CN113017834B - Joint replacement operation navigation device and method - Google Patents
Joint replacement operation navigation device and method Download PDFInfo
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- 238000000034 method Methods 0.000 title abstract description 33
- 238000001356 surgical procedure Methods 0.000 claims abstract description 76
- 238000000227 grinding Methods 0.000 claims abstract description 52
- 230000003287 optical effect Effects 0.000 claims abstract description 43
- 210000000988 bone and bone Anatomy 0.000 claims abstract description 36
- 230000007246 mechanism Effects 0.000 claims abstract description 31
- 230000000007 visual effect Effects 0.000 claims abstract description 31
- 239000003550 marker Substances 0.000 claims abstract description 6
- 238000009434 installation Methods 0.000 claims abstract description 3
- 230000000694 effects Effects 0.000 abstract description 7
- 230000008569 process Effects 0.000 description 14
- 210000002414 leg Anatomy 0.000 description 6
- 208000034656 Contusions Diseases 0.000 description 5
- 230000009519 contusion Effects 0.000 description 5
- 210000000588 acetabulum Anatomy 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 4
- 210000003484 anatomy Anatomy 0.000 description 3
- 238000011882 arthroplasty Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000003801 milling Methods 0.000 description 3
- 239000000523 sample Substances 0.000 description 3
- 238000002324 minimally invasive surgery Methods 0.000 description 2
- 230000000399 orthopedic effect Effects 0.000 description 2
- 210000004197 pelvis Anatomy 0.000 description 2
- 238000007781 pre-processing Methods 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 210000000689 upper leg Anatomy 0.000 description 2
- 208000002847 Surgical Wound Diseases 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000002146 bilateral effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 210000004394 hip joint Anatomy 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 239000007943 implant Substances 0.000 description 1
- 230000005764 inhibitory process Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000002372 labelling Methods 0.000 description 1
- 210000000528 lesser trochanter Anatomy 0.000 description 1
- 230000003014 reinforcing effect Effects 0.000 description 1
- 238000010079 rubber tapping Methods 0.000 description 1
- 241000894007 species Species 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/101—Computer-aided simulation of surgical operations
- A61B2034/102—Modelling of surgical devices, implants or prosthesis
- A61B2034/104—Modelling the effect of the tool, e.g. the effect of an implanted prosthesis or for predicting the effect of ablation or burring
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/101—Computer-aided simulation of surgical operations
- A61B2034/105—Modelling of the patient, e.g. for ligaments or bones
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2055—Optical tracking systems
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2068—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis using pointers, e.g. pointers having reference marks for determining coordinates of body points
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- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Medical Informatics (AREA)
- Robotics (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Surgical Instruments (AREA)
- Prostheses (AREA)
Abstract
The embodiment of the application provides a joint replacement operation navigation device and a method, and relates to the technical field of medical equipment. The joint replacement surgery navigation device comprises an optical array component, a visual tracking mechanism and a handheld joint replacement surgery robot; the optical array assembly comprises a mounting rod and a plurality of optical markers, wherein the optical markers are fixedly mounted on the mounting rod; the visual tracking mechanism comprises a device for acquiring the degree-of-freedom pose information of the optical marker in a real three-dimensional space; the hand-held joint replacement surgery robot comprises a bone drill, a grinding rod and a grinding head, wherein one end of the grinding rod is fixedly installed with the bone drill, the grinding head is installed at the other end of the grinding rod, and an installation rod of the optical array assembly is fixedly installed on the grinding rod. The joint replacement operation navigation device can achieve the technical effect of improving operation efficiency.
Description
Technical Field
The application relates to the technical field of medical equipment, in particular to a joint replacement surgery navigation device and a method.
