CN104271068A - Handheld tracking systems and devices for aligning implant systems during surgery - Google Patents
Handheld tracking systems and devices for aligning implant systems during surgery Download PDFInfo
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- CN104271068A CN104271068A CN201380022907.1A CN201380022907A CN104271068A CN 104271068 A CN104271068 A CN 104271068A CN 201380022907 A CN201380022907 A CN 201380022907A CN 104271068 A CN104271068 A CN 104271068A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
- A61B17/1662—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans for particular parts of the body
- A61B17/1664—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans for particular parts of the body for the hip
- A61B17/1666—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans for particular parts of the body for the hip for the acetabulum
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00017—Electrical control of surgical instruments
- A61B2017/00221—Electrical control of surgical instruments with wireless transmission of data, e.g. by infrared radiation or radiowaves
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2055—Optical tracking systems
- A61B2034/2057—Details of tracking cameras
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2065—Tracking using image or pattern recognition
Abstract
The present invention discloses handheld tracking systems and devices comprising of at least one handheld tracking device for intra-operative aligning or positioning of surgical implant systems and instruments with reference to the anatomy of a patient. The handheld tracking system further comprises of at least one trackable element. The handheld device is mounted at the proposed implantation site using the holding means while trackable element(s) is/are mounted at predetermined location(s) such that data from said deployed trackable element(s) relating to the position of the patient and the surgical instruments are input continuously into the handheld devices. The handheld device then processes the data on the basis of pre-loaded preoperative scanned images in the processing means to monitor the accurate placement of said implant system onsite in sterile environment.
Description
Technical field
The present invention relates to the hand-held tracking system for aiming at implant system in operation process and device, and carry out the process of micro-wound surgical operation tracking by described hand-held tracking means.
The provisional application 3283/DEL/2012's in 25, on the October of provisional application 1345/DEL/2012 and 2012 in this complete description to be chapters and sections 9 (2) the lower date of Patent Law 1970 be on May 2nd, 2012 is of the same clan.
Background technology
As time goes on and Reusability, may damage or wear and tear in bone and joint.In joint area for providing the cartilage of cushioning effect may to wear and tear or damage due to following reason to joint in body movement process: as when motor activity maybe when standing traumatic event to bone or joint repeat exert all one's strength; Or some disease of such as osteoarthritis.This situation can cause patient pain, stiff and activeness variation.
Arthroplasty program is usually used in replacing diseased joints with artificial joint.In typical arthroplasty program, the joint of arthritis or other malfunction is shaped and/or readjusts, and implant system is accurately positioned in affected area.Arthroplasty art program can occur in any joint (including but not limited to knee joint, hip joint, shoulder joint and the elbow joint) place in the zones of different of health.
A main target of arthroplasty art is the anatomic part (anatomy) repairing patient, particularly aims at reference to anatomic part or location implant assembly.Implant is aimed at usually by using mechanical device and/or navigation system to carry out with this of anatomic part.The shortcoming of mechanical device is used to be inaccurate aligning possible occur, this is because these do not consider any parameter of particular patient or surgery device based on average anatomical part relations.In addition, these mechanical devices may not be very directly perceived and be easy to use, thus need a large amount of operative incisions and monitoring instrument continuously, the critical anatomical parts boundary mark simultaneously on manual alignment instrument and health.These anatomic landmark potentially unstables, thus cause inaccurate judgement.
Further, the existing navigation system in arthroplasty art program is very complicated and expensive.Such system is used usually to need extra personnel to handle the navigational computer outside the aseptic area in operating room.In addition, existing navigation system depends on the direct sight line between the navigation instrument that to be placed in operation and to use in external camera outside gnotobasis or infrared ray sensor and aseptic area.This makes surgical procedures bother very much and needs surgeon often to shift out operative site, makes the camera system be present in outside aseptic area can see the tracking system existed in aseptic area.
Therefore, need such hand-held tracking system and device for aiming at implant system for patient when surgical operation carries out, namely, simpler and pin-point accuracy is used in surgical procedures, and for surgeon provides operating flexibility in larger art, make it completely controlled and use in aseptic area.
