Surgical drilling device and system

Abstract

The present invention relates to a surgical drilling device and system and, more specifically, to a surgical drilling device and system, the drilling device comprising: a drill module comprising a drill chuck to which a drill bit for forming a hole in an object is coupled and a first power unit for transmitting rotational force to the drill chuck; a transfer screw connected to the drill module so as to allow the drill module to move along an axial direction; a second power unit for transmitting rotational force to the transfer screw; and a force sensor attached to the drill module so as to measure compressive force applied to the drilling device. The force sensor comprises: a sensor frame of which the shape is deformed according to a load applied to the drill bit; a first magnetic body disposed at one end of the sensor frame; and a first hall sensor disposed at the other end of the sensor frame, wherein an interval between the first magnetic body and the first hall sensor changes depending on a cutting load with respect to the object that the drill bit comes into contact with, so that, during a drilling operation on a patient's bone tissue, cutting characteristics of bone tissue and soft tissue are detected, thereby preventing damage to the soft tissue.

Description

Surgical drilling devices and systems

[0001] The present invention relates to a surgical drilling device and system, and more particularly, to a surgical drilling device and system capable of detecting cutting characteristics of bone tissue and soft tissue during drilling work on a patient's bone tissue, thereby preventing damage to soft tissue.

[0002] In surgical operations, drilling is frequently performed to secure various instruments into the patient's bones.

[0003] During drilling, the surgeon can sense the load acting on the drill and stop the drill movement when the load changes, thereby determining the depth of the hole.

[0004] At this time, the drill's acceleration can be faster than the human motor nerves, causing it to penetrate deeper than intended, even if the operator attempts to stop the drill. This is more likely to be influenced by the operator's lack of skill. If the drill penetrates the opposite cortical bone, soft tissue damage can occur, potentially leading to a medical accident.

[0005] The present invention is intended to solve the above problems, and aims to provide a surgical drilling device and system capable of detecting cutting characteristics of bone tissue and soft tissue during drilling work on a patient's bone tissue, thereby preventing damage to soft tissue.

[0006] According to one aspect of the present invention for achieving the above-described object, there is provided a surgical drilling device, comprising: a drill module including a drill chuck to which a drill bit for forming a hole in a target object is coupled, and a first power unit for transmitting a rotational force to the drill chuck; a feed screw connected to the drill module to enable the drill module to move in an axial direction; a second power unit for transmitting a rotational force to the feed screw; and a force sensor attached to the drill module for measuring a compressive force applied to a drilling device, wherein the force sensor includes a sensor frame configured to change shape according to a load applied to the drill bit, a first magnetic body arranged at one end of the sensor frame, and a first Hall sensor arranged at the other end of the sensor frame, and wherein a gap between the first magnetic body and the first Hall sensor is configured to change according to a cutting load on the target object with which the drill bit comes into contact.

[0007] In addition, a surgical drilling device according to one aspect of the present invention includes a transfer screw holder having a coupling groove formed to couple one end of a transfer screw, and the transfer screw holder is characterized in that it further includes a fixing hole to which a sensor frame is fixed by a fixing pin.

[0008] In addition, a surgical drilling module according to one aspect of the present invention is characterized in that the sensor frame has a “U” shape, and the first magnetic body and the first Hall sensor are respectively provided at both ends of the sensor frame.

[0009] In addition, a surgical drilling device according to one aspect of the present invention includes a drill module connected to a drill chuck and a torque sensor for measuring a torque applied to the surgical drilling device, wherein the torque sensor includes an output member coupled to the drill chuck, an input member coupled to a first power unit, a connecting member for transmitting rotational power of the input member to the output member, second and third magnetic bodies arranged on the connecting member, wherein faces facing each other have different polarities and form a pair, and a second Hall sensor arranged on the input member so as to be positioned between the second magnetic body and the third magnetic body, wherein the distance between the second and third magnetic bodies and the second Hall sensor is provided so as to change according to a cutting load on an object with which the drill bit comes into contact.