Background
At present, surgical accuracy, minimally invasive and intelligent safety are the pursuing goals of the surgeon. With the development of computer-aided surgery (CAS, computer Aided Surgery), computer-aided minimally invasive surgery (casis, computer Aided Minimally Invasive Surgery), computer-aided navigation orthopedic surgery (CAOS, computer Aided Orthopedics Surgery), etc., and the close integration of these techniques with multiple disciplines, surgical navigation robots are one of the main directions of development of future surgical operations. The surgical navigation robot integrates the surgery with computer software and engineering machinery tightly, extends the visual and tactile range of the surgeon, improves the accuracy, safety and repeatability of the surgical operation, assists to complete high-risk complex surgery which cannot be completed in the past, and effectively reduces surgical wounds.
In the prior art, with the development of scientific technology, a surgical navigation robot is widely used in clinic, and is far superior to the common manual surgery in the aspects of positioning accuracy, movement stability and the like. At present, the joint replacement operation robot device is mostly based on mechanical arm equipment, the mechanical arm equipment is from industry, the occupied area is large, and as an operating room is usually provided with more middle-sized or large-sized medical equipment, a plurality of medical staff are required to be on site, and the requirements on the working space and the safety of the mechanical arm are extremely high. In addition, the robot device based on the mechanical arm is complex to install and use, inconvenient to move between operating rooms, and unfavorable for improving the service efficiency of the operating rooms.
Disclosure of Invention
The embodiment of the application aims to provide a joint replacement surgery navigation device and a method, which can achieve the technical effect of improving surgery efficiency.
In a first aspect, embodiments of the present application provide a joint replacement surgery navigation device comprising an optical array assembly, a visual tracking mechanism, and a handheld joint replacement surgery robot;
the optical array assembly comprises a mounting rod and a plurality of optical markers, wherein the optical markers are fixedly mounted on the mounting rod;
the visual tracking mechanism comprises a device for acquiring the degree-of-freedom pose information of the optical marker in a real three-dimensional space;
the hand-held joint replacement surgery robot comprises a bone drill, a grinding rod and a grinding head, wherein one end of the grinding rod is fixedly installed with the bone drill, the grinding head is installed at the other end of the grinding rod, and an installation rod of the optical array assembly is fixedly installed on the grinding rod.
In the implementation process, the joint replacement surgery navigation device can accurately correspond the image data before or during surgery of a patient with the anatomy structure of the patient on an operation table through the optical array component and the visual tracking mechanism, the operation of the joint replacement surgery is carried out through the handheld joint replacement surgery robot, the handheld joint replacement surgery robot is tracked in real time through the visual tracking mechanism in the surgery, and the real-time correspondence between the virtual position and the actual position of the handheld joint replacement surgery robot relative to the image of the patient is realized; therefore, the joint replacement operation navigation device can enable the surgical operation to be more visual, accurate and safe, is high in portability and simple to operate, is beneficial to saving operation time before operation and in operation, and achieves the technical effect of improving the operation efficiency.
Further, the hand-held joint replacement surgical robot further comprises a spring upper cover and a spring base, wherein the spring base is installed at the other end of the grinding rod, and the spring upper cover is installed on the spring base.
In the implementation process, the spring upper cover and the spring base form an elastic component of the handheld joint replacement surgical robot.
Further, the hand-held joint replacement surgical robot further comprises a chuck, the chuck is installed between the spring upper cover and the grinding head, one end of the chuck is fixedly connected with the spring upper cover, and the other end of the chuck is used for fastening the grinding head.
In the above implementation, the chuck is a cylindrical clamp for confining the grinding head.
Further, the hand-held joint replacement surgery robot further comprises a front end guide sleeve, and the front end guide sleeve is sleeved on the grinding rod.
In the implementation process, the front end guide sleeve is sleeved on the grinding rod, so that the guide effect of the hand-held joint replacement surgical robot is realized.
Further, a mounting rod of the optical array assembly is mounted between the front guide sleeve and the bone drill.
In the realization process, the optical marker in the optical array component is arranged on the upper part of the grinding rod and is close to the position of the bone drill, so that the movement of the optical marker caused by the shake of the bone drill in the working process is avoided, the inaccurate positioning tracking caused by the shake of the bone drill is avoided, and the positioning accuracy is improved.