Above shortcoming is resolved in such article: that delivers in the periodical of arthroplasty art is entitled as " Improving acetabular cup orientation in the total hip arthroplasty by using smartphone technology ", it discloses and uses smart mobile phone to come to place for acetabular bone.Use the auxiliary operating advantage of smart mobile phone to have a lot: such as accurately digital inclination angle, consuming time less, without the need to external reference otch with minimumly arrange requirement.But the not open information about accurately detecting orientation (it is critical angle) of leaning forward of this article.Any inaccuracy in the orientation that leans forward significantly can increase the chance of post-operative complication (such as repeatedly dislocating).
Object of the present invention:
One object of the present invention is to provide hand-held tracking system and device, aims at implant system and/or surgical unit for the anatomic part with reference to patient in operation process when surgical operation carries out.
Another object of the present invention is to provide hand-held tracking system that is simple, that easily arrange and device, and it is accurately located for the anatomic part with reference to patient in operation process and/or size adjusts implant system and the sight line do not relied on outside aseptic area connects.
Another object of the present invention is to provide initiatively portable equipment, its can in operation process by audio frequency and/or visual device indicating positions and/or size information.
Another object of the present invention is to provide hand-held tracking system, and it comprises at least one portable equipment, and this at least one portable equipment has the sensor that can detect and show implant system information when running in gnotobasis.
Another object of the present invention is to provide portable equipment, and it can be arranged on polytype instrument and be tied on patient in operation process.
Another object of the present invention is to provide portable equipment, and it has following ability: can read from implant system, instrument and/or patient position and process image the preoperative image based on patient data and art.
Another object of the present invention is to provide portable equipment, it can when carrying out radio communication without any usage data communication link when external device (ED) or reference or agreement.
Another object of the present invention is to provide the method using system of the present invention and device to carry out hand held surgical tracking.
Another object of the present invention is to provide cost effectively and less troublesome tracking system, and it can be used easily by surgeon in various surgical procedures.
Summary of the invention
The present invention relates to a kind of hand-held tracking system and device, it comprises at least one hand-held tracking means, aims at or location for carrying out with reference to the anatomic part of patient in the art of Srgery grafting system and instrument.The present invention also provides the process using system of the present invention and device to carry out micro-wound surgical operation tracking in gnotobasis.
Therefore, the hand-held tracking system of aiming in the art that present invention provides for surgical unit and/or implant system.Hand-held tracking system comprises at least one portable equipment, and it has for the device of data input, blood processor, storage device and device, rechargeable power supply for exporting treated data.Hand-held tracking system also comprises at least one can tracer element and at least one holding device, and this at least one holding device is used for portable equipment to be fixed in gnotobasis.
Be loaded into the implant site place having the portable equipment of preoperative scan-data and other patient specific data to be arranged on recommendation by means of holding device, pre-position can be arranged on by tracer element simultaneously.The data of the position about patient and surgical unit of tracer element portable equipment can be input to continuously by input equipment from disposed, and processed, to provide processed continuously data thus the accurate placement of on-site supervision implant system in gnotobasis by continuation based on the preoperative scanogram be preloaded in blood processor further.
In another aspect of the present invention, the invention also discloses the method using hand-held tracking system.The method can comprise the following steps: the particular data uploading the specific preoperative scanning of patient and patient in portable equipment.In addition, described method can comprise: the position data of tracer element can upload to described portable equipment to prevent any difference in length of the leg length of patient after having performed the operation by what be positioned at the head of femur.Described method also can comprise the following steps: be arranged on by portable equipment on patient anatomical's part/bone and also will be fixed by holding device.Described method can comprise and can navigate on surgical unit by tracer element by least one; By patient be stored into the preoperative spin-scanning alignment of portable equipment to determine the desired locations of implant system, and then relative to identified reference position dynamic tracking surgical unit to determine the correct progress direction of performing the operation and the implantation subsequently of implant system.
Accompanying drawing explanation
Fig. 1 illustrates the schematic diagram of the hand-held tracking system that wherein feature of the present invention can be implemented.
Fig. 2 illustrates the front view of the portable equipment of the different characteristic depicting portable equipment.
Fig. 3 illustrates the front view of portable equipment, specifically show the information about relative measurement.
Fig. 4 illustrates the rearview of portable equipment and its feature.