[0010] In addition, a surgical drilling device according to one aspect of the present invention is characterized in that a connecting member is coupled to rotate integrally with an output member, an input member includes a plurality of tooth-shaped protrusions that protrude in a circumferential direction and are spaced apart from each other, and the connecting member includes a plurality of arc-shaped protrusions that protrude in the direction of the input member, and the tooth-shaped protrusions and the arc-shaped protrusions are spaced apart from each other and engage with each other, and an elastic body is disposed between the two protrusions.

[0011] In addition, a surgical drilling device according to one aspect of the present invention is characterized in that when a drill bit comes into contact with an object during operation of a drill module, an elastic body is compressed by a connecting member and an input member, and the degree of compression of the elastic body varies depending on a cutting load applied to the object with which the drill bit comes into contact.

[0012] In addition, a surgical drilling device according to one aspect of the present invention includes a signal transmission unit that transmits a sensor signal output from a second hall sensor to the outside of a torque sensor, and the signal transmission unit is characterized in that it transmits a signal in a non-contact state through a wireless transmission element.

[0013] In addition, the wireless transmission element according to one aspect of the present invention is characterized in that it is an optical element.

[0014] In addition, the surgical drilling device according to one aspect of the present invention is characterized in that it further includes a reducer for controlling the output of the first power unit.

[0015] In addition, a surgical drilling device according to one aspect of the present invention further includes a base frame that supports a drill module and has a guide rail parallel to the rotational axis of the drill module, and the drill module is characterized in that it moves along the guide rail.

[0016] Meanwhile, a surgical drilling system according to one aspect of the present invention is characterized by including a surgical drilling device, a drill control module that acquires data through a sensor and controls the operation of the drill, and a control switch that outputs an operation signal of the drill and transmits it to the drill control module.

[0017] In addition, a drill control module according to one aspect of the present invention is characterized by including a signal processing unit that receives a signal from a sensor and performs signal processing, a control command unit, and a power control unit that receives a control command from the control command unit and controls the rotation direction and rotation speed of the first power unit and the second power unit.

[0018] In addition, a signal processing unit according to one aspect of the present invention is characterized by receiving a signal output from a drill module, converting it into data, and transmitting the converted sensing data to a control command unit.

[0019] In addition, a control command unit according to one aspect of the present invention is characterized by calculating sensing data according to a pre-input algorithm and transmitting a drill control command to a power control unit.

[0020] In addition, a control switch according to one aspect of the present invention is characterized in that it operates at least one of start, stop, rotation speed and feed speed of drilling.

[0021] Meanwhile, a surgical drilling system according to another aspect of the present invention is characterized by including a surgical drilling device, a drill control module that acquires data through a sensor and controls the operation of the drill, and an integrated operation module that receives data from the drill control module and outputs an operation signal of the drill and transmits it to the drill control module.

[0022] In addition, the integrated operation module according to another aspect of the present invention includes a user interface that visualizes and displays data received from the drill control module, and the user interface is characterized in that it receives information required for drilling operation from a user.

[0023] The surgical drilling device and system according to the present invention can detect cutting characteristics of bone tissue and soft tissue during drilling work on bone tissue of a patient, thereby preventing damage to soft tissue.

[0024] FIG. 1 is a perspective view of a surgical drilling device according to one embodiment of the present invention.

[0025] Figure 2 is an exploded perspective view of a force sensor according to one embodiment of the present invention viewed from another direction.

[0026] FIG. 3 is a front view illustrating the position and operating principle of a force sensor in a surgical drilling device according to one embodiment of the present invention.

[0027] FIG. 4 is a drawing showing a transport state of a surgical drilling device according to one embodiment of the present invention.

[0028] FIG. 5 is a block diagram illustrating the configuration and operation of a force sensor according to one embodiment of the present invention.

[0029] Figure 6 is an exploded perspective view of a torque sensor according to one embodiment of the present invention viewed from another direction.

[0030] Fig. 7 is a cross-sectional view for explaining the operating principle of a torque sensor according to one embodiment of the present invention.

[0031] FIG. 8 is a diagram showing the signal size of a Hall sensor according to the position of a magnetic body according to one embodiment of the present invention.

[0032] FIG. 9 is a block diagram for explaining the configuration and operation of a torque sensor according to one embodiment of the present invention.

