CN102085119B - Navigation equipment for femoral medullary cavity cutting operation by femoral myelocavity file - Google Patents
Navigation equipment for femoral medullary cavity cutting operation by femoral myelocavity file Download PDFInfo
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- CN102085119B CN102085119B CN201110054194XA CN201110054194A CN102085119B CN 102085119 B CN102085119 B CN 102085119B CN 201110054194X A CN201110054194X A CN 201110054194XA CN 201110054194 A CN201110054194 A CN 201110054194A CN 102085119 B CN102085119 B CN 102085119B
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- femoral
- myelocavity file
- centrage
- sampled points
- probe
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Abstract
The invention relates to navigation equipment for a femoral medullary cavity cutting operation by a femoral myelocavity file, comprising an acquisition unit (1), a central control unit (2), a display unit (3), a button keyboard (4), a positioning board (5) and a probe (6), wherein the central control unit (2) is respectively connected with the acquisition unit (3), the display unit (3) and the button keyboard (4); the central control unit (2) controls the acquisition unit (1) to sample point position information and work out a cutting guide passage; three sampling points (501, 502, 503) are arranged on the positioning board (5) and form three vertices of a right triangle; two sampling points (1201, 1202) are arranged on the center line of the back end (12) of the probe (6); and two sampling points (1501, 1502) are arranged on the center line of a guide rod (15) of a driver-extractor of the femoral myelocavity file. The equipment can determine the relative position relation between the center line of a femoral medullary cavity and the center line of a femoral myelocavity file cutting guide passage, thereby improving the success rate in implantation of femoral stem prosthesis once.
Description
Technical field
The present invention relates to a kind of medical navigator, especially a kind of navigator for hip replacement surgery process Myelocavity file cutting femoral cavity.
Background technology
In human hip replacement operation process, need to adopt Myelocavity file excision near end of thighbone base of nebk ot femur place's part spongy bone so that implant femoral hip stem prosthesis.In the hip replacement surgery that adopts the Custom Prosthesis type femoral bone end prosthesis, require femoral hip stem prosthesis and patient's femoral cavity closely connected coupling as much as possible, therefore, when processing a Custom Prosthesis type femoral bone end prosthesis, can customize out a corresponding Myelocavity file simultaneously, be used for cutting near end of thighbone spongy bone, this Myelocavity file matching area is slightly less than the corresponding matching area of type femoral bone end prosthesis, like this, can reach the closely connected of type femoral bone end prosthesis and patient's pulp cavity by the extruding remaining spongy bone of performing the operation.At present, in the hip replacement surgery process, operative doctor is determined the cutting guide passage of Myelocavity file fully by rule of thumb.In some hip replacement surgeries, the deviation due to Myelocavity file cutting guide passage centrage and patient's femoral cavity centrage causes type femoral bone end prosthesis to implant and puts in place, even causes patient's femur bone splits phenomenon.Can't implant when putting in place when prosthese, usually need to take X-ray to operative site and determine the stuck situation of type femoral bone end prosthesis, this has not only increased operating time greatly, and makes the patient again suffer the radiation injury of X-ray.Take out subsequently the type femoral bone end prosthesis that blocks, again according to the type femoral bone end prosthesis blocking case, rasp away patient's near end of thighbone part spongy bone so that implanted femur handle prosthese again, this can reduce the matching degree between near end of thighbone pulp cavity and femoral hip stem prosthesis greatly, increase simultaneously type femoral bone end prosthesis loosening risk in early days, be unfavorable for the rehabilitation after operation in patients.
Summary of the invention
The object of the present invention is to provide a kind of assisting operation doctor to determine Myelocavity file cutting guide passage, guarantee the matching degree of Custom Prosthesis type femoral bone end prosthesis and patient's pulp cavity, improve the cutting navigator of the one-time success rate of femoral hip stem prosthesis implantation.