Further, the bone drill is provided with a grip handle.
In the implementation process, the holding handle of the bone drill is convenient for a user to hold.
Further, the device also includes a display electrically connected to the visual tracking mechanism.
In the implementation process, the visual tracking mechanism collects the position information of the optical markers in the optical array assembly and sends the position information to the display, so that the spatial position of the tail end structure (the grinding and contusion device or the knocking device) of the handheld joint replacement surgery robot relative to the patient is displayed in real time through the display.
Further, the visual tracking mechanism is a binocular visual image positioning mechanism.
In the implementation process, the binocular vision image positioning mechanism is provided with two cameras, so that the problem of limited vision of a single camera can be effectively solved, and the binocular vision image positioning mechanism has the advantages of high efficiency, proper precision, simple system structure, low cost and the like.
In a second aspect, an embodiment of the present application provides a joint replacement surgery navigation method, which is applied to the joint replacement surgery navigation device in any one of the first aspect, including:
according to CT images of the operation part of the patient, a joint 3D model and a patient bone reference coordinate system are established;
performing preoperative virtual operation planning according to the joint 3D model and a patient bone reference coordinate system;
registering a joint replacement surgery navigation device so that a coordinate system of the joint replacement surgery navigation device is unified with a patient bone reference coordinate system;
and prompting angle information and depth information of the grinding head or the prosthesis according to the preoperative virtual surgery plan and the navigation operation handheld joint replacement surgery robot of the joint replacement surgery navigation device.
Further, the step of performing preoperative virtual surgery planning according to the joint 3D model and the patient bone reference coordinate system includes:
calculating the front double-side leg length difference value and offset difference value;
generating a prosthetic 3D virtual model, wherein the prosthetic 3D virtual model is used for adjusting the position and angle of a prosthetic in the 3D joint model so as to plan the preset position and angle of the prosthetic in a joint;
and calculating a double-side leg length difference value and a offset distance difference value after prosthesis planning according to the 3D virtual model of the prosthesis and the 3D joint model.
Additional features and advantages of the disclosure will be set forth in the description which follows, or in part will be obvious from the description, or may be learned by practice of the techniques disclosed herein.
In order to make the above objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of a navigation device for joint replacement surgery according to an embodiment of the present application;
fig. 2 is a schematic structural view of a hand-held joint replacement surgery robot according to an embodiment of the present application;
fig. 3 is a schematic flow chart of a navigation method for joint replacement surgery according to an embodiment of the present application;
fig. 4 is a schematic flow chart of preoperative virtual surgery planning according to an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all, of the embodiments of the present application. The components of the embodiments of the present application, which are generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, as provided in the accompanying drawings, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present application without making any inventive effort, are intended to be within the scope of the present application.
In the present application, the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal" and the like indicate an azimuth or a positional relationship based on that shown in the drawings. These terms are used primarily to better describe the present application and its embodiments and are not intended to limit the indicated device, element or component to a particular orientation or to be constructed and operated in a particular orientation.
Also, some of the terms described above may be used to indicate other meanings in addition to orientation or positional relationships, for example, the term "upper" may also be used to indicate some sort of attachment or connection in some cases. The specific meaning of these terms in this application will be understood by those of ordinary skill in the art as appropriate.
Furthermore, the terms "mounted," "configured," "provided," "connected," and "connected" are to be construed broadly. For example, it may be a fixed connection, a removable connection, or a unitary construction; may be a mechanical connection, or a point connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements, or components. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art as the case may be.
Furthermore, the terms "first," "second," and the like, are used primarily to distinguish between different devices, elements, or components (the particular species and configurations may be the same or different), and are not used to indicate or imply the relative importance and number of devices, elements, or components indicated. Unless otherwise indicated, the meaning of "a plurality" is two or more.
