CN101697869B - Fixing scaffold for surgical guidance - Google Patents
Fixing scaffold for surgical guidance Download PDFInfo
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- CN101697869B CN101697869B CN2009101796826A CN200910179682A CN101697869B CN 101697869 B CN101697869 B CN 101697869B CN 2009101796826 A CN2009101796826 A CN 2009101796826A CN 200910179682 A CN200910179682 A CN 200910179682A CN 101697869 B CN101697869 B CN 101697869B
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Abstract
The invention relates to a fixing scaffold for surgical guidance, which comprises a scaffold body (1) and a fixing rack (2). The fixing rack is at least provided with three reflective balls capable of reflecting infrared lights. The fixing support is characterized in that: the support body comprises a tripod (11), positioning rods (12) and a central rod (13); the number of the positioning rods (12) is three; the upper ends of the positioning rods (12) are connected to the three end parts of the tripod (11) respectively and are axially extended downwards; the central rod (13) is arranged on the middle part of the tripod (11) and axially extended downwards; and a skull fixing screw (14) is arranged in the central rod (13), and the thread end of the skull fixing screw is exposed out of the lower end surface of the central rod (13). The fixing rack is not only fixed with a patient during an operation through the skull fixing screw on the central rod, but also supports and positions the patient during the operation through the three positioning rods, so that three supporting points and a fixed point are formed between the support and the patient to ensure that the position relationship between the fixator and the patient is stable, greatly improve the accuracy of space registration, prevent the impact on drift, and improve the accuracy of the surgical guidance.
Description
Technical field
The present invention relates to a kind of operation guiding system, relate in particular to a kind of fixing scaffold for surgical guidance based on optical positioning apparatus.
Background technology
Before the computer operation guiding system occurs, the doctor often can only or have the wound detection means to obtain diagnostic message by indirect method, as observe CT faultage image, ultrasound diagnosis, operations research etc., and then the experience that relies on the doctor is implemented operation, this mode is difficult for accurately grasping the space coordinates of some crucial physiology point of surgical object, and the operative site polarization is poor.
In operation process, realize the visual and real-time tracking of operating theater instruments, at first to set up the relation between preceding CT model of art and patient locus, promptly spatial registration effectively instructs surgical planning then, the carrying out of guiding in real time operation.The computer operation guiding system combines space multistory airmanship, Computer Image Processing and visualization technique with clinical operation, the operating theater instruments position is shown in real time, and the doctor can understand operating theater instruments position and operation safety at any time.Because its advantage is more, the application of computer operation guiding system technology in Oral and Maxillofacial Surgery is also increasingly extensive.
At present use maximum operation guiding systems to be based on the operation guiding system of optical positioning apparatus clinically, the localizer following principle is: the position sensor of a binocular can be launched infrared light, infrared light is radiated on the fixed support that localizer is housed, one group of (minimum 3 by specific distribution of sizes is housed on the locating support, but generally select the bead of 4 reflects infrared light for use), bead is put pick off with the infrared light reflection return, position sensor is through the processing of systems soft ware, can calculate the locus at present operating theater instruments tip, and then realize the real-time tracking of operating theater instruments in the wild scope of art.As a publication number is a kind of operation guiding system the Chinese invention patent " adopt infrared reflecting ball be the surgical instrument positioning method of index point " of ZL200710044709.1 (publication number is CN101099673A) has disclosed, and the document does not disclose support bracket fastened concrete structure.
In the surgical navigational of existing optical positioning system, all be as benchmark under many situations with patient's position, this just requires operating-table or patient's relative position sensor is immobilized relatively, and in actual surgery, to move or rotate the surgical object operation that undergos surgery inevitably, and the variation of these positions brings influence can for the computer surgical navigational, so that the quality of influence operation.
The image drift is the key factor that influences the operation guiding system accuracy, and it is systemic image drift that the image drift has two classes, a class, and another kind of is structural image drift.The displacement of the former and locator markers, the headstock is loosening, and registration tense marker thing slippages etc. are relevant, and patient tissue displacement in the latter and the art, distortion, volumetric change are relevant, so the localized fixing of patient and stability are very important in fixed mount and the art.
As improvement, and for example a patent No. is that the Chinese utility model patent " the infrared radio indicators track device that is used for surgical navigational " of ZL02272609.8 (notification number is CN2565417Y) has disclosed a kind of like this infrared radio indicators track device that is used for surgical navigational, comprise main body, handle and barred body, body surfaces is provided with four not coplanar infrarede emitting diodes and infrared receiving/transmission point, be provided with illuminating circuit in the main body, the top and the bottom of main body respectively are provided with handle and barred body, indicator or tracker that this device can be used as surgical navigational use, in the operation because of the variation of surgical object position, apparatus main body provides change in location information incessantly, through control system to information processing, reach the indication of operation object's position or the purpose of tracking, above-mentioned tracking means inserts surgical object by handle with barred body and fixes, and this device can better solve image this problem of drifting about.