A kind of technical scheme of the navigator for femoral medullary cavity cutting operation by femoral myelocavity file is: comprise collecting unit, central control unit, display unit, button keyboard, location-plate and probe; This central control unit respectively with the collecting unit that is used for sampling point position information, be used for showing that the display unit of guide passage is connected with the button keyboard that is used for controlling, this central control unit control collecting unit sampling point position information also calculates the cutting guide passage; Described location-plate is provided with three sampled points, sampled point form right angle leg-of-mutton three summits; The rear end centrage of probe is provided with two sampled points; Myelocavity file injection-drawing out device center of pilot line is provided with two sampled points.
Collecting unit of the present invention is comprised of contact, contact shoe, two sections lever arms, angular transducer and pedestals, and described contact is spheroid, is fixed on contact shoe; Contact shoe with wherein between one section lever arm, wherein adopt respectively revolute pair to be connected between one section lever arm and another section lever arm and between another section lever arm and pedestal, each revolute pair junction is provided with angular transducer.
9 buttons are arranged on button keyboard of the present invention, wherein two buttons are used for respectively sending rear end (12) centrage and Myelocavity file injection-drawing out device guide rod (15) the centrage instruction that refreshes the probe (6) that shows on display unit 3, and other seven buttons are respectively used to the store sample dot position information.
Two sampled points on three sampled points on location-plate of the present invention, probe and the sampled point on Myelocavity file injection-drawing out device guide rod are all hemispherical groove, and this groove diameter is identical with contact diameter.
As a further improvement on the present invention: the contactless collection positioning equipment of collecting unit, described contactless collection positioning equipment is comprised of laser, infrared ray or ultrasonic equipment.
Beneficial effect of the present invention: the coordinate system of determining the space by the groove on collecting unit and location-plate, determine patient's femoral medullary cavity center line by the groove on probe, thereby determine medullary cavity centrage and Myelocavity file cutting guide passage centrage relative position relation, and by adjusting Myelocavity file cutting guide passage, cutting guide passage centrage is coincided with patient's femoral medullary cavity center line as far as possible, improve type femoral bone end prosthesis and once be implanted to power.
Description of drawings
Fig. 1 is the navigator schematic diagram of femoral medullary cavity cutting operation by femoral myelocavity file;
Fig. 2 is the collecting unit structural representation;
Fig. 3 is the positioning plate structure schematic diagram;
Fig. 4 is the probe structural representation;
Fig. 5 is probe up-sampling dot center place's cross section structure schematic diagram;
Fig. 6 is Myelocavity file injection-drawing out device structural representation after improving;
Fig. 7 is pulp chamber bur structural representation after improving;
Wherein: 1-collecting unit, 2-central control unit, 3-display unit, 4-button keyboard, 5-location-plate, 6-probe, 7-contact, 8-contact shoe, 9-lever arm, 10-angular transducer, 11-pedestal, 12-rear end; The 13-front end, 14-baffle plate, 15-guide rod, 16-pounder, the outer boom of 17-, 18-on and off switch, 19-pulp chamber bur shell, 20-drill bit.
The specific embodiment
Illustrate below in conjunction with accompanying drawing Dui Zuo Jin of the present invention Yi Walk:
A kind of schematic diagram of navigator of femoral medullary cavity cutting operation by femoral myelocavity file mainly comprises as shown in Figure 1: collecting unit 1, central control unit 2, display unit 3, button keyboard 4; The collecting unit 1 that is used for sampling point position information is connected with central control unit 2, central control unit 2 is connected respectively with the button keyboard 4 that is used for controlling with the display unit 3 that is used for the demonstration guide passage, and central control unit 2 is controlled collecting unit 1 sampling point position information and also calculated the cutting guide passage.Collecting unit 1 is comprised of mechanical arm, as shown in Figure 2, mainly is comprised of contact 7, contact shoe 8, two sections lever arms 9, angular transducer 10 and pedestals 11, and wherein contact 7 is spheroid, is fixed on contact shoe 8.Contact shoe 8 and wherein between one section lever arm 9, wherein one section lever arm 9 with another between one section lever arm 9 and in another between one section lever arm 9 and pedestal 11 the employing revolute pair be connected, be provided with angular transducer 10 in each revolute pair junction, in order to measure the angle between each transmission vice division chief adjacent members.
