TWI578953B - The positioning and marking device of the surgical navigation system and its implementing device - Google Patents

Description

Positioning marking device for surgical navigation system and its implementing device

The present invention relates to a positioning marking device for a surgical navigation system and an apparatus therefor, and more particularly to a positioning marking device applied to a surgical navigation system and provided with a frequency-modulated RF dynamic reference coordinate and an implementation thereof. instrument.

At present, in the process of surgical navigation, in addition to the positioning components required on the device, the human body also needs to use the calibration device as a reference frame to further assist the use of the surgical instrument on the guidance; therefore, the combination of the calibration object and the human tissue The method needs to have certain convenience and stability to meet the needs of the surgical navigation environment. At present, the mainstream infrared space tracking and positioning system utilizes preoperative CT scans, combined with a dynamic reference frame (DRF) mounted on surgical instruments and vertebrae, and its registration step (Registration step). To achieve the positioning and tracking of surgical instruments and human tissue. At present, in the positioning of the vertebrae, the positioning is mainly performed by the dynamic reference frame marking unit fixed on the spinous process, but the disadvantages are as follows: (1) The dynamic reference frame must be erected after the computed tomography scan. The phenomenon that the relative position of the human spine space is different when the brain is scanned and the actual operation is performed; (2) the dynamic reference frame marker is easily shielded by the body and other surgical instruments of the operator during the operation, resulting in the phenomenon that the positioning cannot be located; 3) The movement of the calibration object caused by the operator and other instruments is likely to cause the positioning error; (4) The calibration object needs to protrude from the body surface, and the volume is large, which also affects the operator; (5) The calibration object is adopted. Mechanism for clamping the spine The stability is insufficient.

US Pat. No. 6,719,757 B2 discloses a device for erecting a surgical guide unit to a human body for use in a minimally invasive procedure to securely attach a surgical unit (guided positioning target) to a subject, particularly a bone or joint. However, the device can also be used in an open type of surgery in accordance with the present invention. However, the rotation axis of the technology and the link have the possibility of displacing the positioning element during the collision with the operator or other objects during the operation.

US Pat. No. 6,893,447 B2 discloses a surgical reference frame support device and application method for use in minimally invasive surgery of the brain, which is connected to a surgical reference position unit on the head of the subject, which comprises a support bracket and a hollow Rod, base, anchor tube, and percutaneous needle. However, this technique utilizes the percutaneous needle architecture to fix the intersurgical device, resulting in the possibility of component movement or injury to the affected part during a collision.

US Patent No. 6,203,543 B1 discloses a device having a loosening function and capable of fixing an object to a bone, which is used in orthopedic surgery to connect a surgical reference positioning unit to a bone of a subject, which includes a rotation limiting unit and an axial direction. Support unit. However, the connection mechanism of the technology and the positioning unit is located on the axial side, so that the volume is not easily reduced, and the chance of collision displacement during the operation is increased.

The object of the present invention is to provide a positioning and marking device for a surgical navigation system and an apparatus for implementing the same, and a positioning base and a frequency-modulated radio frequency positioning module coupled with the positioning base, which can effectively improve the physician's execution of the spine during the spinal navigation operation. The efficiency and accuracy of positioning eliminates the shielding phenomenon of the existing infrared guiding technology, and through the miniaturized volume and multi-section vertebrae installation, to achieve the goal of multiple independent vertebrae with independent reference positioning points, and then Greatly improve the safety and reliability of such intelligent guided surgery.

In order to achieve the above object, the positioning marking device of the present invention comprises: a positioning base and a frequency modulation type radio frequency positioning module, wherein the two ends of the positioning base are a lock portion and a head portion, and the lock portion has a screw structure. One of the free ends of the head has a fitting structure, and the head has a set of connecting structures; the FM radio frequency positioning module has a structure that fits the head and forms a buckle with the assembled structure. The socket structure is configured to mount the FM radio frequency positioning module to the head of the positioning base. The FM radio frequency positioning module includes an antenna unit that receives an FM frequency signal and returns a feedback signal. The printed circuit board unit of the antenna unit is connected to an electronic component battery unit that supplies power to the printed circuit board unit. The FM radio frequency positioning module can externally transmit a feedback signal according to a received frequency modulation frequency signal.