Fig. 5 illustrates the mounting arrangements of portable equipment on patient.
Fig. 6 illustrates the fixing of the mechanism of ammonium fixation/safety of portable equipment in equipment keeper, depicts the feature of equipment keeper.
Fig. 7 illustrates the realization/layout of the various features of hand-held tracking system on patient.
Fig. 8 illustrates the realization of hand-held tracking system and device, more especially positioned opposite on patient of portable equipment 1 and 2.
Fig. 9 describes the anatomical compatibility block being used for the initial position of fixing operation instrument/implant in portable equipment.
Figure 10 illustrates and carry out the schematic diagram of pore widening step to the desired degree of depth in arthroplasty art.
Figure 11 illustrates and aim at implant system to obtain the schematic diagram of desired leg length in arthroplasty art.
Figure 12 shows the flow chart that the process using hand-held tracking system is shown in surgical procedures.
Detailed description of the invention
Present invention, avoiding the problems referred to above of the prior art, and be provided in operation process, aim at implant system hand-held tracking system and device.Described hand-held tracking system comprises portable equipment, and it carries out aiming at implant system and/or surgical unit in art for the anatomic part with reference to patient in arthroplasty art.System of the present invention is used in operation process with reference to the accurate location of the anatomic part determination implant system of patient and/or size.Term used herein " arthroplasty art or arthroplasty art program " refers to the operation process of orthomorphia, in this operation process, the joint of arthritis or other disfunction is shaped and/or readjusts and implant system is positioned to affected area alternatively.Arthroplasty art program can occur in any joint (including but not limited to knee joint, hip joint, shoulder joint and the elbow joint) place of the zones of different of health.Term " holding device " refers to the device in anatomic part for portable equipment being fixed to patient or surgical unit or gnotobasis.
When arthroplasty art, the accurate location of implant is very important.Any inaccurate location of implant may cause serious postoperative discomfort sense, such as dislocation, poor loading condiction, thus causes the fault of implant system needs to carry out expensive and extremely professional correction revisional operation by expert surgeon further.The invention discloses the system comprising at least one portable equipment.Portable equipment can be connected to the anatomic part of the health of patient via holding device, and it can be attached to the instrument used arthroplasty art process Chinese and foreign department doctor, at least one wherein in portable equipment can by audio frequency and/or visual device indicating positions and/or size information.
Fig. 9 illustrates the hand-held tracking system comprising a portable equipment, and Fig. 1, Fig. 7, Fig. 8 illustrate the hand-held tracking system with two portable equipments (1,2).Fig. 2, Fig. 3 and Fig. 4 depict the detailed description of hand-held tracking means.Fig. 9 and Figure 10 and Figure 11 depicts the method using hand-held tracking system in arthroplasty art surgical operation.
Hand-held tracking system shown in Fig. 9 comprises a portable equipment (2) and can tracer element (3200).Portable equipment is installed to the region of anatomy (anatomy of patient body by holding device (1027), anatomic part) (800), that reads by described portable equipment can be installed on surgical unit (1004) by slit (3101) by tracer element (3200) simultaneously.Describedly can be made up or have unique color of reflecting material by tracer element (3200).Can detect easily can the mode of tracer element (3201) be fixed on surgical unit (1004) by device (3101) with device (2) by tracer element (3200).
Portable equipment can comprise processor, rechargeable battery or disposable battery, speaker, touch-screen display, camera sensor, acceleration transducer, gyro sensor, pocket lamp etc.Being present in described sensor in portable equipment can when communicating with one another without the need to when any external device (ED) or reference or communicates with operating team, and can detect and show the implant system information of (runtime, during operation) when running in gnotobasis.
Fig. 2, Fig. 3 and Fig. 4 relate to the detailed description of exemplary hand held tracking means.Described portable equipment comprises the built-in flash (500,501) of display screen (300), the digital camera (200A, 200B) of the front side laying respectively at portable equipment and rear side, boombox (400), the front side laying respectively at portable equipment and rear side.Portable equipment also comprises digital memory, be stored in operation different phase use pre-operative data and art in data.
