CN104622572A - Individual orthopedics department positioning sheet based on medical images - Google Patents
Individual orthopedics department positioning sheet based on medical images Download PDFInfo
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- CN104622572A CN104622572A CN201410764299.8A CN201410764299A CN104622572A CN 104622572 A CN104622572 A CN 104622572A CN 201410764299 A CN201410764299 A CN 201410764299A CN 104622572 A CN104622572 A CN 104622572A
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Abstract
The invention discloses an individual orthopedics department positioning sheet based on the medical image three-dimensional reconstruction and computerized design technology. The individual orthopedics department positioning sheet is manufactured based on 3D printing or other machining methods and is used for knee prosthesis. The positions of key positioning holes and cutting faces in knee prosthesis are particularly and accurately determined. Firstly, a skeleton model is reconstructed based on medical images; preoperative planning is carried out on the reconstructed model so as to determine important parameters of a lower extremity force line, a thighbone rotating shaft, an osteotomy reference point and the like and simulate osteotomies and prosthesis imbedding; by means of the results, the positioning sheet (in a single positioning type or a composite type) is determined and designed; a doctor logs into a data management module to query data. The single positioning type positioning sheet is formed by thickening and punching on an extraction face of the reconstructed model; the composite positioning sheet is a combination of the single positioning type positioning sheet and an osteotomy device, and the osteotomy positioning function is achieved. By means of the positioning sheet designed through an auxiliary system, the lower limb force line can be accurately reconstructed, and accurate osteotomies can be achieved; an informatization management method is provided by the data management module for operations, and convenience is brought to data storage and querying.
Description
Technical field
The present invention relates to technical field of medical instruments, in particular to based on reconstruction of medical images technology and Computer-aided Design Technology, utilize the personalized orthopaedics spacer for replacement knee in arthroplasty that 3D prints or other processing methods manufacture, and spacer aided design system.
Background technology
Along with the aggravation of social senilization, osteoarthritis has become one of modal joint disease of the mankind.Third time U.S. national health and nutritional survey (The National Health and Nutrition Examination Survey, NHANES) estimate, that suffers from spontaneous osteoarthritis in 60 years old and above old people accounts for 1/3.For surgeon, this is undoubtedly a white elephant day by day.Meanwhile, in certain sense, knee prosthesis requires higher to operation skill and patient postoperative rehabilitation, is still now a great problem medically.Mostly adopt total knee arthroplasty (Total Knee Replacement, TKR) at present, be desirably in the action recovering patient to a certain extent, reduce pain, improve the quality of life of patient.The key of TKR technology is that recovering lower limb dissects the line of force normally, the appearance of the process of turning up in knee joint and minimizing complication.
But the success or not of traditional TKR technology is still worth querying.Generally speaking, traditional TKR technology, usually first by preoperative X-ray film inspection, is determined the lower limb line of force of patient and the angle of femur anatomical axis, then is coordinated the locating apparatus of series of complex, calibrate traditional osteotomy device and carry out osteotomy.Traditional TKR operation method just relies on the observation of naked eyes, higher to the requirement of doctor, even veteran doctor, the lower limb line of force that artificial operation obtains depart from neutral position more than 3 ° all more than 10%.And traditional operation needs to open pulp cavity, easily cause the complication such as intramedullary hemorrhage, fat embolism, operation risk is larger.In addition, the installation of complicated locating apparatus adds time and the cost of operation undoubtedly, and long-term clinical effectiveness is not confirmed yet.
Along with developing rapidly of computer technology, space navigation technology and image processing techniques, computer assisted navigation technology is widely used in TKR operation.Computer assisted navigation technological system is that the imaging data obtained in preoperative and art is formed three-dimensional visible image after computer disposal.Sham operated can be carried out, preoperatively automatically can select most suitable size joint part, simulation is operated on, on bone, induction apparatus is placed in operation, navigation system there is infrared pick-up head, the real-time spatial position relation of the relative patient anatomy of dynamic tracing operating theater instruments, operative doctor accurately can place artificial joint accordingly.