[0033] FIG. 10 is a block diagram illustrating the configuration and operation of a surgical drilling system using a control switch according to one embodiment of the present invention.

[0034] FIG. 11 is a flowchart showing the operation process of a drill control module connected to a control switch in a surgical drilling system using a control switch according to one embodiment of the present invention.

[0035] FIG. 12 is a block diagram illustrating the configuration and operation of a surgical drilling system controlled by an upper operation module according to another embodiment of the present invention.

[0036] FIG. 13 is a flowchart showing the operation process of a drill control module connected to an integrated operation module in a surgical drilling system controlled by an upper operation module according to another embodiment of the present invention.

[0037] FIG. 14 and FIG. 15 are diagrams showing a user interface of an integrated operation module according to another embodiment of the present invention.

[0038] Hereinafter, preferred embodiments of the present invention will be described in more detail with reference to the attached drawings.

[0039] In addition, regardless of the drawing symbol, identical or corresponding components are given identical or similar reference numbers and redundant descriptions thereof are omitted, and for the convenience of explanation, the size and shape of each component depicted may be exaggerated or reduced.

[0040] FIG. 1 is a perspective view of a surgical drilling device according to one embodiment of the present invention.

[0041] Referring to FIG. 1, a surgical drilling device (100) according to one embodiment of the present invention may include a drill module (1000) including a drill chuck (1100) to which a drill bit (1110) for forming a hole in a target object is coupled and a first power unit (1200) for transmitting rotational force to the drill chuck (1100), a feed screw (2000) connected to the drill module (1000) to enable the drill module (1000) to move along an axial direction, a second power unit (3000) for transmitting rotational force to the feed screw (2000), a force sensor (4000) attached to the drill module (1000) to measure a compressive force applied to the drilling device (100), and a base frame (5000) supporting the drill module (1000) and having a guide rail (5100) parallel to the rotational axis of the drill module (1000).

[0042] The drill module (1000) may further include a torque sensor (1300) connected to the drill chuck (1100) to measure the torque applied to the surgical drilling device (100) and a reducer (1400) to control the output of the first power unit (1200).

[0043] The reducer (1400) is coupled with the first power unit (1200) to lower the output rotation speed of the first power unit (1200) and increase the output rotational force.

[0044] FIG. 2 is an exploded perspective view of a force sensor according to an embodiment of the present invention viewed from another direction, FIG. 3 is a front view for explaining the position and operating principle of a force sensor in a surgical drilling device according to an embodiment of the present invention, FIG. 4 is a drawing for showing a transport state of a surgical drilling device according to an embodiment of the present invention, and FIG. 5 is a block diagram for explaining the configuration and operation of a force sensor according to an embodiment of the present invention.

[0045] Referring to FIGS. 2 to 5, a surgical drilling device (100) according to one embodiment of the present invention may include a transfer screw holder (2100) having a coupling groove (2110) formed to which one end of a transfer screw (2000) is coupled.

[0046] The transfer screw holder (2100) is coupled with the transfer screw (2000) through the coupling groove (2110) and can move integrally with the transfer screw (2000). At this time, the transfer screw (2000) and the transfer screw holder (2100) can be coupled by screw coupling.

[0047] Meanwhile, the force sensor (4000) may include a sensor frame (4100) configured to change shape according to a load applied to a drill bit (11100), a first magnetic body (4300) arranged at one end of the sensor frame (4100), and a first Hall sensor (4400) arranged at the other end of the sensor frame (4100).

[0048] At this time, the first magnetic body (4300) and the first hall sensor (4400) may be arranged so that the gap changes according to the axial compressive force applied by the cutting load on the object with which the drill bit (1110) comes into contact.

[0049] Additionally, the sensor frame (4100) can be fixed to the fixing hole (2120) of the transfer screw holder (2100) by a fixing pin (4200).

[0050] Meanwhile, the drill module (1000) of the surgical drilling device (100) according to one embodiment of the present invention can move along the guide rail (5100).

[0051] A second power unit (3000) fixed to a base frame (5000) can transmit rotational force to a feed screw (2000) so that the feed screw (2000) rotates and moves. As the feed screw (2000) moves forward, a drill module (1000) connected to the feed screw (2000) also moves along the axial direction. At this time, the drill module (1000) is guided by a guide rail (5100) attached to the base frame (5000), so that it can move in a predetermined direction without shaking due to rotation.