But aforementioned means is only inserted surgical object, poor stability by a barred body; Have the subject angle of aforementioned tracking means can not conversion again, promptly the reflection position of witch ball can not carry out angular adjustment after barred body is fixed, so the adaptability of aforementioned tracking means is relatively poor.
In sum, existing fixing scaffold for surgical guidance also can be further improved.
Summary of the invention
Technical problem to be solved by this invention is to provide a kind of novel structure and the fixed fixing scaffold for surgical guidance of surgical object at above-mentioned prior art present situation.
The present invention solves the problems of the technologies described above the technical scheme that is adopted: a kind of fixing scaffold for surgical guidance, include support body and fixed mount, this fixed mount is installed on the described support body, the reflective bead of three energy reflects infrared light is installed on the fixed mount at least, it is characterized in that: described support body includes spider, locating rod and center-pole, locating rod has three, the upper end of each locating rod is connected to three ends of spider and axially extends downwards, described center-pole is installed in the middle part of spider and axially extends downwards, be provided with a skull hold-down screw in the center-pole, the end of thread of this skull hold-down screw exposes the lower surface of center-pole.
If the bottom of locating rod is the plane, when this fixed support being fixed on the patient body (as head), the bottom surface of locating rod will be tight against on the epidermis that is pressed in head, and general this operating time is longer, is resisted against the epidermis of head for a long time or makes the long-time anoxia of epidermal tissue as the locating rod lower end, and cause the local necrosis of head epidermal tissue, increase patient's misery, be difficult for patient's recovery, at previous reasons, as improvement, the bottom of above-mentioned locating rod is most advanced and sophisticated needle tip down.Like this when this fixed support being fixed on the patient body (as head), the needle tip of locating rod bottom can directly thrust in patient's the skull of epidermis below and form fixing, locating rod can large tracts of land not compress epidermis, and needle point is very little to the wound area of epidermis, almost can ignore, be convenient to patient's post-operative recovery.
Above-mentioned center-pole is a hollow stem, and the lower end oral area of this center-pole has the inner baffle shoulder that inwardly contracts in the footpath, and the end of thread activity of described skull hold-down screw passes the lower end oral area of center-pole, and skull hold-down screw head rest is on described inner baffle shoulder.This skull hold-down screw is movably arranged in the center-pole, is convenient to position in the skull hold-down screw screw-in skull, only the hollow position of corresponding spanner from center-pole need be inserted during operation, and it is support bracket fastened fixing to drive the interior realization of skull hold-down screw screw-in skull.
Above-mentioned fixed mount is cruciformity, and described witch ball is threaded in four ends of fixed mount respectively to have four for good.Four witch balls can make between patient and the operating theater instruments location more accurate.
Above-mentioned center-pole is installed in the middle part of spider by a branch sleeve, the bottom of branch sleeve is provided with external screw thread, the center position of spider has tapped through hole, the lower thread of branch sleeve is connected in the tapped through hole of spider, the top of center-pole is provided with external screw thread, this center-pole activity interts in branch sleeve, and the external screw thread on center-pole top is threaded with one first locking nut after exposing branch sleeve top; Described fixed mount is locked on the described branch sleeve by coupling assembling.It is installed in frame mode on the fixed mount for a kind of with center-pole, this frame mode makes center-pole spider slippage up and down relatively, can adjust the length that center-pole is positioned at the spider below in good time, after adjusting to correct position, the effect by first locking nut prevents that center-pole breaks away from spider downwards.
As improving further, above-mentioned coupling assembling comprises contiguous block, have the through hole that vertically runs through on it, this through hole is movably set on the described branch sleeve, the top of branch sleeve is provided with external screw thread, being threaded on this external screw thread one is locked in second locking nut of spider top with this contiguous block, also has a screwed hole that laterally runs through the contiguous block side end face on the contiguous block; T junction, have on it laterally run through with described contiguous block on the corresponding perforation of screwed hole, one clamping screw passes this perforation screwed hole back and on the contiguous block and is threaded, and be connected with the 3rd locking nut and T junction is pressed on the contiguous block at the clamping screw external screw-thread, also have a screwed hole that vertically runs through the T junction upper surface on the T junction; Connecting rod, its upper and lower is equipped with external screw thread, and described fixed mount middle part has screwed hole, and the top of connecting rod is threaded in the screwed hole of fixed mount, and the lower thread of connecting rod is connected in the screwed hole on the T junction.