Digital camera (200A, 200B) has the processor for taking the sensor of image, the image of processing screened, and result is presented on described display screen (300).Display screen also can be touch screen, and it can be used as inputting cause surgeon record can the initial desired locations (201) of tracer element.Display screen display can initial (201) and the current dynamic position (220) of tracer element.The border of tracking system (210) can be circular, square or oval.Display screen also can provide instruction can the information of relative mistake (310) between the described initial and current location of tracer element with reference to the particular procedure step in operation.Described information is quite useful in surgical procedures (such as, in full hip-joint modeling), because the position, top rake, inclination angle, counterbore depth etc. of its instruction acetabular cup.
The boombox (400) of described portable equipment (1,2) can provide specific feedback in operation process, such as confirms sound or transfinite " warning tones ".Have built-in camera (200A, 200B) built-in flash (500,501) can even in complex background exactly shooting can tracer element (2500,3200,3300,3500) position.
In the operation of arthroplasty art, system of the present invention and device can be placed in aseptic area easily.Fig. 4 describes the equipment keeper remained on by portable equipment (1,2) in gnotobasis.Described equipment keeper (1020) can comprise reusable or disposable transparent sterile bag.
Fig. 5 depicts the mounting arrangements (1025,1026,1027) of portable equipment (2) on the region of anatomy or bone (800) of patient.Described layout comprises the assembling of instrument (1025), aseptic sleeve (1026) and aseptic pin (1027).
Fig. 5 describes portable equipment (2) holding device on the region of anatomy of patient.One end of described aseptic pin or screw (1027) is connected to the region of anatomy or the bone (800) of patient, and the other end is connected to equipment keeper (1020).Aseptic pin or screw (1027) are maintained in aseptic sleeve (1026), even if make in ambient non-sterile, aseptic pin also can be inserted in patient bone (800), thus allow surgeon in operation process and/or before device is positioned at the position of any expectation.
Fig. 6 also describes hand-held tracking means (2) another this maintaining body on the anatomic part of patient.Described equipment keeper (2000) comprises base (2010), and it is shaped as coupling portable equipment (2) for firmly installing (2030).Described equipment keeper (2000) also has gate-shaped mechanism (2020); it can be closed and the shell of safety to be formed with the described base of equipment keeper (2010) is hinged, thus protection portable equipment (2).The base of equipment keeper (2010) can have opening (2031), to guarantee the normal operation of the camera/sensor of portable equipment (2).Portable equipment (2) and can pass through the fixing pin (1027) of screw mechanism (1100) and be installed to bone via equipment keeper (2000).
Figure 1A, Figure 1B, Fig. 7 and Fig. 8 depict hand-held tracking system in the gnotobasis of two portable equipments (1,2) shown in it and device.Portable equipment (1) can be fixed on surgical unit (1000,1003), and other portable equipment (2) can be installed on the anatomic part (800) of patient.On the anatomic part that portable equipment (2) can be fixed to patient via holding device (1030) or assembly (1020-1025-1026-1027 or 1027-2000) or bone.Patient is positioned on the flat surfaces (1010) of operating-table, and flat surfaces can have grid and/or labelling (1011), to facilitate the location of patient.Bidirectional data communication occurs between device 1 channel (600) and device 2 channel (700).
Fig. 7 illustrate be arranged in same level or Different Plane can at least one layout at their respective portable equipments (1,2) of tracer element (3500,2500).Can be made up of reflecting material or there is unique color and easily identify this element to make camera sensor by tracer element.Fig. 7 also illustrates the axle (1002) of surgical unit in operation process (1003), and it is tracked for accurate surgery result relative to the position of patient anatomical's part (800).
Fig. 8 illustrates another detailed view of the layout described in Fig. 7.It illustrates that framework is similar to the equipment keeper (3000) of equipment keeper (2000 and/or 1020).The described equipment keeper (3000) of portable equipment (1) has gate-shaped mechanism (3020); can close and the shell of safety to be formed with the described base hinge of equipment keeper (3030) from this gate-shaped mechanism, thus protection portable equipment (1).The base of equipment keeper (3030) can have opening (3031) to guarantee the normal operation of the camera/sensor of portable equipment (1).