The embodiment of the application provides a navigation device and a navigation method for joint replacement operation, which can be applied to joint replacement operation, such as grinding and contusion of acetabulum and placement of prosthesis; the joint replacement surgery navigation device can accurately correspond image data before or during surgery of a patient to anatomy of the patient on an operation table through the optical array component and the visual tracking mechanism, performs joint replacement surgery operation through the handheld joint replacement surgery robot, tracks the handheld joint replacement surgery robot in real time in surgery through the visual tracking mechanism, and achieves real-time correspondence of virtual positions and actual positions of the handheld joint replacement surgery robot relative to images of the patient; therefore, the joint replacement operation navigation device can enable the surgical operation to be more visual, accurate and safe, is high in portability and simple to operate, is beneficial to saving operation time before operation and in operation, and achieves the technical effect of improving the operation efficiency.
Referring to fig. 1 and 2, fig. 1 is a schematic structural diagram of a joint replacement surgery navigation device provided in an embodiment of the present application, and fig. 2 is a schematic structural diagram of a handheld joint replacement surgery robot provided in an embodiment of the present application, where the joint replacement surgery navigation device includes an optical array assembly 100, a vision tracking mechanism 200, a handheld joint replacement surgery robot 300, a display 400, and a patient bony structure 500.
Illustratively, the optical array assembly 100 includes a mounting bar and a plurality of optical markers fixedly mounted on the mounting bar.
Illustratively, the optical markers on the optical array assembly 100 enable tracking and positioning of objects by a particular visual tracking system; optionally, the optical array assembly 100 is respectively mounted on the handheld joint replacement surgical robot 300, the probe, and the patient bony structure 500 to respectively track and position the handheld joint replacement surgical robot 300, the probe, and the patient bony structure 500.
Illustratively, the visual tracking mechanism 200 includes a mechanism for acquiring degree-of-freedom pose information of an optical marker in real three-dimensional space.
The visual tracking is to detect, extract, identify and track a moving object in an image sequence to obtain a moving parameter of the moving object, such as a position, a speed, an acceleration, a moving track and the like, so as to perform next processing and analysis, realize behavior understanding of the moving object, and complete a higher-level detection task.
For example, in the video tracking process, the object tracking method may be classified into a single camera tracking method (single camera) and a Multiple camera tracking method (Multiple cameras) according to the number of cameras used. Target tracking in a wide range of scenes requires the use of a multi-camera system due to the limited field of view of a single camera. The tracking method based on the cameras is beneficial to solving the shielding problem, and the target tracking problem under the conditions of scene confusion and abrupt change of ambient illumination.
Optionally, the visual tracking mechanism 200 is a binocular vision image positioning mechanism.
The binocular vision image positioning mechanism has two cameras, can effectively solve the problem of limited vision of a single camera, and has the advantages of high efficiency, proper precision, simple system structure, low cost and the like.
Illustratively, the handheld joint replacement surgical robot 300 includes a bone drill 310, a grinding rod 320, and a grinding head 330, one end of the grinding rod 320 is fixedly mounted with the bone drill 310, the grinding head 330 is mounted at the other end of the grinding rod 320, and the mounting rod of the optical array assembly 100 is fixedly mounted on the grinding rod 320.
Illustratively, the grinding rod 320 is driven by a bone drill 310, and a grinding head 330 is mounted at the distal end of the grinding rod 320, and the grinding head 330 grinds a target portion (e.g., acetabulum, etc.) of a patient.
In some embodiments, the joint replacement surgery navigation device can accurately correspond the image data before or during the surgery of a patient to the anatomy of the patient on an operation table through the optical array assembly 100 and the visual tracking mechanism 200, perform the operation of the joint replacement surgery through the handheld joint replacement surgery robot 300, and track the handheld joint replacement surgery robot 300 in real time through the visual tracking mechanism 200 during the surgery, so as to realize the real-time correspondence of the virtual position and the actual position of the handheld joint replacement surgery robot 300 relative to the image of the patient; therefore, the joint replacement operation navigation device can enable the surgical operation to be more visual, accurate and safe, is high in portability and simple to operate, is beneficial to saving operation time before operation and in operation, and achieves the technical effect of improving the operation efficiency.