[0052] Next, the structure and operation process of the force sensor (4000) will be described in detail.

[0053] The sensor frame (4100) of the force sensor (4000) may have a “U” shape, and the first magnetic body (4300) and the first Hall sensor (4400) may be provided at each end of the sensor frame (4100).

[0054] Additionally, the sensor frame (4100) may include a through hole (4110) through which a transfer screw holder (2100) passes, and may include a pin hole (4120) through which a fixing pin (4200) passes.

[0055] The transfer screw holder (2100) placed inside the through hole (4110) of the sensor frame (4100) can be fixedly combined with the sensor frame (4100) by a fixing pin (4200) that sequentially passes through the pin hole (4120) and the fixing hole (2120).

[0056] Meanwhile, the transfer screw (2000) can move by receiving the rotational power of the second power unit (3000), and the drill module (1000) and force sensor (4000) combined with the transfer screw (2000) can also move together with the transfer screw (2000).

[0057] At this time, the drill bit (1110) of the drill module (1000) receives a load in the opposite direction of movement while performing a drilling operation to make a hole in the patient's bone tissue, and compressive stress according to the load may be generated and applied to the force sensor (4000).

[0058] A force sensor (4000) subjected to compressive stress may undergo elastic deformation.

[0059] Specifically, a “U” shaped sensor frame (4100) with one side fixed to a drill module (1000) and the other side fixed by a transfer screw holder (2100) can be deformed so that the gap between the two ends changes due to compressive stress.

[0060] Accordingly, the spacing between the first magnetic body (4300) and the first Hall sensor (4400) arranged at each end may change, and the signal size of the first Hall sensor (4400) may also change.

[0061] Meanwhile, referring to FIG. 5, a sensor signal output from a first hall sensor (4400) is transmitted to a signal transmission unit (4500) and, after an amplification process, may be modulated into a PWM (Pulse Width Modulation) signal. Thereafter, the signal may be transmitted from the signal transmission unit (4500) to a signal reception unit (4600) installed externally.

[0062] Specifically, the sensor signal output from the first hall sensor (4400) can be amplified by the amplifier (4510) of the signal transmission unit (4500) and then modulated into a PWM signal by the converter (4520).

[0063] The modulated PWM signal can be received by the signal receiving unit (4600), converted from a PWM signal to an analog signal through a filter circuit (4610), and then amplified by an amplifier (4620) of the signal receiving unit (4600) to be demodulated into a power signal.

[0064] FIG. 6 is an exploded perspective view of a torque sensor according to one embodiment of the present invention viewed from another direction, FIG. 7 is a cross-sectional view for explaining the operating principle of a torque sensor according to one embodiment of the present invention, FIG. 8 is a diagram showing the signal size of a Hall sensor according to the position of a magnetic body according to one embodiment of the present invention, and FIG. 9 is a block diagram for explaining the configuration and operation of a torque sensor according to one embodiment of the present invention.

[0065] Referring to FIGS. 6 to 9, a torque sensor (1300) according to one embodiment of the present invention may include an output member (1310) coupled with a drill chuck (1100), an input member (1320) coupled with a first power unit (1200), a connecting member (1330) that transmits rotational power of the input member (1320) to the output member (1310), a second magnetic body and a third magnetic body (1340, 1350) that are arranged on the connecting member (1330) and have opposite polarities on their facing sides, forming a pair, and a second Hall sensor (1360) that is arranged on the input member (1320) and is positioned between the second magnetic body (1340) and the third magnetic body (1350).

[0066] At this time, the gap between the second and third magnetic bodies (1340, 1350) and the second Hall sensor (1360) may change depending on the cutting load applied to the object with which the drill bit (1110) comes into contact.

[0067] Meanwhile, the second Hall sensor (1360) may be positioned at an eccentric position from the rotation axis. Since the second Hall sensor (1360) is not positioned on the rotation axis, the gap between the second and third magnetic bodies (1340, 1350) and the second Hall sensor (1360) may change as the second and third magnetic bodies (1340, 1350) rotate.

