WO2011063715A1

WO2011063715A1 - Orthopaedic robot navigation apparatus and positioning system

Info

Publication number: WO2011063715A1
Application number: PCT/CN2010/078520
Authority: WO
Inventors: 钟学东; 王豫; 张维军; 苏永刚; 王军强; 赵春鹏; 周力; 王彬彬; 闫晓刚
Original assignee: 北京天智航技术有限公司; 胡磊
Priority date: 2009-11-26
Filing date: 2010-11-08
Publication date: 2011-06-03
Also published as: CN101700184A; CN101700184B

Abstract

An orthopaedic robot navigation apparatus (19) and a positioning system. The orthopaedic robot navigation apparatus (19) includes a machine base (7) and a four-freedom-degree biplane positioning mechanism (14) provided above the machine base (7) and connected to the machine base (7). The four-freedom-degree biplane positioning mechanism (14) includes a first serial robot arm, a second serial robot arm and a straight-rod type guide device (4). The first serial robot arm includes a first horizontal kinematic component (1), a first vertical kinematic component (2) and a first universal joint (3) which are connected in series. The second serial robot arm includes a second horizontal kinematic component (11), a second vertical kinematic component (12) and a second universal joint (13) which are connected in series. Both the first horizontal kinematic component (1) and the second horizontal kinematic component (11) are connected with the machine base (7). The straight-rod type guide device (4) is respectively clamped to the first universal joint (3) and the second universal joint (13) for self-positioning.

Description

Orthopedic robot navigation device and positioning system

The invention relates to a medical device, in particular to a robot navigation device and a positioning system for orthopedic minimally invasive surgery. Background technique

At present, with the continuous improvement and improvement of the treatment technology of trauma orthopedics, it has developed from the traditional open type of open reduction and fixation to closed reduction and minimally invasive fixation. With this new treatment, it is fundamentally The second injury caused by the incision of the injured part is avoided, the probability of infection of the patient is reduced, and the recovery time of the patient is greatly shortened. At present, minimally invasive orthopedic surgery has become the main direction of the development of traumatic orthopedics. This new type of surgery can be said to be the gospel of the majority of patients, but there are also some ills. Because it is closed reduction and minimally invasive fixation, it determines that a lot of work is done under X-ray. The large amount of X-rays radiated during the operation is likely to cause serious threats or even harm to the health of patients and surgeons, especially For surgeons, prolonged X-ray radiation can cause a range of health problems such as low immunity. At present, many countries in the world are committed to developing various new navigation technologies to improve the accuracy of minimally invasive surgery and to minimize the X-ray radiation that surgeons and patients receive during surgery.

In view of the defects and deficiencies in the current minimally invasive surgery, the intramedullary nail distal locking technique is realized by means of a computer and its control operation software and positioning frame to assist the doctor in performing surgery. See Patent No. 02158691.8, the invention name is computer The patent for assisting the intramedullary nail distal locking system. Based on the traditional intramedullary nailing technique, the patent uses the three-dimensional imaging geometry of computer vision to determine the geometric position of the target point, and designs the positioning frame structure to realize the surgical path. The rapid positioning of the semi-automated intramedullary nail fixation. The system described in the patent is that the patient's limb is placed inside the positioning frame, the guiding device is fixed by the U-shaped frame, and the locking pin is inserted through the guiding hole on the guiding device to fix the locking pin to the pin hole of the intramedullary nail. The surgery is completed. The disadvantage of this system is that the guiding device must be fixed by a U-shaped frame. The processing of the U-shaped frame involves complicated processes such as cutting and calibration, and the cost is high, and once it is slightly deformed due to aging reasons, the guiding device is made. Inaccurate positioning, resulting in a large error; In addition, placing the affected limb inside the positioning frame, the relative position of the guiding device and the patient cannot be adjusted in a wide range, and the part of the affected limb for the operation is limited. It is only suitable for intramedullary nailing of the tibia or femur. It is not suitable for bone fixation at any position. Moreover, the positioning frame needs to be disinfected, assembled and disassembled before and after each operation. The work is cumbersome, consumes manpower and material resources, and there is no assembly. The correct positioning is not accurate. Summary of the invention

The present invention provides a novel orthopaedic robot navigation device, which is directed to the defects or deficiencies existing in the prior art. Positioning on the side of the affected limb and directly engaging the straight rod type guiding device on the two universal joints enables accurate positioning of the straight rod type guiding device itself, thereby realizing accurate spatial fixation of the surgical path, and Adjusting the relative position of the straight rod type guide device to the patient in a wide range, and applying to the orthopedic minimally invasive surgery of any affected limb part, thereby better meeting the needs of the surgery, and the present invention also relates to a minimally invasive surgery for orthopedics. GPS.

