal, each output signal corresponding to the relative positioning along the arc length of each resistive element, and is converted with respect to the received first reference signal. The surgical drill device according to claim 3, wherein the controller is configured to receive and combine the output signals from each wiper arm of the at least two potentiometers, and to determine the amount of movement of the probe relative to the housing based on the output signals.

8. Each of the wiper arms generates an output signal, each output signal corresponding to the relative positioning along the arc length of each resistor element and corresponding to the received first reference signal. The surgical drill device according to claim 7, wherein the controller is configured to receive the output signal and determine the amount of movement of the probe relative to the housing based on the output signal.

9. The surgical drilling device according to claim 3, wherein when the wiper arm of one of the at least two potentiometers is positioned to connect to a corresponding resistive element, the controller is configured to receive the generated corresponding output voltage signal from one of the at least two potentiometers and to determine the amount of movement of the probe relative to the housing based on the generated corresponding output signal.

10. The controller is further configured to determine the total number of rotations of the gear that rotates around the gear shaft, Each full rotation corresponds to a predetermined amount of movement of the probe relative to the housing, The surgical drill device according to claim 3, wherein the controller is configured to determine the total amount of movement of the probe relative to the housing based on each of the output signals, each of the interruption signals, and the number of total rotations of the plurality of outputs.

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