Figure 12 illustrates the detailed method for optimizing using hand-held tracking system, and the method comprises the following steps: in portable equipment (1,2), upload the specific preoperative scanning of patient; In described portable equipment, extra patient specific data is uploaded by surgeon; The position data of tracer element (2700) described portable equipment can be uploaded to prevent any difference in length of the leg length of patient after having performed the operation by what be positioned at the head of femur; Portable equipment to be installed on patient anatomical's part/bone and to be fixed by described holding device; At least one can be navigated to surgical unit by tracer element (2500,3200,3300,3500); Patient is arranged on the desired locations on surgical unit with the implant system of the patient determining anatomical compatibility specific piece (810) with the preoperative spin-scanning alignment (align mates) being stored into described portable equipment; As with reference to position in the described display device specific for the patient of anatomical compatibility piece being fixed to described portable equipment with preoperative spin-scanning alignment and using the desired locations of implant; Surgical unit is dynamically followed the tracks of to guarantee the implantation subsequently of correct direction and the implant system of performing the operation relative to the reference position of described identification.
Example
In the exemplary embodiment, present invention provides the use of hand-held tracking system for hip joint modeling and device.Hip joint modeling is a kind of surgical operation, and wherein hip joint is substituted by Using prosthesis system, and it comprises cup layout on acetabular bone (nest) side and the ladder (step) on femur (ball) side is arranged.Hip joint modeling can be used as overall replacement or half (half) replacement is carried out.Such arthroplasty art process is generally carried out with ameliorate osteoarthritis pain or is repaired serious body joints and damage, as a part for hip fracture treatment.
Generally, cup placement process is divided into two or three stages, and this depends on the type of used implant.When the implantation cup engaged, use reamer reaming acetabular bone as the first step, and then cup is placed together with cement.By reaming and then in not cementing press-in implant, acetabular bone uses percussion tool that cup is pressed into bone.
Hip joint modeling starts from preoperative scanning usually, and this can be X-ray, CT scan or MRI scanning, to assess the acetabular bone degree of depth, size and anatomic landmark.Preoperative scanning also contributes to the most favourable implant size selecting to be suitable for patient anatomical's part.After this step, relevant patient data is transmitted and/or is stored in portable equipment.
In operation process, portable equipment (2) is rigidly mounted in pelvis bone (800), and can be installed to surgery instrument by tracer element (3200), all reamers as shown in Figure 9.Camera sensor (200A) shooting of portable equipment (2) can the desired locations of tracer element (3200) and/or the instrument axis (1002) of instrument (1003,1004).Clinical judgment in the data of any computing in advance, anatomical compatibility block (810) or surgical art can be used to optimize the position of this shooting.The information of the upper process of the screen (300) in portable equipment (2) and display (201) this shooting.
Once the position desired by this is ratified by surgeon, then portable equipment guided surgery doctor in follow-up operating procedure is reappeared plan/expect/instrument axis ratified.Such as, in reaming procedure, the sizes of reamer is for preparing acetabular bone.As shown in Figure 9, portable equipment display desired locations and can the current dynamic position of tracer element (3200) and/or instrument (1004).This allow the position of surgeon corrective surgery instrument and repeatedly turn back in the whole process of reaming and caulked identify in advance desired by position, thus cause the placement of acetabular bone implant assembly accurately.
In another embodiment, be arranged on and instrument (1004) can have the size of restriction by tracer element.Portable equipment (2) can process can tracer element image (201) the object be familiar with for having specific dimensions, and it can be circular, oval or square shape etc.This allows portable equipment (2) to indicate important information, such as angle, distance, diameter etc., and such as, Figure 10 illustrates that two circles of the restriction size of the degree of depth of instruction reaming can tracer element (3200,3300).
In another embodiment again, can be installed on a bone by tracer element (2700), and portable equipment can be installed on another bone.In this case hand-held tracking system can help to locate implant system exactly, thus also aims at the relative position of bone in joint exactly.Such as, in hip joint modeling process, Figure 11 illustrates simply can tracer element (2700), and it uses little button type tracker or is fixed on femoral head (801) simply by use methylene blue pen comes the specific region in labelling operation process.This can be detected by the camera (200B) be arranged in pelvis bone (800) and this can the process image (215) of tracer element be shown on portable equipment (2) by tracer element/labelling.Before opening joint, this can carry out original records by surgeon in tracer element position.This position can be used for later phases in trunk (stem) and cup put procedure to insert the leg length needed for this patient exactly.