Navigator also has the location-plate 5 as adnexa, as shown in Figure 3, three installing holes 504,505 and 506 is arranged on location-plate 5, with nail, location-plate 5 is fixed on patient's femoral greater trochanter place in operation, and location-plate 5 should be roughly vertical with patient's femoral bone central line.In addition, location-plate 5 is provided with three sampled points 501,502 and 503, and sampled point is hemispherical groove, and its diameter equals the diameter of contact 7.Can construct local coordinate system by these three sampled points 501,502 and 503, sampled point 501 is zero, and sampled point 502 is a bit on the local coordinate system X-axis, and sampled point 503 is a bit on the local coordinate system Y-axis, and Z-direction is determined according to the right-hand rule.Because location-plate 5 is fixed on patient's femur, even if in operation, change has occured patient's leg position, the situation of patient's femoral cavity centrage in this local coordinate system can not change.
Navigator also has the probe 6 as adnexa, as shown in Figure 4, mainly consisted of by rear end 12 and front end 13, the rear end 12 of probe 6 and front end 13 adopt thread connection, one groove is arranged on rear end 12, and groove has two sampled points 1201 and 1202, and sampled point is hemispherical groove, groove diameter is identical with the diameter of contact 7, and sampled point 1201 and 1202 center cross sectional shapes are as shown in Figure 5.When definite patient's femoral cavity centrage, the front end 13 of probe 6 will be inserted into patient's femoral cavity, by gathering the positional information of sampled point 1201 and 1202, then consist of straight line by these 2, and this straight line is just patient's femoral cavity centrage.
As shown in Figure 6, the Myelocavity file injection-drawing out device is arranged on the Myelocavity file rear, formed by baffle plate 14, guide rod 15 and pounder 16 3 parts, be provided with two sampled points 1501 and 1502 in guide rod 15, sampled point is hemispherical groove, sampled point 1501 is identical with 1202 center cross sectional shapes with probe 6 up-sampling points 1201 with 1502 center cross sectional shapes, and groove diameter is also identical with contact 7 diameters.By gathering sampled point 1501 and 1502 positional informationes, then consist of straight line by these 2, this straight line be just that current Myelocavity file cuts the guide passage centrage.
work process and the principle of cutting navigator are: in the hip replacement surgery process, when osteotomy is completed, after exposing patient's femoral cavity, location-plate 5 is fixed on patient's femoral greater trochanter place, and the front end 13 of probe 6 is stretched in patient's femoral cavity, utilize contact 7 touchings to gather three sampled points 501 of location- plate 5, 502 and 503, and two sampled points 1201 on the rear end 12 of probe 6 and 1202 D coordinates value with respect to pedestal 11 centers, by 5 three sampled points 501 of location-plate, 502 and 503 coordinate figures consist of a local coordinate system, construct patient's femoral cavity centrage by sampled point 1201 and 1202, knock femoral bone central line refresh button on button keyboard 4, in the projection situation that demonstrates patient's femoral cavity centrage on display unit 3 in local coordinate system and in three coordinate surfaces of local coordinate system.take out probe 6, put into the Myelocavity file that is connecting injection-drawing out device in patient's femoral cavity, utilize the contact touching on collecting unit 1 to gather 5 three sampled points 501 of location-plate, 502 and 503, and two sampled points 1501 on injection-drawing out device guide rod 15 and 1502 D coordinates value with respect to pedestal 11 centers are not (if patient's shank moves, sampled point 501, 502 and 503 positional informationes can not gather), equally by 5 three sampled points 501 of location-plate, 502 and 503 coordinate figures consist of local coordinate system, construct Myelocavity file cutting guide passage centrage by sampled point 1501 and 1502, knock Myelocavity file cutting guide passage centrage refresh button on button keyboard 4, demonstrating Myelocavity file cutting guide passage centrage projection situation in local coordinate system and in three coordinate surfaces of local coordinate system on display unit 3.operative doctor according to the femoral cavity centrage that demonstrates on display unit 3 and Myelocavity file guide passage centrage local coordinate system and in local coordinate system the projection situation judge, if necessary, adjust Myelocavity file cutting guide passage, 2 up-sampling points 1501 on Resurvey injection-drawing out device guide rod 15 and 1502 D coordinates value with respect to pedestal 11 centers are (if patient's leg position is moved, also to gather sampled point 501, 502 and 503 positional informationes), knock Myelocavity file cutting guide passage centrage refresh button on button keyboard 4, Myelocavity file cutting guide passage centrage and projection in three coordinate surfaces of local coordinate system on display unit 3 in the update displayed local coordinate system.Until the femoral cavity centrage that demonstrates and Myelocavity file guide passage centrage overlap as much as possible, till demonstrating the prompting that can cut on display unit 3, at this moment operative doctor just can be relievedly with Myelocavity file cutting patient femora cancellous bone layer.