Illustratively, the handheld arthroplasty surgical robot 300 further comprises a spring top cap 340 and a spring base 350, the spring base 350 being mounted to the other end of the grinding bar 320, the spring top cap 340 being mounted to the spring base 350.
Illustratively, the spring top 340 and the spring base 350 comprise the resilient assembly of the handheld arthroplasty surgical robot 300.
Illustratively, the handheld arthroplasty surgical robot 300 further comprises a collet 360, the collet 360 being mounted between the spring cover 340 and the grinding bit 330, one end of the collet 360 being fixedly connected to the spring cover 340, the other end of the collet 360 being adapted to occlude the grinding bit 330.
Illustratively, the collet 360 is a cylindrical clamp for confining the grinding bit 330.
The collet, which may also be referred to as a collet or collet chuck, is a cylindrical clamp for attachment to a milling machine for fastening a drill or a milling cutter; or a fixing device for fixing and reinforcing the parts to be modified.
Illustratively, the handheld joint replacement surgical robot 300 further includes a front guide sleeve 370, the front guide sleeve 370 being sleeved over the grinding bar 320.
Illustratively, the front guide sleeve 370 is sleeved on the grinding bar 320 to provide a guiding function of the hand-held joint replacement surgical robot 300.
Illustratively, the mounting rod of the optical array assembly 100 is mounted between the front guide sleeve 370 and the bone drill 310.
Illustratively, the optical markers in the optical array assembly 100 are disposed on the upper portion of the grinding rod 320, near the position of the bone drill 310, so that the movement of the optical markers caused by the shake of the bone drill 310 during operation of the bone drill 310 is avoided, and the inaccurate positioning tracking caused by the shake is avoided, thereby improving the positioning accuracy.
Illustratively, the bone drill 310 is provided with a grip handle.
Illustratively, the grip handle of bone drill 310 is convenient for a user to hold.
Illustratively, the joint replacement surgery navigation device further includes a display 400, the display 400 being electrically connected to the visual tracking mechanism 200.
Illustratively, the visual tracking mechanism 200 gathers positional information of the optical markers in the optical array assembly 100 and transmits the positional information to the display 400, thereby displaying the spatial position of the end structure (the milling device or the tapping device) of the handheld joint replacement surgical robot 300 relative to the patient in real time via the display 400.
Optionally, the joint replacement surgery navigation device further comprises a computer 410, and the computer is electrically connected with the vision tracking mechanism 200 and the display 400 respectively, and outputs the image data to the display for display by receiving and processing the data of the vision tracking mechanism 200.
Referring to fig. 3, fig. 3 is a flow chart of a navigation method for joint replacement surgery according to an embodiment of the present application, where the navigation method for joint replacement surgery includes the following steps:
s100: and (3) building a joint 3D model and a patient bone reference coordinate system according to the CT image of the surgical site of the patient.
Illustratively, in S100, a joint 3D model is created from a CT image of a patient' S surgical site, key anatomical feature labeling may be performed, and a patient bone reference coordinate system is created.
S200: and performing preoperative virtual operation planning according to the joint 3D model and a patient bone reference coordinate system.
For example, the joint 3D model and the patient bone reference frame may assist the physician in pre-operative virtual surgical planning.
S300: registration of the joint replacement surgery navigation device is performed such that the coordinate system of the joint replacement surgery navigation device is unified with the patient bone reference coordinate system.
In some embodiments, registration of the joint replacement surgical navigation device and registration of the patient target site (e.g., acetabulum, etc.) may be performed separately. Unifying coordinates of navigation, patient and world; optionally, taking the acetabular registration as an example, the acetabular registration is completed by sequentially selecting a plurality of points in the acetabular fossa by a probe with optical identification.