This connection resistor can make fixed mount and the relative position relation between the support body that witch ball is installed carry out 360 ° adjusting in the horizontal direction, because contiguous block is movably set on the branch sleeve, so contiguous block branch sleeve 360 ° of rotations in the horizontal direction relatively, reuse second locking nut will lock between contiguous block and the spider when forwarding correct position to, and fixed mount and contiguous block relative position relation are fixed, the fixed mount that witch ball promptly is installed can carry out position adjustments by relative spider in 360 ° of scopes of level, so the adaptability of this fixed mount is strong.
As further improving, a reference column has been threaded on the side end face of above-mentioned contiguous block, this reference column side is protruded the side end face of contiguous block, the described T junction corresponding end-faces upper edge circle spacing has a plurality of locating holes that insert for reference columns, and described reference column is plugged in the locating hole and with contiguous block and T junction relative localization.
This structure can make fixed mount and the relative position relation between the support body that witch ball is installed carry out the adjusting of multi-angle on the locus, because the locating hole on the T junction end face is along being provided with along the circle spacing, only need during adjusting reference column is inserted in the positioning hole corresponding, angular relationship between T junction and the contiguous block is determined, with regulating bolt T junction and contiguous block are locked on axial location at last, promptly finish the adjusting of the relative position relation between fixed mount and the support body.
For with in the more firm screwed hole that is locked in T junction, the 4th locking nut has been threaded on the external screw thread of above-mentioned connecting rod bottom.
The upper end of above-mentioned each locating rod is threaded in three ends of spider respectively.Be convenient to the dismounting locating rod like this.
Compared with prior art, the invention has the advantages that: the fixed mount that reflective bead is installed is fixed on the support body, and fixed mount is not only fixed by patient in skull hold-down screw on the center-pole and the art, but also support the location by patient in three locating rods and the art, form three strong points and a fixing point in support and the art between the patient, make fixed mount and patient position relation keep constant, even it is constant that reflective bead and patient position relation keep, the accuracy of spatial registration improves greatly, prevent the influence drift, improve the surgical navigational precision.
Description of drawings
Fig. 1 is the perspective view of the embodiment of the invention;
Fig. 2 is the stereochemical structure cutaway view of the embodiment of the invention;
Fig. 3 is the vertical view of fixed mount in the embodiment of the invention;
Fig. 4 is the vertical view of spider in the embodiment of the invention;
Fig. 5 is the cutaway view of contiguous block in the embodiment of the invention;
Fig. 6 is the cutaway view of T junction in the embodiment of the invention;
Fig. 7 is the side view of T junction in the embodiment of the invention.
The specific embodiment
Embodiment describes in further detail the present invention below in conjunction with accompanying drawing.
Shown in Fig. 1～7, be a preferred embodiment of the present invention.
A kind of fixing scaffold for surgical guidance, include support body 1 and fixed mount 2, this fixed mount 2 is installed on the support body 1, and fixed mount 2 is cruciformity, 3, four reflective beads 3 of reflective bead that four energy reflects infrared light are installed on the fixed mount 2 are threaded in four ends of fixed mount 2 respectively.
Three locating rods 12, the upper end of each locating rod 12 are threaded in three ends of spider 11 respectively and axially extend downwards, and promptly locating rod 12 is positioned at the support body below, and the bottom of locating rod 12 is most advanced and sophisticated needle tip 121 down.
A center-pole 13, center-pole 13 is a hollow stem, the lower end oral area of this center-pole 13 has the inner baffle shoulder 131 that inwardly contracts in the footpath, center-pole 13 is installed in the middle part of spider 11 by a branch sleeve 4 and axially extends downwards, this center-pole 13 and locating rod 12 keeping parallelisms, the bottom of branch sleeve 4 is provided with external screw thread, the lower thread of branch sleeve 4 is connected in the tapped through hole 111 of spider 11, the top of center-pole 13 is provided with external screw thread, these center-pole 13 activities intert in branch sleeve 4, and the external screw thread on center-pole 13 tops is threaded with one first locking nut 41 after exposing branch sleeve 4 tops.
Skull hold-down screw 14, it is the titanium nail, be located in the hollow center-pole 13, the end of thread activity of skull hold-down screw 14 passes the lower end oral area of center-pole 13, the lower surface of promptly exposing center-pole 13, skull hold-down screw 14 head rest are on the inner baffle shoulder 131 of the lower end of center-pole 13 oral area, and skull hold-down screw 14 is not just downwards in the off center bar 13 like this.