[0068] In addition, the torque sensor (1300) may include a signal transmission unit (1500) that transmits a sensor signal output from the second hall sensor (1360) to the outside, and the signal transmission unit (1500) may transmit a signal in a non-contact state through a wireless transmission element.

[0069] Next, the structure and operation process of the torque sensor (1300) will be described in detail.

[0070] The output member (1310) may include a plurality of circumferential projections (1311) that protrude and are spaced apart from each other in the circumferential direction, the input member (1320) may include a plurality of toothed projections (1321) that protrude and are spaced apart from each other in the circumferential direction, and the connecting member (1330) may include a plurality of engaging projections (1331) that protrude in the direction of the output member (1310) and a plurality of arcuate projections (1332) that protrude in the direction of the input member (1320).

[0071] At this time, the circular protrusion (1311) and the coupling protrusion (1331) may be arranged to be fitted together. By fitting together the circular protrusion (1311) and the coupling protrusion (1331), the connecting member (1330) may be coupled to rotate integrally with the output member (1310).

[0072] Additionally, the tooth-shaped projection (1321) and the arc-shaped projection (1332) may be spaced apart from each other and interlocked, and an elastic body (1370) may be placed between the two projections.

[0073] The torque sensor (1300) of the above configuration can be rotated by the rotational force of the first power unit (1200) and can transmit the rotational force to the drill bit (1110) of the drill chuck (1100).

[0074] At this time, when the drill bit (1110) comes into contact with the target object during the operation of the drill module (1000), the elastic body (1370) can be compressed by the connecting member (1330) and the input member (1320).

[0075] Specifically, the drill bit (1110) that receives the rotational force receives a rotational load (load torque) in the opposite direction of rotation while performing a drilling operation to form a hole in the patient's bone tissue, and a torsional stress according to the load torque may be generated, causing deformation in the elastic body (1370).

[0076] At this time, the degree of compression of the elastic body (1370) may vary depending on the frictional force with the tissue with which the drill bit (1110) comes into contact.

[0077] As shown in (a) of Fig. 7, the second Hall sensor (1360) may be placed between the second magnetic body (1340) and the third magnetic body (1350). When deformation occurs in the elastic body (1370) due to torsional stress, as shown in (b) of Fig. 7, the second magnetic body (1340) may come closer to the second Hall sensor (1360), and the third magnetic body (1350) may move away from the second Hall sensor (1360).

[0078] At this time, if the direction in which the torsional stress is applied is opposite, the second magnetic body (1340) may move away from the second Hall sensor (1360), and the third magnetic body (1350) may move closer to the second Hall sensor (1360).

[0079] Depending on the direction in which the torsional stress is applied, such as in A or B of FIG. 8, when the second magnetic body and the third magnetic body (1340, 1350) are each closest to the second Hall sensor (1360), the direction of the signal of the second Hall sensor (1360) may change. Specifically, from the initial position as in (a) of FIG. 7, when the second magnetic body (1340) approaches the second Hall sensor (1360), the signal may change in the positive direction (A), and when the third magnetic body (1350) approaches, the signal may change in the negative direction (B).

[0080] Meanwhile, referring to FIG. 9, the sensor signal output from the second hall sensor (1360) is transmitted to the signal transmission unit (1500) and can be modulated into a PWM signal after an amplification process.

[0081] Afterwards, the modulated signal from the signal transmission unit (1500) can be transmitted to the outside by being transmitted to a wireless transmission element.

[0082] Specifically, the sensor signal output from the second Hall sensor (1360) can be amplified by the amplifier (1510) of the signal transmission unit (1500) and then modulated into a PWM signal by the converter (1520).

[0083] The modulated PWM signal can be transmitted to the optical driver (1610) of the optical module (1600) to control the optical element (1620).

[0084] At this time, the optical element (1620) may be installed in multiple units or may include a light guide plate that diffuses light in order to transmit light stably even during rotation of the torque sensor.

[0085] Light irradiated from the optical element (1620) can be transmitted to the externally installed light receiver (1700). The light received by the optical sensor (1710) of the light receiver (1700) is converted into an electrical signal, converted from a PWM signal to an analog signal through a filter circuit (1720), and then amplified by an amplifier (1730) of the light receiver (1700) to be demodulated into a torque signal.