In order to achieve the above object, an embodiment of the present invention comprises: a grip; and a rod connected to the grip, the head end of the rod having a driving portion that engages with the end surface of the fitting structure to engage each other.

As described above, the features of the present invention include at least: (1) The wireless positioning technology used in the present invention does not have the shielding phenomenon currently produced by infrared guidance, and is not caused by the shielding of the operator and other objects during the operation. The phenomenon of navigation function failure (2) The wireless positioning technology used in the present invention can reduce the unit volume of the frequency modulation type radio frequency positioning module as a dynamic reference frame (DRF) in the positioning and marking device to within 5 mm×10 mm, and Attached to the mutual assembly of the micro-bone nails applied to the spine by the application device, the stability of attachment to the vertebrae is increased, and the injection opening can be controlled within 5 mm, which reduces the patient's discomfort and greatly reduces the protrusion. In the volume of the body surface, this method can be used to perform computerized tomography scan after installing the dynamic reference frame unit, effectively reducing the computed tomography image. The error with the actual spinal position of the operation; (3) The present invention can install a plurality of positioning marker devices on the multi-segment vertebrae, thereby enabling each vertebra to have independent reference positioning points, and breaking the limit of direct vision during positioning. And effectively improve the positioning accuracy; (4) can quickly register the image coordinates during the operation, can set the registration point on the installed dynamic reference frame during the system setting operation, and quickly register the spine coordinates, which can effectively improve the positioning accuracy. And reduce the set time.

10‧‧‧Positioning marker device

11‧‧‧ Positioning base

111‧‧‧Lock

1111‧‧‧ screw structure

1111a‧‧‧Loose thread

1111b‧‧‧Excessive thread

1111c‧‧‧Cortex thread

112‧‧‧ head

1120‧‧‧ side

1121‧‧‧Fitting structure

1122‧‧‧Connection structure

11221‧‧‧ recess

11222‧‧‧Assembled holes

12‧‧‧FM RF Positioning Module

120‧‧‧Package housing

1201‧‧‧ surface

121‧‧‧Sleeve structure

1211‧‧‧ Groove

1212‧‧‧ Positioning structure

12121‧‧‧ screw hole

12122‧‧‧ positioning bead assembly

1213‧‧‧Adapted structure

122‧‧‧Antenna unit

123‧‧‧Printed circuit board unit

1231‧‧‧Electronic components

124‧‧‧Electronic component battery unit

20‧‧‧Feedback signal

21,21’‧‧‧ frequency signal

22‧‧‧ID code signal

30‧‧‧ Implementing the device

31‧‧‧ grip

32‧‧‧ rod body

321‧‧‧ Drive Department

33‧‧‧Sleeve Department

A‧‧‧ spines

R‧‧‧FM frequency signal

1 is an exploded perspective view of an embodiment of a positioning and marking device for a surgical navigation system of the present invention; FIG. 2A is a front exploded view of an embodiment of a positioning and marking device for a surgical navigation system of the present invention; and FIG. 2B is a front view of FIG. 3 is a perspective view of an embodiment of a fitting structure of a positioning base of a positioning and marking device of a surgical navigation system of the present invention; FIG. 4 is a group of positioning bases of a positioning marking device of the surgical navigation system of the present invention; FIG. 5 is a schematic view showing an embodiment of the positioning and marking device of the surgical navigation system of the present invention installed on the spinal protrusion; FIG. 6 is a double positioning marker device of the surgical navigation system of the present invention; FIG. 7 is a perspective view of an embodiment of an apparatus for positioning a positioning device of a surgical navigation system of the present invention; FIG. 8 is a perspective view of the surgical navigation system of the present invention; A perspective view of the structural flow of the combination of the positioning base of the positioning marking device and the implement device.

The present invention is described in detail below with reference to the drawings, and the drawings are simplified schematic diagrams, and the basic structure of the present invention is only illustrated in a schematic manner, and therefore only the components related to the present creation are indicated in the drawings. The components shown are not drawn in the number, shape, size ratio, etc. at the time of implementation, and the actual size of the implementation is a selective design, and the component layout form may be more complicated.