Further improvement as embodiment, the outer boom 17 of employing at the pulp chamber bur rear substitutes probe 6 and determines patient's femoral cavity centrage, as shown in Figure 7, outer boom 17 is fixed on pulp chamber bur housing 19, be a half-round bar spare, outer boom centrage overlaps with the pulp chamber bur centrage, and there are two sampled points 1701 and 1702 in outer boom 17 centers, these two sampled points are hemispherical groove, and groove diameter equals upper contact 7 diameters.in hip replacement surgery, after osteotomy is completed, location-plate 5 is fixed on patient's femoral greater trochanter place, at this moment adopt pulp chamber bur to expand marrow to patient's femoral cavity, after the expansion marrow is completed, directly gather outer boom 17 center sampled points 1701, 1702 and location-plate 5 on three sampling point position information, at this moment sampled point 1701 and 1702 line are patient's femoral cavity centrage, so just construct patient's femoral cavity centrage by sampled point 1701 and 1702 positional informationes, sampled point 1701, 1702 and location-plate on three sampling point position information gatherings become after, withdraw from pulp chamber bur, the operating procedure of back is identical with embodiment.
As the further improvement of embodiment, collecting unit 1 can adopt the equipment such as laser, infrared ray or ultrasound wave as contactless collection positioning equipment, obtains the sampling point position coordinate information by cordless; The point position signalling that the main acceptance of central control unit 2 is transmitted from dot position information collecting unit 1, according to the operational order requirement, the point location coordinate information that processing receives, analyze the relative position relation of patient's femoral medullary cavity center line and current Myelocavity file cutting guide passage centrage, and the patient's femoral medullary cavity center line that analyzes and the relative position relation information that current Myelocavity file cuts the guide passage centrage are sent to display device 3; The relative position relation information of patient's femoral medullary cavity center line that display device 3 sends according to central control unit 2 and current Myelocavity file cutting guide passage centrage, adopt the mode of video demonstration or voice suggestion or text prompt, patient's femoral medullary cavity center line and current Myelocavity file cutting guide passage centrage relative position relation are embodied, for the operative doctor reference.
Claims (4)
1. a navigator that is used for femoral medullary cavity cutting operation by femoral myelocavity file, comprise collecting unit (1), central control unit (2), display unit (3), button keyboard (4), location-plate (5) and probe (6); It is characterized in that: described central control unit (2) respectively with the collecting unit (1) that is used for sampling sampling point position information, be used for showing that the display unit (3) of guide passage is connected with the button keyboard (4) that is used for controlling, this central control unit (2) is controlled collecting unit (1) the sampling point position information of sampling and is also calculated the cutting guide passage; Described location-plate (5) is provided with three sampled points (501,502,503), sampled point form right angle leg-of-mutton three summits; Rear end (12) centrage of described probe (6) is provided with two sampled points (1201,1202); Myelocavity file injection-drawing out device guide rod (15) centrage is provided with two sampled points (1501,1502); Described collecting unit (1) is comprised of contact (7), contact shoe (8), two sections lever arms (9), angular transducer (10) and pedestal (11), and described contact (7) are spheroid, is fixed on contact shoe (8); Contact shoe (8) with wherein between one section lever arm (9), wherein adopt respectively revolute pair to be connected between one section lever arm (9) and another section lever arm (9) and between another section lever arm (9) and pedestal (11), each revolute pair junction is provided with angular transducer (10).