The technical solution of the present invention is as follows:

An orthopaedic robot navigation device, comprising: a base, and a four-degree-of-freedom biplane positioning mechanism disposed above the base and connected to the base, the four-degree-of-freedom biplane positioning mechanism comprising a first series mechanical arm a second series mechanical arm and a straight rod type guide, the first series mechanical arm including a first horizontal motion assembly, a first vertical motion assembly and a first universal joint connected in series, the second serial mechanical arm The second horizontal motion component, the second vertical motion component and the second universal joint are connected in series, and the first horizontal motion component and the second horizontal motion component are both connected to the base, and the first horizontal motion component is Between the first vertical motion components, between the first vertical motion component and the first universal joint, between the second horizontal motion component and the second vertical motion component, and between the second vertical motion component and the second universal direction The sections are connected by rails, and the straight rod type guiding devices are respectively engaged with the first universal joint and the second universal joint to realize positioning of the straight rod type guiding device itself.

The straight rod type guide includes a tubular straight rod.

At least one end of the tubular straight rod is provided with a telescopic tube body that is straight in the shape of a rod and that expands and contracts in the longitudinal direction of the rod.

A height adjustment assembly is further disposed between the four-degree-of-freedom biplane positioning mechanism and the base, and the first horizontal motion component and the second horizontal motion component are both connected to the height adjustment component.

A horizontal adjustment component is further disposed between the four-degree-of-freedom biplane positioning mechanism and the height adjustment component, and the first horizontal motion component and the second horizontal motion component are both connected to the horizontal adjustment component.

The straight rod type guiding device is separated from the first universal joint and the second universal joint by a disinfecting sleeve, and the disinfecting sleeve covers the outside of the first series mechanical arm and the second serial mechanical arm.

The base is provided with a caster and a base fixing device.

A control panel is further provided, and the control panel is provided with control buttons for controlling movement of the first horizontal motion component, the first vertical motion component, the second horizontal motion component, the second vertical motion component, the height adjustment component, and the horizontal adjustment component .

A positioning system comprising a C-arm, a computer and image control operating software stored in the computer, characterized in that it further comprises the above-mentioned orthopaedic robot navigation device.

The orthopaedic robot navigation device is provided with a control panel, and the control panel is provided with a control button for controlling movement of the first horizontal motion component, the first vertical motion component, the second horizontal motion component and the second vertical motion component. The control button is coupled to image control operating software within the computer.