Although said process is used for hip joint modeling, the reconstruction that process of the present invention can be modified and adjust for patient anatomical's part is in other surgical operation vital.Such surgical operation can include but not limited to, knee joint modeling, hip joint modeling, shoulder joint modeling, carpal joint modeling, ankle joint modeling, spinal operation and bone-culting operation.
Hand-held tracking system of the present invention can detect the position of implant system and/or the surgical instrument anatomic part original relative to patient body exactly, and without the need to using any external reference outside aseptic area.Hand-held tracking system of the present invention does not need the sight line of any reference be positioned at outside aseptic area.
Therefore, the invention provides a kind of simple, be easy to install, the effective and less troublesome surgical navigation system of cost and device, it can be used easily by surgeon in various surgical operation.
Claims (14)
1. the hand-held tracking system for aiming in the art of surgical unit and/or implant system, described system comprises:
-at least one portable equipment (1,2), have for the device (200A, 200B, 300) of data input, blood processor, storage device and device (300,400), rechargeable power supply for exporting treated data, described portable equipment is loaded into the specific preoperative scanogram of patient and other patient specific data
-at least one can tracer element (2500,3200,3300,3500),
-at least one holding device (1020,1030,1027,1025,1026), for described portable equipment is fixed in gnotobasis,
The described holding device of described portable equipment is arranged on the implant site of recommendation, describedly can be arranged on pre-position by tracer element (2500,3200,3300,3500),
Make from described deployment can the data of the position about described patient of tracer element and described surgical unit by being inputted continuously for the device inputted, described data are based on described preoperative scanogram and the described patient specific information and processed to provide data after continuous print process of being preloaded into, thus the accurate placement of implant system described in on-site supervision in gnotobasis.
2. hand-held tracking system as claimed in claim 1, the wherein said device for inputting is the combination being selected from following equipment: at least one digital camera (200A, 200B), multiple sensor, touch screen, touch pad, keyboard, voice entry system.
3. hand-held tracking system as claimed in claim 1, the wherein said device for exporting is selected from the combination with lower device: display device, audio devices, audio-visual apparatus, touch screen, described touch screen can provide information during operation in each surgical procedure process, comprises the surgical initial input of described surgical unit, the ad-hoc location of record and the special angle of measurement.
4. hand-held tracking system as claimed in claim 2, wherein said multiple sensor comprises built-in digital camera sensor, gyro sensor, acceleration transducer.
5. hand-held tracking system as claimed in claim 1, wherein said can the precalculated position of the tracer element bone that is selected from such as femoral head head and/or the surgical unit disposed in surgical operation.
6. hand-held tracking system as claimed in claim 1, wherein said can tracer element be selected from reflecting material, the material of unique color, methyl blue labelling, button and the described sensor of permission detect exactly described can other element of position of tracer element.
7. hand-held tracking system as claimed in claim 1, wherein said holding device is selected from maintenance equipment (1030); With the maintenance assembly (1025-1027-1030) of equipment keeper (1020) with slit (1100); And for the aseptic pin (1027) of the equipment keeper (1020) fixedly with slit (1100).
8. hand-held tracking system as claimed in claim 7, wherein said maintenance assembly comprises the maintenance instrument (1025), moveable aseptic sleeve (1026) and the aseptic pin (1027) that are connected to described equipment keeper (1020), described maintenance instrument (1025) is placed in described removable aseptic sleeve (1026) and is fixed on ad-hoc location with aseptic pin (1027).
9. hand-held tracking system as claimed in claim 7, the described equipment keeper (1020) of described portable equipment is directly connected to the bone of patient by wherein said aseptic pin (1027).
10. hand-held tracking system as claimed in claim 7, described portable equipment is rigidly connected to the anatomic part of patient by wherein said holding device (1030).
11. hand-held tracking systems as claimed in claim 7, wherein said equipment keeper is the sterile bag with slit.
12. hand-held tracking systems as claimed in claim 1, wherein said portable equipment has rechargeable battery.
13. hand-held tracking systems as claimed in claim 1 for aiming in the art of surgical unit and/or implant system, wherein said system comprises more than one portable equipment (1,2), wherein each can when carrying out radio communication without the need to usage data communication link when any external equipment or reference or agreement and another.