But airmanship also also exists some generally acknowledged shortcomings: 1. need to carry out the operations such as the input of bone mark point in art, extend operating time simultaneously; 2. the location of bone mark point remains and judges based on naked eyes, needs the experience relying on doctor; 3. airmanship measures the lower limb line of force in nonweight bearing situation, its result and there are differences under heavy burden; 4. when airmanship is measured, patella is in complete dislocation state, for the osteotomy of patella without any help; 5. there is unstability in navigation system itself, and operation cost is higher, and clinical expansion is still difficult widely.
While airmanship development, robotics is also progressively developing, and in the nineties in 20th century, the research of robotic surgical achieves a lot of achievement, attracts people's attention.But non-repudiation, robot perceptual system still also exists some limitation: 1. equipment cost is higher, and the operation such as installation, debugging, sterilization is comparatively complicated; 2. safety and reliability is difficult to obtain authority's assessment, is patient or doctor full-automatic hands art all beyond affordability; 3. how much all can there are some problems in the interference resistance of electronic equipments and stability, once there is emergency, consequence will be difficult to imagine; 4. the motility of operation technique still has much room for improvement with operation precision; 5. the automatic deep speed of current operating robot slowly, extends operating time, and patient's blood loss strengthens.
Therefore; design the personalized orthopaedics spacer design system of interactive and orthopaedics spacer, realize copying again of knee joint biomechanics characteristic, improve patients ' life quality; be the medical and health resource protecting China limited, concern the important topic of socio-economic development.
Summary of the invention
Object of the present invention is exactly to solve the above-mentioned problems in the prior art, a set of personalized orthopaedics spacer being applicable to replacement knee in arthroplasty is provided, be divided into single location type and compound, include femur osteotomy spacer and Tibial osteotomy spacer, described personalized orthopaedics spacer, match with distal femur, proximal tibia, described single location type can realize the location of auxiliary conventional metals osteotomy device, carries out precision navigation to knee osteotomy; The described compound effect replacing traditional osteotomy device, has location and osteotomy dual function.
Preferably, described femur osteotomy spacer comprises personalized detent mechanism, condyle osteotomy device locating hole before and after distal femur osteotomy device locating hole, femur.
Preferably, described Tibial osteotomy spacer comprises personalized detent mechanism, tibial plateau osteotomy device locating hole, Tibial osteotomy spacer locating hole.
Preferably, the model inwall of described femur osteotomy spacer and Tibial osteotomy spacer is the shape of skeleton, first design the surface of spacer, match with the skeleton model reconstructed again and obtain the shape of skeleton inwall, can realize fitting with the perfection of skeleton, realize personalized accurate location.
Preferably, described single location type orthopaedics spacer, utilizes the skeleton threedimensional model of reconstruct to extract local outer surface and thickens, then determine locating hole according to the position of conventional femoral osteotomy device locating hole, and complete global design.
Preferably, described compound orthopaedics spacer is the combination of single location type orthopaedics spacer and osteotomy device, the orthopaedics spacer of unitary type personalization and traditional osteotomy device is combined, can realize osteotomy positioning function.This design can at the raised line of spacer outer surface Design Orientation monitoring, wherein, distal femur with Whiteside line parallel, proximal tibia vertical with the line of force, for doctor's position monitor.
The present invention proposes a kind of replacement knee in arthroplasty orthopaedics spacer design system of personalization further, and system comprises: reconstruction of medical images module, visual preoperative planning module, orthopaedics spacer design module and back-end data administration module.
Preferably, described reconstruction of medical images module, function is the three-dimensional reconstruction based on medicine CT/MRI or other medical images.Patient CT/MRI or other medical images (comprising architectural feature or the part-structure feature of hip joint, knee joint and ankle joint) are imported to three-dimensional reconstruction module, the means such as filtering, noise reduction are taked to carry out the pre-treatment of two dimensional image, again gray threshold is set according to joint profile, on transverse section, coronalplane and sagittal plane, corresponding chosen area carries out Iamge Segmentation, reconstruct the threedimensional model of lower limb skeletons, save as STL or extended formatting file, be stored in the data base of described back-end data administration module.