As shown in FIG. 1 to FIG. 4 and FIG. 5, in the present embodiment, the positioning marking device 10 applied to the surgical navigation system is used in the field of surgery for cutting, and the material properties used therein are resistant to chemical attack and resistance. Radiation characteristics, insulation, and biocompatibility, the structure of the positioning and marking device 10 of the surgical navigation system includes: a positioning base 11 and a frequency modulation radio frequency positioning module 12. The positioning base 11 includes two ends of the head and the tail, and the tail end is a lock portion 111 and the head end is a head portion 112. The FM radio frequency positioning module 12 is mounted on the head 112 of the positioning base 11. The FM radio frequency positioning module 12 includes an antenna unit 122, a printed circuit board (PCB) unit 123, and an electronic component battery. Unit 124. The printed circuit board unit 123 is electrically connected to the antenna unit 122. Here, the printed circuit board unit 123 can include necessary electronic components 1231 mounted thereon, and the electronic component battery unit 124 supplies power to the printing. The circuit board unit 123 can receive an FM frequency signal R from the outside and transmit a feedback signal 20 including a radio frequency signal. Preferably, in general, the feedback signal 20 can be triggered to be the same as the transmittable frequency of the antenna unit 122, that is, the frequency of the feedback signal 20 is the same frequency as the FM frequency signal R, such as a radio frequency. Application of Radio Frequency Identification (RFID).

In detail, the positioning base 11 can be fixed to the operator. With a typical screw locking method (but not limited to this, any implementation that can be firmly coupled to the subject) is applicable, for example, the locking portion 111 has a screw structure, and one of the head portions 112 has a free end. The utility model has a fitting structure 1121 (the end surface of the fitting structure 1121 can be a single groove or a cross groove shape), which can be combined with an implement device 30 (described in FIG. 7 to FIG. 11 to be described later) to facilitate the transfer. The driving torque of the instrument 30 is applied to the positioning base 11 for the screwing operation (for example, the spine surgery is installed on the spine A of the subject).

In addition, the head portion 112 has a plurality of connection structures 1122 (the assembly structure 1122 in the embodiment is an assembly hole 1222 provided in the recess 11221 and the recess 11221 of the side of the head portion 112). After the positioning base 11 is mounted to the desired position, it is attached to the FM radio frequency positioning module 1122. In contrast, the FM radio frequency positioning module 12 has a socket structure 121 that cooperates with the column structure of the head portion 112 and forms a buckle with the assembly structure 1122. In this embodiment, the socket structure 121 is A positioning structure 1212) corresponding to the groove 1211 of the assembly hole 11222 and the inner wall of the groove 1122 is configured to assemble the FM radio frequency positioning module 12 to the head 112 of the positioning base 11.

In an embodiment, the locking portion 111 of the positioning base 11 can be a self-locking screw so as to be self-tapping and locking directly to the mounting position during installation. In addition, in an embodiment, the locking portion 111 of the positioning base 11 may be a ridged nail, such as having a Cancellous Thread 111a and a Transitional Thread. The self-locking cortex/cancellous nail of the 111b and Cortical Thread 111c progressive locking thread (as shown in Figure 1) can be self-tapping and screwed to the cortical layer of the spine of the surgeon. Good fixing effect.

2A and 2B. In this embodiment, the assembly structure 1122 is configured The side surface 1120 of the head portion 112 perpendicular to the free end includes a recess 11221 and at least one assembly hole 11222 or a pair of assembly holes 11222 that are annularly disposed and evenly distributed to the radial peripheral surface of the side surface 1120. The socket structure 121 is disposed on the surface 1201 of the FM radio frequency positioning module 12 facing the head 112, and includes a recess 1211 corresponding to the diameter of the head 112. The recess 1211 The inner wall surface is disposed at a position corresponding to the assembly hole 1222 of the head portion 112 of the recess 1211, and a positioning structure 1212 is disposed, so that the recess 1211 covers the head portion 112 of the positioning base 11 and then utilizes The positioning structure 1212 interacts with the assembly hole 11222 to be assembled with each other and maintain the latch state. Of course, in the conventional design of the column and the hole-like structure, as shown in FIG. 2A and FIG. 2B, the positioning structure 1212 can be a positioning bead assembly 12122 and fit in a direction perpendicular to the inner wall surface of the recess 1211. The screw hole 12121 screws the positioning bead assembly 12122 into the screw hole 12121 and protrudes from the inner wall surface of the groove 1211 to elastically position and disassemble the assembly corresponding to the assembly hole 11222.