[0086] FIG. 10 is a block diagram for explaining the configuration and operation of a surgical drilling system using a control switch according to one embodiment of the present invention, and FIG. 11 is a flowchart showing the operation process of a drill control module connected to a control switch in a surgical drilling system using a control switch according to one embodiment of the present invention.

[0087] Referring to FIGS. 10 and 11, a surgical drilling system (10) according to one embodiment of the present invention may include a surgical drilling device (100), a drill control module (200) that obtains data through a sensor and controls the operation of the drill, and a control switch (300) that outputs an operation signal of the drill and transmits it to the drill control module (200).

[0088] The drill control module (200) may include a signal processing unit (210) that receives a signal from a sensor and performs signal processing, a control command unit (220), and a power control unit (230) that receives a control command from the control command unit (220) and controls the rotation direction and rotation speed of the first power unit (1200) and the second power unit (3000).

[0089] The signal processing unit (210) can receive a signal output from the drill module (1000), convert it into data, and transmit the converted sensing data to the control command unit (220).

[0090] The control command unit (220) can calculate sensing data according to a pre-input algorithm and transmit a drill control command to the power control unit (230).

[0091] The control switch (300) can operate at least one of the start, stop, rotation speed and feed speed of drilling.

[0092] Next, the operation process of the drill control module (200) according to one embodiment of the present invention will be described.

[0093] The drill control module (200) can set up previously stored data (S301).

[0094] Specifically, it is possible to set reference values ​​for starting and stopping drilling, or to set acceleration / deceleration rotation speeds and delay times during start and stop operations.

[0095] The drill control module (200) that has completed setup can update data with pre-drilling sensor values ​​measured by the sensor of the surgical drilling device (100) (S302). The drill control module (200) can initialize the setting value with the pre-drilling sensor value.

[0096] After data update, the drill control module (200) can determine whether a signal is input from the control switch (300) (S303) and can start drilling according to the operation signal of the control switch (300) (S304).

[0097] At this time, the control switch (300) can transmit a start and stop operation signal for drilling to the drill control module (200), and can transmit an operation signal to the drill control module (200) that can linearly control the drill rotation speed or drill feed speed according to the pressure applied by the user.

[0098] Thereafter, the drill control module (200) can determine whether the surgical drilling device (100) has reached the drilling target value and terminate the drilling (S305).

[0099] At this time, the drilling target target value may include at least one of the position, feed speed, and load torque of the surgical drilling device (100). The drill control module (200) may terminate drilling regardless of the signal of the control switch (300) when the sensor value measured by the sensor reaches the upper or lower limit of the preset drilling target target value.

[0100] FIG. 12 is a block diagram for explaining the configuration and operation of a surgical drilling system controlled by an upper operation module according to another embodiment of the present invention, and FIG. 13 is a flowchart showing the operation process of a drill control module connected to an integrated operation module in a surgical drilling system controlled by an upper operation module according to another embodiment of the present invention.

[0101] The surgical drilling system according to the embodiments of FIGS. 12 and 13 is similar to the surgical drilling system according to the embodiments of FIGS. 10 and 11, so overlapping descriptions will be omitted and descriptions will be focused on differences.

[0102] Referring to FIGS. 12 and 13, a surgical drilling system (10) according to another embodiment of the present invention may further include an integrated operation module (400) that receives data from a drill control module (200) and outputs a drill operation signal to transmit the same to the drill control module (200).

[0103] The integrated operation module (400) may include a user interface (410) that visualizes and displays data received from the drill control module (200), and at this time, the user interface (410) may receive information required for drill operation from the user.

[0104] Additionally, the integrated operation module (400) can receive the patient's medical data from an external source and combine the medical data with data received from the drill control module (200).

[0105] Next, the operation process of the drill control module (200) according to another embodiment of the present invention will be described.

[0106] The drill control module (200) can set up previously stored data (S401).

[0107] Specifically, it is possible to set reference values ​​for starting and stopping drilling, or to set acceleration / deceleration rotation speeds and delay times during start and stop operations.