S400: and according to the preoperative virtual operation planning and the navigation operation of the joint replacement operation navigation device, the hand-held joint replacement operation robot prompts the angle information and the depth information of the grinding head or the prosthesis.
For example, taking a hip joint replacement operation as an example, the end of the hand-held joint replacement operation robot is provided with a grinding and contusion rod or a knocking rod, a doctor holds the hand-held joint replacement operation robot to grind and contusion the acetabulum and place the prosthesis, and the angle information and the depth value of the grinding and contusion head or the prosthesis can be prompted in real time through corresponding software.
In some embodiments, the joint replacement surgery navigation method corresponds to a joint replacement surgery navigation system, and the joint replacement surgery navigation system comprises an image preprocessing module, a surgery planning module, a surgery registration module and a positioning navigation module; the steps in the joint replacement surgery navigation method, such as S100, S200, S300 and S400, are respectively completed by a corresponding image preprocessing module, a surgery planning module, a surgery registration module and a positioning navigation module.
The joint replacement surgery navigation device provided by the embodiment of the application can provide real-time interactive guidance for a surgeon, and instruct the surgeon on how to cut bones according to a plan to adapt to an implant. In joint replacement surgery navigation methods, the process involves tracking instruments and bones in 3D, visual and audio cues may be provided to the user, and/or some control of the cutting instrument. Optionally, the joint replacement surgery navigation device may include modules for navigation, guidance, surgical assistance, outcome assessment, and the like.
In some embodiments, the joint replacement surgical navigation device further comprises a surgical pen; the surgeon can draw the beginning of each incision directly on the bone with the surgical pencil. The system provides visual guidance to accurately map the mark at the desired location. Alternatively, other more intelligent versions of the navigation pen (e.g., a "smart navigation pen" and a "smart navigation printer" etc.) are options that may be developed and used as alternative options, which may enable inhibition of drawing at the wrong location, thereby achieving better navigation results.
Referring to fig. 4, fig. 4 is a schematic flow chart of the preoperative virtual surgery planning provided in the present application.
Illustratively, at S200: the step of performing preoperative virtual surgery planning according to the joint 3D model and the patient bone reference coordinate system includes:
s210: calculating the front double-side leg length difference value and offset difference value;
s220: generating a 3D virtual model of the prosthesis, wherein the 3D virtual model of the prosthesis is used for adjusting the position and the angle of the prosthesis in the 3D joint model so as to plan the preset position and the angle of the prosthesis in the joint;
s230: and calculating a bilateral leg length difference value and a offset distance difference value after prosthesis planning according to the 3D virtual model and the 3D joint model of the prosthesis.
Illustratively, in S210, the arithmetic front double leg length difference and offset difference may also be displayed or audio broadcast to provide the doctor with pre-operative patient practices for the doctor to perform the surgical plan. Optionally, in calculating, the distance from the ASIS axis to the lesser trochanter of the femur with the femur mechanical axis aligned; the offset is the distance from the central axis to the axis of the femoral shaft on the premise that the femoral shaft axes are vertically aligned.
By way of example, a 3D virtual model of the prosthesis is generated, the ideal position and angle of the prosthesis in the joint can be planned, real-time data display is provided, the doctor can adjust the position and angle of the prosthesis in the 3D joint model according to the values, and the planning of the ideal position of the prosthesis can be completed.
In some embodiments, the 3D joint model includes CT three-dimensional data; the specific algorithm for planning the preset position and angle of the prosthesis in the joint is as follows: in CT three-dimensional data, the included angle between the axis of human pelvis (AA axis) and the coronal plane is calculated, and the included angle is the forward inclination angle. The angle between the projection of the human pelvis axis (AA axis) on the coronal plane and the human longitudinal axis, which is the abduction angle, is calculated.
Illustratively, in S230, the difference in leg length and offset of the prosthesis after planning is calculated and displayed or audio broadcast for predicting the planned surgical effect.