14. 1 kinds use hand-held tracking system to aim at the method for surgical unit/implant system, said method comprising the steps of:
-in described portable equipment (1,2), upload the specific preoperative scanning of patient,
-in described portable equipment (1,2), upload other patient specific data by surgeon,
-position data of tracer element (2700) described portable equipment can be uploaded to prevent any difference in length of the leg length of patient after having performed the operation by described in the head being positioned at femur,
-described portable equipment is arranged on patient anatomical's part/bone, and by described holding device (1020,1030,1025,1026,1027), described portable equipment is fixed,
-at least one can be navigated on described surgical unit (1004) by tracer element (200),
-by patient be stored into the preoperative spin-scanning alignment of described portable equipment to determine the desired locations of described implant system,
-specific for the patient of anatomical compatibility piece (810) are installed on surgical unit, be fixed on the described display device (300) of described portable equipment by specific for the patient of anatomical compatibility block alignment to preoperative scanning and using the desired locations of implant upper as reference position (201)
-relative to the reference position dynamic tracking surgical unit of described identification to guarantee the correct direction of performing the operation and the implantation subsequently of described implant system.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| IN1345/DEL/2012 | 2012-05-02 | ||
| IN1345DE2012 IN2012DE01345A (en) | 2012-05-02 | 2013-05-01 | |
| PCT/IB2013/053441 WO2013164770A2 (en) | 2012-05-02 | 2013-05-01 | Handheld tracking systems and devices for aligning implant systems during surgery |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104271068A true CN104271068A (en) | 2015-01-07 |
Family
ID=49514975
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201380022907.1A Pending CN104271068A (en) | 2012-05-02 | 2013-05-01 | Handheld tracking systems and devices for aligning implant systems during surgery |
Country Status (8)
| Country | Link |
|---|---|
| EP (1) | EP2844180A4 (en) |
| JP (1) | JP2015516228A (en) |
| KR (1) | KR20150014442A (en) |
| CN (1) | CN104271068A (en) |
| AU (1) | AU2013255438A1 (en) |
| CA (1) | CA2871997A1 (en) |
| IN (1) | IN2012DE01345A (en) |
| WO (1) | WO2013164770A2 (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107088091A (en) * | 2017-06-08 | 2017-08-25 | 广州技特电子科技有限公司 | The operation guiding system and air navigation aid of a kind of auxiliary bone surgery |
| CN108472102A (en) * | 2015-06-23 | 2018-08-31 | 矩阵It医疗追踪系统公司 | Sterile ocular insert tracing equipment and system |
| CN114007525A (en) * | 2019-06-21 | 2022-02-01 | 马尼什·沙阿 | Clamp for guiding placement of glenoid component of implant in shoulder arthroplasty |
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| US9247998B2 (en) | 2013-03-15 | 2016-02-02 | Intellijoint Surgical Inc. | System and method for intra-operative leg position measurement |
| AU2015337755B2 (en) * | 2014-10-29 | 2019-07-25 | Intellijoint Surgical Inc. | Systems, methods and devices for anatomical registration and surgical localization |
| DE102015102776A1 (en) * | 2015-02-26 | 2016-09-01 | Aesculap Ag | Medical instruments and procedures |
| DE102015102768A1 (en) * | 2015-02-26 | 2016-09-01 | Aesculap Ag | Medical Instrument |
| JP6633196B2 (en) | 2015-06-28 | 2020-01-22 | エスアンドエス イノヴェイションズ, リミテッド ライアビリティ カンパニーS & S Innovations, LLC | Systems, apparatus, and methods for sterile areas that track, confirm, and store patient and treatment information using unique device identifiers associated with medical devices |
| WO2017053123A1 (en) * | 2015-09-25 | 2017-03-30 | Covidien Lp | Patient movement sensor |