[0108] The drill control module (200) that has completed setup can update data with pre-drilling sensor values ​​measured by the sensor of the surgical drilling device (100) (S402). The drill control module (200) can initialize the setting value with the pre-drilling sensor value.

[0109] After data update, the drill control module (200) can determine whether the integrated operation module (400) is connected (S403) and transmit the updated pre-drilling sensor data to the integrated operation module (400) (S404).

[0110] After transmitting sensor data prior to drilling, the drill control module (200) can reset the data stored in the drill control module (S406) according to the detected user parameters when data input from the integrated operation module (400) is detected (S405). At this time, the user parameters may include a control mode selection for controlling at least one of the speed and torque of the first power unit (1200) and the second power unit (3000) of the surgical drilling device (100), and may include an upper limit or lower limit of the drilling target target value.

[0111] After data setup, the drill control module (200) can determine whether a command has been input from the integrated operation module (400) (S407), and can start drilling according to the command signal from the integrated operation module (400) (S408).

[0112] At this time, the integrated operation module (400) can transmit a start and stop command signal for drilling to the drill control module (200), and can transmit a command signal to the drill control module (200) that can linearly manipulate the drill rotation speed or drill feed speed according to a variable input element.

[0113] Additionally, the drill control module (200) can transmit data including real-time sensor values ​​measured from the sensors of the surgical drilling device (100) while drilling is in progress to the integrated operation module (400) (S409).

[0114] Thereafter, the drill control module (200) can determine whether the surgical drilling device (100) has reached the drilling target target value and terminate the drilling (S410). The drill control module (200) can terminate the drilling regardless of the signal from the integrated operation module (400) if the sensor value measured by the sensor reaches the upper or lower limit of the preset drilling target target value.

[0115] FIG. 14 and FIG. 15 are diagrams showing a user interface of an integrated operation module according to another embodiment of the present invention.

[0116] Referring to FIGS. 14 and 15, the user interface (410) of the integrated operation module (400) according to another embodiment of the present invention can combine the patient's medical data received from the outside and the data received from the drill control module (200).

[0117] For example, as illustrated in FIG. 14, the integrated operation module (400) may be used as a device for planning the location and path of drilling based on a patient's medical image data. In this case, the integrated operation module (400) may provide a marker tool that allows the user to mark a specific location of the patient's medical image data, and a measuring tool that can measure the distance, angle, and radius between markers.

[0118] Additionally, the integrated operation module (400) may provide a data management tool for storing and managing surgical planning data generated by the marker tool and measuring tool.

[0119] As another example, as illustrated in FIG. 15, the integrated operation module (400) may be used as a device that controls a surgical drilling device (100) based on a patient's medical image data. In this case, the integrated operation module (400) may implement an image of a drill in the patient's medical image data based on sensor data and provide a tool for inputting user parameters. This allows the user to visually confirm the patient's medical image data and the drill and input user parameters for controlling the surgical drilling device (100).

[0120] In addition, the integrated operation module (400) can process the collected sensor data to generate patient bone quality data such as density, strength, cortical bone thickness, and marrow cavity thickness, and can store the data by combining it with the patient's existing medical data.

[0121] The above preferred embodiments of the present invention are disclosed for the purpose of illustration, and various modifications and variations of the technical idea of ​​the present invention can be made by those skilled in the art to which the present invention pertains, and such modifications and variations will fall within the scope of protection of the present invention.

Claims

1. A drill module including a drill chuck to which a drill bit for forming a hole in a target object is coupled and a first power unit for transmitting rotational force to the drill chuck; A feed screw connected to the drill module to enable the drill module to move along the axial direction; A second power unit transmitting rotational power to the feed screw; and A force sensor attached to the drill module and measuring the compressive force applied to the drilling device; The above force sensor, A sensor frame designed to deform in response to a load applied to the drill bit; a first magnetic body arranged at one end of the sensor frame; and A first Hall sensor disposed at the other end of the sensor frame; A surgical drilling device in which the gap between the first magnetic body and the first Hall sensor changes depending on the cutting load applied to the target object with which the drill bit comes into contact.