Preferably, described visual preoperative planning module, function comprises: under visual condition, doctor can on the lower limb skeletons reconstructed (comprising architectural feature or the part-structure feature of hip joint, knee joint and ankle joint) threedimensional model gauge point, line, determine the lower limb line of force, femoral rotation axle, osteotomy reference point; And the importing of prosthese and osteotomy device 3D model can be realized, simulation lower limb osteotomy and the virtual of prosthese are inserted on this basis; Also according to mechanical analysis result, surgical prosthesis optimal displacement position and angle can be determined; Doctor can adjust the osteotomy back rake angle of femur and tibia, interior valgus angle, femoral rotation axle and osteotomy amount according to practical situation, adjusts the implantation site of prosthese; Using adjustment after parameter and prosthese information as operation plan stored in described back-end data administration module.
Preferably, described orthopaedics spacer design module, function is: the operation plan determined according to above-mentioned preoperative planning module, according to tibial plateau osteotomy surface, before and after distal femur osteotomy surface, femur, condyle osteotomy surface sets the locus of corresponding osteotomy device, according to the locating hole on conventional metals osteotomy device, determine position and the axis of single location type orthopaedics spacer locating hole; According to the locating hole of four-in-one osteotomy device and the size of osteotomy amount, determine that the position axis of compound orthopaedics spacer locating hole is to the plan-position with osteotomy part, and on the distal femur reconstructed, tibial plateau, design the spacer matched on this basis, and 3D printing technique or other processing methods is utilized to create.
Preferably, described back-end data administration module, function is: doctor can login the formulation situation that personalized orthopaedics spacer aided design system consults corresponding patient's operation plan, and can modify to it and preserve, and carries out designing and producing of orthopaedics spacer.
Compared with prior art, the present invention has the following advantages: 1. by the use of personalized orthopaedics spacer, and decrease the mistake that in operation, prosthese size is selected and the line of force is located, can realize the accurate implantation of prosthese, precision is higher; 2. the time of locating apparatus assembling and disinfecting process is reduced; 3. the use of Conventional positioners tool is saved; 4. reduce related surgical step, shorten operating time; 5. operation cost is reduced; 6. utilize spacer aided design system, can the operations such as preoperative planning, remote access, sham operated be carried out, more increase the success rate of operation, shorten the time that manufactures and designs of spacer simultaneously; 7. can realize information system management, apply on a large scale for system and lay a good foundation; 8. aided design system is simple and quick, does not need to be grasped various engineering software, decreases the exchange of data between different software, reduces the dependence to software, easily puts it over.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only section Example of the present invention, for those skilled in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is that a kind of orthopaedics spacer for knee prosthesis disclosed by the invention makes and its design system flow chart.
Fig. 2 is the lower limb threedimensional model schematic diagram obtained after medical image of the present invention is rebuild.
Fig. 3 is the features localization of lower limb skeletons threedimensional model of the present invention.
Fig. 4 is that lower limb of the present invention are by osteotomy schematic diagram.
Fig. 5 is schematic diagram after lower limb osteotomy of the present invention.
To be that prosthese of the present invention is virtual insert schematic diagram to Fig. 6.
Fig. 7 is the determination method flow diagram of the crucial locating hole of personalized orthopaedics spacer disclosed by the invention.
Fig. 8 is the defining method schematic diagram of the crucial locating hole of single location type orthopaedics spacer of the present invention.
Fig. 9 is that in embodiment one disclosed by the invention, single location type Tibial osteotomy spacer mates schematic diagram with tibia.
Figure 10 is that in embodiment one disclosed by the invention, single location type femur osteotomy spacer mates schematic diagram with femur.