The technical effects of the present invention are as follows: The orthopaedic robot navigation device provided by the present invention comprises a four-degree-of-freedom biplane positioning mechanism comprising a first series mechanical arm, a second series mechanical arm and a straight rod type guiding device, which are connected in the first series a first horizontal motion component is disposed in the robot arm such that the first vertical motion component and the first universal joint of the first tandem robot arm can be horizontally moved together on the guide rail of the first horizontal motion component, by setting the first a vertical movement assembly that enables the first universal joint to move vertically on the rail of the first vertical motion assembly, so that the first universal joint can be formed by the first horizontal motion assembly and the first vertical motion assembly In the plane, the motion of two degrees of freedom is realized. Similarly, the second universal joint can also realize the movement of two degrees of freedom in the plane formed by the second horizontal moving component and the second vertical moving component, when the first ten thousand When the knuckle and the second universal joint move to the geometrical position of the target point in the respective planes, respectively, the straight rod type guiding device is respectively affixed to the first universal joint and the second universal joint In other words, the straight rod type guiding device is installed on the positioning line between the center point of the first universal joint and the center point of the second universal joint, so that the position and direction of the straight rod type guiding device are fixed, thereby realizing The positioning of the straight-type guide device itself, the straight-type guide device can finally achieve four degrees of freedom of movement, so the straight-type guide device is essentially a device having a positioning action and a guiding action. The orthopaedic robot navigation device of the present invention is placed on the side of the affected limb for surgery, and once the position and orientation of the straight-type guide device is determined, the surgical path can achieve spatially accurate fixation, for example, the most commonly used guide pin is inserted into In the orthopedic minimally invasive surgery in the affected limb, the guiding sleeve is placed in the straight rod type guiding device, and the guiding needle is finally inserted into the affected limb through the inside of the guiding sleeve, so that the position and orientation of the straight rod type guiding device are determined, guided The position and orientation of the sleeve and the guide pin are precisely determined. The device does not need to be equipped with a u-shaped frame. This eliminates the complicated process of processing the U-shaped frame, reduces the cost, and solves the U-shaped frame. The cause of the aging deformation causes the error of the positioning inaccuracy. In addition, since the orthopedic robot navigation device of the present invention is operated on the side of the affected limb, the guide needle can be inserted into the affected limb as long as the position of the guide pin is accurately determined. The relative position of the orthopaedic robot navigation device and the patient can be adjusted in a wide range, and the adjustment is convenient and flexible, and the operation is also very simple. It is easy to get the best placement of the orthopaedic robot navigation device and improve the compliance of the device, so it can be applied to the bone fixation of any affected limb, not just for The intramedullary nail surgery of the tibia or femur, the device of the present invention breaks the limitations of the prior art due to the placement of the affected limb inside the positioning frame.

The orthopaedic robot navigation device of the present invention provides a four-degree-of-freedom biplane positioning mechanism to achieve a large adjustment of the height direction as a whole by providing a height adjustment component, so that the four degrees of freedom can be doubled according to the height of the affected limb on the operating bed. The plane positioning mechanism is adjusted accordingly, so that the orthopaedic robot navigation device is adjusted to the optimal placement position, which is equivalent to adjusting the height position of the straight rod type guiding device without moving the base, thereby greatly improving the navigation device of the orthopedic robot. Flexibility, shortened operation time, and thus more convenient surgery.

Similarly, the orthopaedic robot navigation device of the present invention can realize the large-scale adjustment of the horizontal direction as a whole by setting the horizontal adjustment component, so that the position of the affected limb on the operating bed can be adjusted according to the position of the four-degree-of-freedom biplane positioning mechanism. The degree of freedom biplane positioning mechanism is adjusted accordingly, so that the orthopaedic robot navigation device is adjusted to the optimal placement position. It is also equivalent to adjusting the horizontal position of the straight-type guide without moving the base, thereby avoiding the obstacle to the doctor's surgical action due to the unreasonable placement of the orthopaedic robot navigation device. Even during the operation, the movement of the horizontal adjustment component can be avoided to avoid interference with the doctor. After the doctor's surgical operation is finished, the orthopaedic robot navigation device can accurately restore the position before the movement, and the horizontal adjustment component is accurate and reliable in movement, and is a human hand. Unadjustable adjustments, this feature greatly enhances the flexibility of orthopedic robot navigation devices.

The straight rod type guiding device is separated from the first universal joint and the second universal joint with a disinfecting sleeve covering the outside of the first series mechanical arm and the second serial mechanical arm, and the orthopaedic robot navigation device is compact The entire device except the straight rod type guiding device can be completely separated from the surgical space by the disinfecting sleeve, and the contamination of the surgical space by the orthopaedic robot navigation device can be prevented, so that the operating space meets the sterility standard required by the operation. The unique structure of the orthopaedic robot navigation device enables the straight-type guide and the universal joint to be accurately positioned even through the sterilization sleeve, achieving a reliable connection, and completely eliminating the puncturing of the sterilization sleeve and the incomplete installation of components. It is also unnecessary to assemble and disassemble the components of the orthopedic robot navigation device before and after the operation, and to sterilize and sterilize the high-temperature cooking, and to solve the problem that the bulky components and the electromechanical devices in the orthopedic robot navigation device cannot be routinely used. High temperature cooking sterilization.