Further, as shown in FIGS. 2A and 2B. The bottom end surface of the recess 1211 includes an fitting structure 1213 that fits into the end surface of the fitting structure 1121 to engage with each other. When the positioning structure 1212 and the assembly hole 11222 are buckled, the fitting structure is The 1213 is simultaneously engaged with the mating structure 1121 to assist the assembly stability of the assembly structure 1122 and the socket structure 121, and the positioning of the FM radio frequency positioning module 12 on the positioning base 11 is further improved. effect.

In an embodiment, the FM radio frequency positioning module 12 further includes a package housing 120 enclosing the antenna unit 122, the printed circuit board unit 123, and the electronic component battery unit 124. The antenna unit 122, the printed circuit board unit 123, and the electronic component battery unit 124 of the package housing 120 are enclosed by an encapsulating material, and the surface of the package housing 120 forms the aforementioned socket structure 121 ( As shown in Figure 1, Figure 2A, Figure 2B).

Further, as shown in FIG. 5, in an embodiment, the feedback signal 20 includes a frequency signal 21 of the FM radio frequency positioning module 12 for the surgical navigation system (not shown) to recognize the positioning mark device 10. Coordinate information. The feedback signal 20 may further include an identification code signal 22 of the hardware device of the FM radio frequency positioning module 12 for an external system (such as a surgical navigation system) to identify the hardware information of the positioning marker device 10, and combine The frequency signal 21 emitted by the same hardware can cause the surgical navigation system to obtain any information of the positioning marker device 10 associated with the coordinate position and apply it.

As shown in FIG. 6, in this embodiment, the antenna unit 122 has two antennas, and the feedback signal 20' includes two frequency signals (21, 21') respectively sent by the two antennas for different angles of the surgical navigation system according to different angles. The two frequency signals (21, 21') calculate the coordinate information of the positioning mark device 10 more accurately.

Furthermore, as shown in FIG. 7 to FIG. 11 , the present invention further includes an implementation device 30 for positioning the pedestal 11 (ie, the positioning pedestal 11 is applied to the operative device of the operator). The utility model has a grip 31, a rod body 32 connected to the grip 31, and a front end end of the rod body 32 has a driving portion 321 shaped to match the head end 112 (or the fitting structure 1121) to The combined structures 1121 are engaged with each other to be in an axially coupled state.

Further, the outer side of the rod body 32 further includes a sleeve portion 33 which can be in a covered state corresponding to the head portion 112 of the positioning base 11 and a phase-displaced open state, so that the rod body is applied when the open state thereof is applied. The driving portion 321 of the 32 is coupled to the fitting structure 1121 of the positioning base 11, and then the sleeve portion 33 is switched to the covering state, and the fitting structure 1121 of the positioning base 11 and the driving portion 321 of the rod 32 are provided. The gripping state is maintained due to the covering of the sleeve portion 33. The practice may be to provide a corresponding magnetic element or positioning corresponding to the assembly structure 1122 in the sleeve portion 33. The bead indicator is configured to interact with the set of structures 1122 to perform a mounting operation for locking to the spine A.