Fixed mount 2 is locked on the branch sleeve 4 by coupling assembling.
Coupling assembling comprises
Connecting rod 8, its upper and lower is equipped with external screw thread, fixed mount 2 middle parts have screwed hole 21, the top of connecting rod 8 is threaded in the screwed hole 21 of fixed mount, the lower thread of connecting rod 8 is connected in the screwed hole 62 on the T junction, the 4th locking nut 81 that has been threaded on the external screw thread of connecting rod 8 bottoms is with connecting rod 8 more firm being locked on the T junction 6.
A reference column 9 has been threaded on the side end face of contiguous block 5, these reference column 9 sides are protruded the side end face of contiguous block 5, the 6 corresponding end-faces upper edge circle spacings of T junction have a plurality of locating holes 63 that insert for reference columns 9, and reference column 9 is plugged in the locating hole 63 and with contiguous block 8 and T junction 6 relative localizations.
Earlier that fixed mount 2 and spider 11 relative fixed are accurate, then center-pole 13 is passed branch sleeve 4, again skull hold-down screw 14 is screwed in the skull of patient in the art, screw first locking nut 41 with center-pole 13 axial limitings on spider 11, simultaneously, the needle tip 121 of locating rod 12 lower ends inserts in the skull, finishes fixing.
Claims (9)
1. fixing scaffold for surgical guidance, include support body (1) and fixed mount (2), this fixed mount (2) is installed on the described support body (1), the reflective bead (3) of three energy reflects infrared light is installed on the fixed mount (2) at least, it is characterized in that: described support body (1) includes spider (11), locating rod (12) and center-pole (13), locating rod (12) has three, the upper end of each locating rod (12) is connected to three ends of spider (11) and axially extends downwards, described center-pole (13) is installed in the middle part of spider (11) and axially extends downwards, be provided with a skull hold-down screw (14) in the center-pole (13), the end of thread of this skull hold-down screw (14) exposes the lower surface of center-pole (13).
2. fixing scaffold for surgical guidance according to claim 1 is characterized in that: the bottom of described locating rod (12) is most advanced and sophisticated needle tip (121) down.
3. fixing scaffold for surgical guidance according to claim 1, it is characterized in that: described center-pole (13) is a hollow stem, the lower end oral area of this center-pole (13) has the inner baffle shoulder (131) that inwardly contracts in the footpath, the end of thread activity of described skull hold-down screw (14) passes the lower end oral area of center-pole (13), and skull hold-down screw (14) head rest is on described inner baffle shoulder (131).
4. fixing scaffold for surgical guidance according to claim 1 is characterized in that: described fixed mount (2) is cruciformity, and described reflective bead (3) has four, is threaded in four ends of fixed mount (2) respectively.
5. according to the described fixing scaffold for surgical guidance of arbitrary claim in the claim 1～4, it is characterized in that: described center-pole (13) is installed in the middle part of spider (11) by a branch sleeve (4), the bottom of branch sleeve (4) is provided with external screw thread, the center position of spider (11) has tapped through hole (111), the lower thread of branch sleeve (4) is connected in the tapped through hole (111) of spider (11), the top of center-pole (13) is provided with external screw thread, this center-pole (13) activity interts in branch sleeve (4), and the external screw thread on center-pole (13) top is threaded with one first locking nut (41) after exposing branch sleeve (4) top; Described fixed mount (2) is locked on the described branch sleeve (4) by coupling assembling.
6. fixing scaffold for surgical guidance according to claim 5 is characterized in that: described coupling assembling comprises
Contiguous block (5), have the through hole (51) that vertically runs through on it, this through hole (51) is movably set on the described branch sleeve (4), the top of branch sleeve (4) is provided with external screw thread, being threaded on this external screw thread one is locked in second locking nut (53) of spider (11) top with this contiguous block (5), also has a screwed hole (52) that laterally runs through the contiguous block side end face on the contiguous block (5);
T junction (6), have the corresponding perforation (61) of screwed hole (52) that laterally runs through with on the described contiguous block on it, one clamping screw (7) passes this perforation (61) screwed hole (52) back and on the contiguous block and is threaded, and be connected with the 3rd locking nut (71) and T junction (6) is pressed on the contiguous block (5) at clamping screw (7) external screw-thread, also have a screwed hole (62) that vertically runs through T junction (6) upper surface on this T junction (6);
Connecting rod (8), its upper and lower is equipped with external screw thread, described fixed mount (2) middle part has screwed hole (21), and the top of connecting rod (8) is threaded in the screwed hole (21) of fixed mount, and the lower thread of connecting rod (8) is connected in the screwed hole (62) on the T junction.