The positioning system of the present invention comprises a c-arm, a computer and image control operating software stored in the computer, and the orthopaedic robot navigation device of the present invention, wherein the affected limb is placed on the operating bed, and the orthopaedic robot navigation device is placed on the side of the affected limb. The image is formed on the imaging plane by the illumination of the X-ray source on the C-arm, and then the positioning information of the guide pin is obtained by the image control operation software in the computer based on the binocular vision principle, and finally the orthopaedic robot navigation device is adjusted according to the positioning information. It is used to achieve accurate positioning of the straight rod type guiding device, thereby achieving accurate spatial fixation of the surgical path. The positioning system of the invention is stable and reliable, and is suitable for bone fixation of any affected limb part, and can well meet the surgical needs. DRAWINGS

1 is a schematic structural view of a preferred embodiment of an orthopaedic robot navigation device according to the present invention;

2 is a schematic structural view of a preferred straight rod type guiding device in the orthopaedic robot navigation device of the present invention;

3 is a schematic structural view of a positioning system of the present invention.

The labels in the figure are listed as follows:

1 first horizontal movement assembly; 2 first vertical movement assembly; 3 first universal joint; 4 straight rod type guide; 5 one horizontal adjustment assembly; 6 - height adjustment assembly; 7 base; 8 - base frame 9 casters; 10—control panel; 11 second horizontal motion components; 12 second vertical motion components; 13 second universal joints; 14 four-degree-of-freedom biplane positioning mechanism; 15-X-ray source; 16-C 17; X-ray imaging device; 18-computer; 19-orthopaedic robot navigation device; 20 guide pin; 21 affected limb; 22-tubular straight rod; 23- telescopic tube body; detailed description

The invention will now be described with reference to the accompanying drawings.

1 is a schematic structural view of a preferred embodiment of an orthopaedic robot navigation device according to the present invention, which includes a four-degree-of-freedom biplane positioning mechanism 14, a horizontal adjustment component 5, a height adjustment component 6, and a base 7 that are sequentially connected from top to bottom. The four-degree-of-freedom biplane positioning mechanism 14 includes a first tandem robot arm, a second tandem robot arm, and a straight rod type guide 4, the first tandem robot arm including a first horizontal motion assembly 1 connected in series, and a first vertical motion The assembly 2 and the first universal joint 3, the second series mechanical arm includes a second horizontal motion assembly 11, a second vertical motion assembly 12 and a second universal joint 13, which are connected in series, the first horizontal motion assembly 1 and the second The horizontal movement assembly 11 is connected to the horizontal adjustment assembly 5, and the first horizontal movement assembly 1 is provided with a guide rail (also can be driven by a screw nut), and a sensor or a scale scale can be set on the first horizontal motion assembly 1. As the displacement detecting device, the first vertical motion component 2 can slide horizontally on the first horizontal motion component 1 to drive the first universal joint 3 to perform horizontal motion. A vertical moving assembly 2 is also provided with a guide rail (which can also be a driving member through a screw nut) and a displacement detecting device is provided, and the first universal joint 3 can slide vertically on the first vertical moving assembly 2, so The universal joint 3 is capable of realizing two degrees of freedom of movement in a vertical plane formed by the first horizontal moving assembly 1 and the first vertical moving assembly 2; similarly, the second horizontal moving assembly 11 is provided with a guide rail and A displacement detecting device is provided. The second vertical motion component 12 can slide horizontally on the second horizontal motion component 11 to drive the second universal joint 13 to perform horizontal motion. The second vertical motion component 12 is also provided with a guide rail and is disposed. The displacement detecting device, the second universal joint 13 is vertically slidable on the second vertical moving assembly 12, so that the second universal joint 13 can be formed by the second horizontal moving assembly 11 and the second vertical moving assembly 12. Two degrees of freedom of motion are achieved in a vertical plane; and the first gimbal 3 and the second gimbal 13 are relatively independent in their respective planes. When the first universal joint 3 and the second universal joint 13 are respectively moved to the respective target point geometric positions, the straight rod type guiding device 4 is connected, that is, the straight rod type guiding device 4 and the first universal joint 3 respectively. The second universal joint 13 is engaged to realize parallel connection with the first series mechanical arm and the second serial mechanical arm, so the four-degree-of-freedom biplane positioning mechanism 14 is substantially a serial and parallel structure, and the straight rod type guiding device 4 is located on the positioning line between the center point of the first universal joint 3 and the center point of the second universal joint 13 , the straight rod type guiding device 4 realizes its own positioning after being engaged, and can realize its position and direction. Accurate positioning, the straight-type guide finally achieves four degrees of freedom of motion, so the straight-type guide 4 is essentially a device with positioning and guiding. In the most commonly used orthopedic minimally invasive navigation procedure in which the guide needle is inserted into the affected limb, the affected limb is placed on the operating bed, and the orthopaedic robot navigation device of the present invention is placed on the side of the operating bed for positioning of the straight rod type guiding device 4. The guiding sleeve 24 is placed in the straight rod type guiding device 4. Once the position and orientation of the straight rod type guiding device 4 are determined, the position and direction of the guiding sleeve 24 are accurately determined, and the guiding needle is inserted into the guiding sleeve. Inside the barrel 24, the position and orientation of the needle are accurately determined, so the doctor can accurately insert the needle into the affected limb for surgery. 2 is a schematic structural view of a preferred straight rod type guiding device in the orthopaedic robot navigation device of the present invention. The straight rod type guiding device 4 includes a tubular straight rod 22, and both ends of the tubular straight rod 22 are provided with a straight rod shape and along the rod length. The telescopic tube body 23 which is telescopically oriented, the straight rod type guiding device is sleeved with a guiding sleeve 24, and the guiding sleeve 24 is sleeved with a guiding pin 20. It is also possible to directly engage the guide sleeve 24 with the first universal joint 3 and the second universal joint 13, and the guide sleeve 24 is a straight rod type guide. In addition, since the orthopaedic robot navigation device can accurately fix the surgical path in space, it is also possible to implement an orthopedic minimally invasive surgery such as a symptom detecting operation of a bad bone.