According to the foregoing structure, when the present invention is applied to a surgical navigation system for spinal surgery, the positioning marker device 10 can apply the aforementioned implementation device 30 to lock one or more lock portions 111 of the positioning base 11 to the operation. The ridges A of the plurality of spines are exposed, and the head 112 of the positioning base 11 is exposed, and the FM radio frequency positioning modules 12 corresponding to the number of the positioning bases 11 are respectively combined with the heads 112. The combination of the socket structure 121 and the assembly structure 1122 to form a dynamic reference frame (DRF) of the surgical navigation system, that is, the antenna unit 122 of the FM radio frequency positioning module 12 can be When the surgical navigation system sends the FM frequency signal of the positioning query, the position of the installed spine A coordinate can be calculated according to the feedback signal 20 returned by each FM radio frequency positioning module 12 to further provide relevant positioning information, so as to further provide relevant positioning information, so that Auxiliary and guided use of surgical instruments during the procedure.

The embodiments or examples of the technical means adopted by the present invention are not intended to limit the scope of implementation of the present patent. That is, the equivalent changes and modifications made in accordance with the scope of the patent application of the present invention or the scope of the invention are covered by the scope of the invention.

10‧‧‧Positioning marker device

11‧‧‧ Positioning base

111‧‧‧Lock

112‧‧‧ head

1120‧‧‧ side

1121‧‧‧Fitting structure

1122‧‧‧Connection structure

11221‧‧‧ recess

11222‧‧‧Assembled holes

12‧‧‧FM RF Positioning Module

120‧‧‧Package housing

1201‧‧‧ surface

121‧‧‧Sleeve structure

1211‧‧‧ Groove

1212‧‧‧ Positioning structure

12121‧‧‧ screw hole

12122‧‧‧ positioning bead assembly

1213‧‧‧Adapted structure

122‧‧‧Antenna unit

123‧‧‧Printed circuit board unit

1231‧‧‧Electronic components

124‧‧‧Electronic component battery unit

Claims (8)

A positioning marking device for a surgical navigation system, comprising: a positioning base having a locking portion at one end and a head at the other end, a fitting end of the free end of the head; and a frequency modulation radio frequency positioning module The unit is mounted on the head of the positioning base, and includes an antenna unit, a printed circuit board unit electrically connected to the antenna unit, and an electronic component battery unit that supplies power to the printed circuit board unit. The RF positioning module can externally transmit a feedback signal including a wireless RF signal according to a received FM frequency signal, wherein the head has a set of connection structures, and the FM radio frequency positioning module has a matching head a portion of the structure and a snap-fitted sleeve structure, the assembly structure is disposed on a side of the head perpendicular to the free end, and includes at least one assembly hole, and the socket structure is disposed on the The surface of the FM radio frequency positioning module facing the head includes a groove corresponding to the diameter of the head, and the inner wall surface of the groove corresponds to the assembly of the head that fits into the groove Position, there is provided a positioning structure, so that the recess of the jacket of the head after positioning base with which to interact with the positioning structure and the assembly can be assembled to each aperture and maintain the locked state. The positioning and marking device of the surgical navigation system of claim 1, wherein the free end of the head has a fitting structure, and the bottom end surface of the groove includes a shape matching the end surface of the fitting structure The fitting structure is adapted to engage the fitting structure at the same time when the positioning structure is buckled with the assembly hole. The positioning and marking device of the surgical navigation system according to claim 1, wherein the positioning base is a progressively threaded self-locking cortex/cancellous nail. The positioning and marking device of the surgical navigation system of claim 1, wherein the FM radio frequency positioning module further comprises a package housing enclosing the antenna unit, the printed circuit board unit and the electronic component battery unit. And the surface of the package housing forms the socket structure. The positioning marking device of the surgical navigation system according to claim 1, wherein the feedback signal comprises a frequency signal of the FM radio frequency positioning module. The positioning marking device of the surgical navigation system according to claim 1, wherein the feedback signal comprises an identification code signal of the FM radio frequency positioning module. The positioning marking device of the surgical navigation system of claim 1, wherein the antenna unit has two antennas, and the feedback signal includes two frequency signals emitted by the two antennas. An implement device for a positioning and marking device of a surgical navigation system, comprising: a grip; and a rod connecting the grip, the head end of the rod having a matching mark as described in claim 2 a driving portion of the end surface of the fitting end of the device, wherein the outer surface of the rod body further includes a sleeve portion that can be covered with the positioning base head and opened. The covering state is applied to maintain the gripping state between the fitting structure of the positioning base and the driving portion of the rod.