2. a kind of navigator for femoral medullary cavity cutting operation by femoral myelocavity file according to claim 1, it is characterized in that: 9 buttons are arranged on button keyboard (4), wherein two buttons are used for respectively sending rear end (12) centrage of the probe (6) that refreshes the upper demonstration of display unit (3) and the instruction of Myelocavity file injection-drawing out device guide rod (15) centrage, other seven buttons are respectively used to store three sampled points (501 on described location-plate (5), 502, 503), two sampled points (1201 on rear end (12) centrage of described probe (6), 1202) and two sampled points (1501 on described Myelocavity file injection-drawing out device guide rod (15) centrage, 1502) positional information.
3. a kind of navigator for femoral medullary cavity cutting operation by femoral myelocavity file according to claim 1 and 2, it is characterized in that: three sampled points (501,502,503) on described location-plate (5), two sampled points (1201,1202) on probe and the sampled point (1501,1502) on Myelocavity file injection-drawing out device guide rod (15) are all hemispherical groove, and this groove diameter is identical with contact (7) diameter.
4. a kind of navigator for femoral medullary cavity cutting operation by femoral myelocavity file according to claim 1 and 2, it is characterized in that: described collecting unit (1) adopts contactless collection positioning equipment, and described contactless collection positioning equipment is comprised of laser, infrared ray or ultrasonic equipment.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110054194XA CN102085119B (en) | 2011-03-08 | 2011-03-08 | Navigation equipment for femoral medullary cavity cutting operation by femoral myelocavity file |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110054194XA CN102085119B (en) | 2011-03-08 | 2011-03-08 | Navigation equipment for femoral medullary cavity cutting operation by femoral myelocavity file |
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| Publication Number | Publication Date |
|---|---|
| CN102085119A CN102085119A (en) | 2011-06-08 |
| CN102085119B true CN102085119B (en) | 2013-05-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201110054194XA Expired - Fee Related CN102085119B (en) | 2011-03-08 | 2011-03-08 | Navigation equipment for femoral medullary cavity cutting operation by femoral myelocavity file |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103300905A (en) * | 2013-06-21 | 2013-09-18 | 江苏大学 | Distal and proximal positioning combined probe for selecting cutting guide of marrow cavity file |
| CN106214213A (en) * | 2016-08-29 | 2016-12-14 | 胡军 | A kind of ultrasonic femoral myelocavity file being applicable to Wicresoft's artificial full hip-joint replacement |
| CN109620415B (en) * | 2019-02-14 | 2024-03-26 | 北京水木天蓬医疗技术有限公司 | Robot-assisted ultrasonic bone power system |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4672957A (en) * | 1983-10-04 | 1987-06-16 | South African Inventions Development Corporation | Surgical device |
| US5910143A (en) * | 1994-12-16 | 1999-06-08 | Exactech, Inc. | Intramedullary alignment guide tool |
| FR2854563A1 (en) * | 2003-05-05 | 2004-11-12 | Fournitures Hospitalieres Ind | Femoral cutting guide for executing preliminary resection, has transversal channel serving as housing for central medullar rod and provided in axial window defined in space that separates branches elongated from base |
| CN201389080Y (en) * | 2009-02-25 | 2010-01-27 | 清华大学 | General calibration module of surgical navigation machine |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2802080B1 (en) * | 1999-12-13 | 2002-03-15 | Jacques Afriat | ASSEMBLY FOR THE PLACEMENT OF A FEMALE HIP PROSTHESIS ROD ON A FEMUR |
-
2011
- 2011-03-08 CN CN201110054194XA patent/CN102085119B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4672957A (en) * | 1983-10-04 | 1987-06-16 | South African Inventions Development Corporation | Surgical device |
| US5910143A (en) * | 1994-12-16 | 1999-06-08 | Exactech, Inc. | Intramedullary alignment guide tool |
| FR2854563A1 (en) * | 2003-05-05 | 2004-11-12 | Fournitures Hospitalieres Ind | Femoral cutting guide for executing preliminary resection, has transversal channel serving as housing for central medullar rod and provided in axial window defined in space that separates branches elongated from base |
| CN201389080Y (en) * | 2009-02-25 | 2010-01-27 | 清华大学 | General calibration module of surgical navigation machine |
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| CN102085119A (en) | 2011-06-08 |
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Granted publication date: 20130508 Termination date: 20160308 |