Preferably, the base 7 can be arranged on a frame frame 8 and the casters 9 are arranged around the frame frame 8 so as to facilitate the movement of the entire orthopaedic robot navigation device, and the device can be flexibly pushed to the operating table. In addition, a base fixing device can be arranged at the bottom of the frame frame 8. After the position of the orthopaedic robot navigation device is adjusted, the base fixing device can control the casters 9 to lift off the ground to prevent orthopedic robot navigation during operation. The position of the device is offset. The height adjustment component 6 can realize large adjustment of the four-degree-of-freedom biplane positioning mechanism 14 in the height direction, and the horizontal adjustment component 5 can realize large-scale adjustment of the four-degree-of-freedom biplane positioning mechanism 14 in the horizontal direction, so that the orthopedic robot navigation device is Adjusting to the optimal placement position is equivalent to adjusting the straight rod type guide 4 according to the height and position of the affected limb on the operating bed, without moving the base, making the operation more convenient. In addition, a control panel 10 can also be disposed on the device, and the first horizontal motion component 1, the first vertical motion component 2, the second horizontal motion component 11, and the second vertical motion can be controlled on the control panel 10. Control buttons for movement of assembly 12, height adjustment assembly 6, and level adjustment assembly 5. Before the operation, the sterilization sleeve may be covered on the outer cover of the first series mechanical arm and the second serial mechanical arm, and the straight rod type guiding device 4 is respectively engaged with the first universal joint 3 and the first universal joint 13 respectively. In this way, the entire device except the straight rod type guiding device 4 can be completely separated from the surgical space by the sterilization sleeve, and the contamination of the surgical space by the orthopaedic robot navigation device can be prevented, so that the surgical space meets the sterility standard required for the operation.