| DE102016115605A1 (en) | 2016-08-23 | 2018-03-01 | Aesculap Ag | Medical instruments and procedures |
| WO2018127501A1 (en) * | 2017-01-04 | 2018-07-12 | Medivation Ag | A mobile surgical tracking system with an integrated fiducial marker for image guided interventions |
| DE102017122143A1 (en) | 2017-09-25 | 2019-03-28 | Aesculap Ag | Medical-technical deformation device, deformation system and method for deforming an article |
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| US20070015999A1 (en) * | 2005-07-15 | 2007-01-18 | Heldreth Mark A | System and method for providing orthopaedic surgical information to a surgeon |
| US20070167741A1 (en) * | 2005-12-30 | 2007-07-19 | Sherman Jason T | Apparatus and method for registering a bone of a patient with a computer assisted orthopaedic surgery system |
| WO2008151446A1 (en) * | 2007-06-15 | 2008-12-18 | Orthosoft Inc. | Computer-assisted surgery system and method |
| EP2209526A1 (en) * | 2007-11-15 | 2010-07-28 | Koninklijke Philips Electronics N.V. | Method and apparatus for positional tracking of a therapeutic ultrasound transducer |
| US9248000B2 (en) * | 2008-08-15 | 2016-02-02 | Stryker European Holdings I, Llc | System for and method of visualizing an interior of body |
| ES2750264T3 (en) * | 2008-09-10 | 2020-03-25 | Orthalign Inc | Hip surgery systems |
| EP2179703B1 (en) * | 2008-10-21 | 2012-03-28 | BrainLAB AG | Integration of surgical instrument and display device for supporting image-based surgery |
| AU2010265891B2 (en) * | 2009-06-26 | 2016-06-23 | Cianna Medical, Inc. | Apparatus, systems, and methods for localizing markers or tissue structures within a body |
| EP2467080B1 (en) * | 2009-08-20 | 2018-04-04 | Brainlab AG | Integrated surgical device combining instrument, tracking system and navigation system |
| CN102933163A (en) * | 2010-04-14 | 2013-02-13 | 史密夫和内修有限公司 | Systems and methods for patient- based computer assisted surgical procedures |
| WO2012109760A1 (en) * | 2011-02-18 | 2012-08-23 | Traumis Surgical Systems Inc. | Tool with integrated navigation and guidance system and related apparatus and methods |
| WO2012171555A1 (en) * | 2011-06-15 | 2012-12-20 | Brainlab Ag | Method and device for determining the mechanical axis of a bone |
-
2013
- 2013-05-01 CA CA2871997A patent/CA2871997A1/en not_active Abandoned
- 2013-05-01 JP JP2015509547A patent/JP2015516228A/en active Pending
- 2013-05-01 KR KR1020147031020A patent/KR20150014442A/en not_active Application Discontinuation
- 2013-05-01 IN IN1345DE2012 patent/IN2012DE01345A/en unknown
- 2013-05-01 EP EP13784876.8A patent/EP2844180A4/en not_active Ceased
- 2013-05-01 AU AU2013255438A patent/AU2013255438A1/en not_active Abandoned
- 2013-05-01 WO PCT/IB2013/053441 patent/WO2013164770A2/en active Application Filing
- 2013-05-01 CN CN201380022907.1A patent/CN104271068A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108472102A (en) * | 2015-06-23 | 2018-08-31 | 矩阵It医疗追踪系统公司 | Sterile ocular insert tracing equipment and system |
| CN108472102B (en) * | 2015-06-23 | 2022-05-17 | 矩阵It医疗追踪系统公司 | Sterile implant tracking apparatus and system |
| CN107088091A (en) * | 2017-06-08 | 2017-08-25 | 广州技特电子科技有限公司 | The operation guiding system and air navigation aid of a kind of auxiliary bone surgery |
| CN114007525A (en) * | 2019-06-21 | 2022-02-01 | 马尼什·沙阿 | Clamp for guiding placement of glenoid component of implant in shoulder arthroplasty |
Also Published As
| Publication number | Publication date |
|---|---|
| EP2844180A4 (en) | 2015-10-21 |
| WO2013164770A2 (en) | 2013-11-07 |
| AU2013255438A1 (en) | 2014-11-20 |
| JP2015516228A (en) | 2015-06-11 |
| WO2013164770A3 (en) | 2014-01-23 |
| EP2844180A2 (en) | 2015-03-11 |
| CA2871997A1 (en) | 2013-11-07 |
| KR20150014442A (en) | 2015-02-06 |
| IN2012DE01345A (en) | 2015-08-07 |
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Application publication date: 20150107 |