2. In paragraph 1, A transfer screw holder having a coupling groove formed into which one end of the transfer screw is coupled, A surgical drilling device wherein the transfer screw holder further includes a fixing hole to which the sensor frame is fixed by a fixing pin.

3. In paragraph 1, The sensor frame has a “U” shape, A surgical drilling device in which a first magnetic body and a first Hall sensor are respectively provided at opposite ends of the sensor frame.

4. In paragraph 1, The drill module includes a torque sensor that is connected to the drill chuck and measures the torque applied to the surgical drilling device; The torque sensor is, An output member coupled with a drill chuck; Input member coupled to the first power unit; A connecting member that transmits the rotational power of an input member to an output member; Second and third magnetic materials arranged in the connecting member, with faces facing each other having different polarities and forming a pair; and A second Hall sensor is disposed in the input member, and is positioned between the second magnetic body and the third magnetic body; A surgical drilling device in which the gap between the second and third magnetic bodies and the second Hall sensor changes depending on the cutting load on the object with which the drill bit comes into contact.

5. In paragraph 4, The connecting member is connected to the output member so as to rotate integrally, The input member includes a plurality of toothed projections that protrude spaced apart from each other in the circumferential direction, The connecting member includes a plurality of arcuate projections protruding in the direction of the input member, A surgical drilling device in which the above-mentioned tooth-shaped projections and the arc-shaped projections are spaced apart from each other and interlocked, and an elastic body is placed between the two projections.

6. In paragraph 5, When the drill bit comes into contact with the target during operation of the drill module, the elastic body is compressed by the connecting member and the input member. A surgical drilling device in which the elastic body has a degree of compression that varies depending on the cutting load applied to the object with which the drill bit comes into contact.

7. In paragraph 4, The torque sensor includes a signal transmission unit that transmits a sensor signal output from the second Hall sensor to the outside, The above signal transmission unit is a surgical drilling device that transmits signals in a non-contact state through a wireless transmission element.

8. In paragraph 7, A surgical drilling device wherein the wireless transmitting element is an optical element.

9. In paragraph 1, A surgical drilling device further comprising a reduction gear for controlling the output of the first power unit.

10. In paragraph 1, Further comprising a base frame supporting the drill module and having a guide rail parallel to the rotation axis of the drill module, The drill module is a surgical drilling device that moves along a guide rail.

11. A surgical drilling device according to any one of claims 1 to 10; A drill control module that acquires data through sensors and controls the operation of the drill; and A surgical drilling system comprising a control switch for outputting a drill operation signal and transmitting it to a drill control module.

12. In paragraph 11, The drill control module is A signal processing unit that receives signals from a sensor and performs signal processing; Control command unit; and A surgical drilling system comprising a power control unit that receives a control command from a control command unit and controls the rotational direction and rotational speed of a first power unit and a second power unit.

13. In paragraph 12, A surgical drilling system in which the signal processing unit receives signals output from the drill module, converts them into data, and transmits the converted sensing data to the control command unit.

14. In paragraph 13, A surgical drilling system in which the control command unit calculates sensing data according to a pre-entered algorithm and transmits a drill control command to the power control unit.

15. In paragraph 11, A surgical drilling system wherein the control switch operates at least one of start, stop, rotation speed and feed speed of drilling.

16. A surgical drilling device according to any one of claims 1 to 10; A drill control module that acquires data through sensors and controls the operation of the drill; and A surgical drilling system comprising an integrated operating module which receives data from a drill control module and outputs a drill operation signal and transmits it to the drill control module.

17. In paragraph 16, The drill control module is A signal processing unit that receives signals from a sensor and performs signal processing; Control command unit; and A surgical drilling system comprising a power control unit that receives a control command from a control command unit and controls the rotational direction and rotational speed of a first power unit and a second power unit.

18. In paragraph 17, A surgical drilling system in which the signal processing unit receives signals output from the drill module, converts them into data, and transmits the converted sensing data to the control command unit.

19. In Article 18, A surgical drilling system in which the control command unit calculates sensing data according to a pre-entered algorithm and transmits a drill control command to the power control unit.

20. In paragraph 16, The integrated operations module includes a user interface that visualizes and displays data received from the drill control module. The above user interface is a surgical drilling system that receives information required for drilling operation from a user.

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