In all embodiments of the present application, "large" and "small" are relative terms, "more" and "less" are relative terms, "upper" and "lower" are relative terms, and the description of such relative terms is not repeated herein.
It should be appreciated that reference throughout this specification to "in this embodiment," "in an embodiment of the application," or "as an alternative" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the application. Thus, the appearances of the phrases "in this embodiment," "in this application embodiment," or "as an alternative embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. Those skilled in the art will also appreciate that the embodiments described in the specification are all alternative embodiments and that the acts and modules referred to are not necessarily required in the present application.
In various embodiments of the present application, it should be understood that the size of the sequence numbers of the above processes does not mean that the execution sequence of the processes is necessarily sequential, and the execution sequence of the processes should be determined by the functions and internal logic thereof, and should not constitute any limitation on the implementation process of the embodiments of the present application.
The foregoing is merely specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily think about changes or substitutions within the technical scope of the present application, and the changes and substitutions are intended to be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (4)
1. The joint replacement surgery navigation device is characterized by comprising an optical array assembly, a visual tracking mechanism and a handheld joint replacement surgery robot;
the optical array assembly comprises a mounting rod and a plurality of optical markers, wherein the optical markers are fixedly mounted on the mounting rod;
the visual tracking mechanism comprises a device for acquiring the degree-of-freedom pose information of the optical marker in a real three-dimensional space;
the hand-held joint replacement surgery robot comprises a bone drill, a grinding rod and a grinding head, wherein one end of the grinding rod is fixedly installed with the bone drill, the grinding head is installed at the other end of the grinding rod, and an installation rod of the optical array assembly is fixedly installed on the grinding rod;
the hand-held joint replacement surgical robot further comprises a spring upper cover and a spring base, wherein the spring base is arranged at the other end of the grinding rod, and the spring upper cover is arranged on the spring base;
the hand-held joint replacement surgical robot further comprises a chuck, wherein the chuck is arranged between the spring upper cover and the grinding head, one end of the chuck is fixedly connected with the spring upper cover, and the other end of the chuck is used for confining the grinding head;
the hand-held joint replacement surgery robot further comprises a front end guide sleeve, and the front end guide sleeve is sleeved on the grinding rod;
the mounting rod of the optical array assembly is mounted between the front guide sleeve and the bone drill.
2. The joint replacement surgery navigation device according to claim 1, wherein the bone drill is provided with a grip handle.
3. The joint replacement surgery navigation device according to claim 1, further comprising a display electrically connected to the visual tracking mechanism.
4. The joint replacement surgery navigation device according to claim 1, wherein the visual tracking mechanism is a binocular visual image positioning mechanism.
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| CN115381557A (en) * | 2021-07-09 | 2022-11-25 | 武汉联影智融医疗科技有限公司 | Real-time correction method and system for pose of end tool and surgical robot |
| CN113720359B (en) * | 2021-09-24 | 2024-04-05 | 杭州柳叶刀机器人有限公司 | Precision testing method for navigation system of hip joint operation |
| CN113925564B (en) * | 2021-10-15 | 2024-09-03 | 汕头大学 | System for be used for acetabulum to grind file |
| CN113893035A (en) * | 2021-10-27 | 2022-01-07 | 杭州柳叶刀机器人有限公司 | Joint replacement surgery navigation system and computer readable storage medium |
| CN114366301B (en) * | 2022-01-28 | 2022-11-15 | 北京长木谷医疗科技有限公司 | Navigation positioning system for hip replacement surgery and use method thereof |
| CN116509544A (en) * | 2023-04-07 | 2023-08-01 | 杭州键嘉医疗科技股份有限公司 | Handheld navigation tool for hip replacement surgery and use method thereof |
| CN117462204B (en) * | 2023-12-22 | 2024-04-30 | 北京爱康宜诚医疗器材有限公司 | Acetabular file |
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