3 is a schematic structural view of a positioning system of the present invention, which includes the orthopedic robot navigation device 19 shown in FIG. 1, further includes a C-arm 16, a computer 18, and image control operation software stored in the computer 18, orthopedic robot navigation. The device 19 is placed on the side of the affected limb 21, wherein the C-arm 16 includes an X-ray source 15 and an X-ray imaging device 17, and the X-ray source 15 illuminates the affected limb 21 from two angles and forms on the X-ray imaging device 17. The image is collected and transmitted to the computer 18 through the video data line, and the image control operation software in the computer 18 establishes a two-dimensional coordinate system and performs calculation processing based on the binocular vision principle to finally determine the surgical path, that is, the insertion needs to be determined. The axis position coordinate of the guide pin is used as the target point geometric position, and the operation button can be set in the image control operation software. After clicking the operation button, the movement of the four-degree-of-freedom biplane positioning mechanism 14 in the orthopedic robot navigation device 19 can be controlled, further , moving through the first universal joint 3 and the second universal joint 13 to the target point geometric position, and then guiding the straight rod type 4 is connected to the first universal joint 3 and the second universal joint 13, the guiding sleeve is placed in the straight rod type guiding device 4, and then the guiding needle 20 is inserted into the inside of the guiding sleeve, and finally guided The needle 20 is inserted into the affected limb 21 to complete the operation. It is also possible to set image control operation software in the computer 18 Connected to a control button on the control panel 10 in the orthopaedic robotic navigation device 19, the control button is used to control the first horizontal motion component 1, the first vertical motion component 2, the second horizontal motion component 11, and the second vertical motion The assembly 12, the height adjustment assembly 6 and the level adjustment assembly 5 move, and the first universal joint 3 and the second universal joint 13 in the orthopedic robot navigation device 19 are respectively moved to the target point geometric position by pressing the control button.

It should be noted that the above-described embodiments may enable those skilled in the art to more fully understand the present invention, but do not limit the invention in any way. Therefore, although the present invention has been described in detail with reference to the drawings and embodiments, it will be understood by those skilled in the art that the invention may be modified or equivalently substituted. In short, all without departing from the invention. The technical solutions of the spirit and scope and their improvements shall be covered by the scope of protection of the patents of the present invention.

Claims

Claim

An orthopaedic robot navigation device, comprising: a base, and a four-degree-of-freedom biplane positioning mechanism disposed above the base and connected to the base, the four-degree-of-freedom biplane positioning mechanism including the first series a mechanical arm, a second series mechanical arm and a straight rod type guide, the first series mechanical arm including a first horizontal motion assembly, a first vertical motion assembly and a first universal joint connected in series, the second series connection The mechanical arm includes a second horizontal motion component, a second vertical motion component and a second universal joint connected in series, the first horizontal motion component and the second horizontal motion component being both connected to the base, the first horizontal motion Between the assembly and the first vertical motion assembly, between the first vertical motion assembly and the first universal joint, between the second horizontal motion assembly and the second vertical motion assembly, and between the second vertical motion assembly and the second The universal joints are connected by rails, and the straight rod type guiding devices are respectively engaged with the first universal joint and the second universal joint to realize the positioning of the straight rod type guiding device itself.

The orthopaedic robot navigation device according to claim 1, wherein the straight rod type guide device comprises a tubular straight rod.

The orthopaedic robot navigation device according to claim 2, wherein at least one end of the tubular straight rod is provided with a telescopic tube body that is straight rod-shaped and expands and contracts in the longitudinal direction of the rod.

The orthopaedic robot navigation device according to any one of claims 1 to 3, wherein a height adjustment component is further disposed between the four-degree-of-freedom biplane positioning mechanism and the base, and the first horizontal motion component And the second horizontal motion component is connected to the height adjustment component.

The orthopaedic robot navigation device according to claim 4, wherein the four-degree-of-freedom biplane positioning mechanism and the height adjustment component are further provided with a horizontal adjustment component, the first horizontal motion component and the second The horizontal motion components are all connected to the level adjustment assembly.

The orthopaedic robot navigation device according to any one of claims 1 to 3, wherein the straight rod type guiding device is separated from the first universal joint and the second universal joint with a disinfecting sleeve. The sterilization sleeve covers the outside of the first tandem robot arm and the second tandem robot arm.

The orthopaedic robot navigation device according to any one of claims 1 to 3, characterized in that the base is provided with a caster and a base fixing device.

The orthopaedic robot navigation device according to claim 5, further comprising a control panel, wherein the control panel is provided with a first horizontal motion component, a first vertical motion component, and a second horizontal motion component. A second vertical motion assembly, a height adjustment assembly, and a control button that horizontally adjusts the movement of the assembly.

A positioning system comprising a C-arm, a computer, and image control operating software stored in the computer, further comprising the orthopaedic robot navigation device according to any one of claims 1 to 7.

The positioning system according to claim 9, wherein the orthopaedic robot navigation device is provided with a control panel, and the control panel is provided with a control first horizontal motion component, a first vertical motion component, and a A control button for moving the two horizontal motion components and the second vertical motion component, the control buttons being coupled to image control operating software within the computer.