7. fixing scaffold for surgical guidance according to claim 6, it is characterized in that: a reference column (9) has been threaded on the side end face of described contiguous block (5), this reference column (9) side is protruded the side end face of contiguous block (5), described T junction (6) the corresponding end-faces upper edge circle spacing has a plurality of locating holes (63) that insert for reference columns (9), and described reference column (9) is plugged in the locating hole (63) and with contiguous block (5) and T junction (6) relative localization.
8. fixing scaffold for surgical guidance according to claim 6 is characterized in that: the 4th locking nut (81) has been threaded on the external screw thread of described connecting rod (8) bottom.
9. fixing scaffold for surgical guidance according to claim 5 is characterized in that: the upper end of described locating rod (12) is threaded in three ends of spider (11) respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009101796826A CN101697869B (en) | 2009-10-19 | 2009-10-19 | Fixing scaffold for surgical guidance |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009101796826A CN101697869B (en) | 2009-10-19 | 2009-10-19 | Fixing scaffold for surgical guidance |
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| Publication Number | Publication Date |
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| CN101697869A CN101697869A (en) | 2010-04-28 |
| CN101697869B true CN101697869B (en) | 2011-06-15 |
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| CN2009101796826A Active CN101697869B (en) | 2009-10-19 | 2009-10-19 | Fixing scaffold for surgical guidance |
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| TWI409442B (en) * | 2011-09-09 | 2013-09-21 | Pou Yuen Technology Co Ltd | An system and method for algining a sensing device |
| CN102551892A (en) * | 2012-01-17 | 2012-07-11 | 王旭东 | Positioning method for craniomaxillofacial surgery |
| CN103371828B (en) * | 2012-04-19 | 2016-03-02 | 北京航空航天大学 | For the Passive Track target of photoelectric surgery navigation and real-time spatial position thereof and attitude method for tracing |
| CN104146767A (en) * | 2014-04-24 | 2014-11-19 | 薛青 | Intraoperative navigation method and system for assisting in surgery |
| CN104887327B (en) * | 2015-06-24 | 2017-03-29 | 深圳安科高技术股份有限公司 | A kind of touch sensitive registration tools and its method for registering for surgical navigational |
| CN105266897B (en) * | 2015-11-25 | 2018-03-23 | 上海交通大学医学院附属第九人民医院 | A kind of microsurgery navigation system and air navigation aid based on augmented reality |
| CN107468351A (en) * | 2016-06-08 | 2017-12-15 | 北京天智航医疗科技股份有限公司 | A kind of surgery positioning device, alignment system and localization method |
| CN109952070B (en) * | 2016-10-05 | 2022-02-01 | 纽文思公司 | Surgical navigation system and related methods |
| CN106539625A (en) * | 2017-01-10 | 2017-03-29 | 北京积水潭医院 | A kind of operating robot optical tracker positioner |
| CN107174343A (en) * | 2017-06-26 | 2017-09-19 | 南京普爱医疗设备股份有限公司 | Three-dimensional orthopedic surgical navigational spatial registration method based on infrared optics alignment system |
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| CN109846551A (en) * | 2019-03-28 | 2019-06-07 | 深圳市海西高科有限公司 | Operation guiding system |
| CN112237481B (en) * | 2019-07-17 | 2021-12-21 | 杭州三坛医疗科技有限公司 | Fracture reduction closed positioning mechanism |
| CN110974434A (en) * | 2019-12-12 | 2020-04-10 | 北京航天控制仪器研究所 | Positioning device for orthopedic surgery |
| CN111631818B (en) * | 2020-06-03 | 2021-01-29 | 杭州键嘉机器人有限公司 | End calibration device of orthopaedic surgery robot |
| CN111821025B (en) * | 2020-07-21 | 2022-05-13 | 腾讯科技（深圳）有限公司 | Space positioning method, device, equipment, storage medium and navigation bar |
| CN113208728A (en) * | 2021-04-01 | 2021-08-06 | 杭州键嘉机器人有限公司 | Connecting device |
| CN113187783A (en) * | 2021-04-19 | 2021-07-30 | 北京箴石医疗科技有限公司 | Fixing device |
| CN113599721B (en) * | 2021-07-29 | 2024-02-06 | 中科领航医疗科技有限公司 | Positioning light reflecting small ball mechanism for surgical navigation and radioactive implantation system and use method |
| CN113952032B (en) * | 2021-12-20 | 2022-09-02 | 北京诺亦腾科技有限公司 | Space tracking equipment for orthopedic surgery |
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| CN101697869A (en) | 2010-04-28 |
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