Figure 11,12 is compound Tibial osteotomy spacer in embodiment two disclosed by the invention.
Figure 13 is the tibia skeleton model reconstructed of the present invention.
Figure 14,15 is that in embodiment two disclosed by the invention, compound Tibial osteotomy spacer mates schematic diagram with tibia.
Figure 16,17 is compound femur osteotomy spacer in embodiment two disclosed by the invention.
Figure 18 is the femoral bone model reconstructed of the present invention.
Figure 19 is that in embodiment two disclosed by the invention, compound femur osteotomy spacer mates schematic diagram with femur.
Figure 20 is in embodiment two disclosed by the invention after compound femur osteotomy spacer osteotomy, the using method schematic diagram of four-in-one osteotomy device.
The title of the numeral in figure or the corresponding component representated by letter:
The a-lower limb line of force, b-femur anatomical axis, c-femoral rotation axle, d-distal femur frontal cortex point, e-condyle of femur osteotomy reference point, f-tibial plateau osteotomy reference point, g-tibia spacer position monitor raised line, h-femur spacer position monitor raised line.
Detailed description of the invention
The localization method of tradition knee surgery mainly completes the realization of navigation system, complicated operation, limited precision according to mechanical apparatus.Although computer navigation system revolutionary change for knee surgery brings that surgical operation adopts, but still there is apparatus expensive in existing operation guiding system, positioning precision has much room for improvement, and requires that surgeon accepts special training simultaneously, extends operating time.Although robotics is also progressively developing, the research of robotic surgical is also achieving a lot of achievement, non-repudiation, and robot perceptual system still also exists a series of limitation such as safety and reliability.
The present invention is directed to deficiency of the prior art, there is provided a kind of based on based on reconstruction of medical images technology and Computer-aided Design Technology, utilize the personalized orthopaedics spacer for replacement knee in arthroplasty that 3D prints or other processing methods manufacture, and spacer aided design system, to improve the degree of accuracy of hands Intraoperative position, reduce operation use cost, simultaneously without the need to requiring that surgeon accepts special training, it is easier that prosthese is installed in operation, and its three-dimensional coordinate position is determined when prosthese is installed, decrease the time of calibration required in operation etc., improve procedure efficiency.
To be clearly and completely described technical scheme of the present invention by detailed description of the invention below.Obviously, described embodiment is only section Example of the present invention, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
In embodiments of the present invention, embodiment one, embodiment two are describe the step and the method that utilize orthopaedics spacer aided design system to design single location type spacer and compound spacer respectively, are described in detail realization of the present invention below in conjunction with specific embodiment.
Embodiment one
Fig. 1 shows the orthopaedics spacer making of the present invention for knee prosthesis and the flow chart of its design system.
Concrete implementation step is as follows:
Step 1, lower limb data acquisition: carry out CT/MRI scanning (or other medical image modes) to the lower limb (or part-structure feature) of patient, saves as DICOM or extended formatting by scanning the data obtained.Doctor logins design system, by data importing to back-end data administration module.
Step 2, lower limb three-dimensional reconstruction: the patient CT/MRI be kept in background data base or other medical images (or part-structure feature) are imported to three-dimensional reconstruction module, the means such as filtering, noise reduction are taked to carry out the pre-treatment of two dimensional image, again gray threshold is set according to joint profile, on transverse section, coronalplane and sagittal plane, corresponding chosen area carries out Iamge Segmentation, reconstruct the threedimensional model of lower limb skeletons, save as STL or extended formatting file, be stored in the data base of described back-end data administration module.
Step 3, formulate preoperative planning: the threedimensional model (as shown in Figure 2) of the lower limb skeletons reconstructed (or part-structure feature) is imported to preoperative planning module, fix the feature reference point, line, surface of limb at threedimensional model subscript, comprising: lower limb line of force a, femur anatomical axis b, femoral rotation axle c, distal femur frontal cortex point d, condyle of femur osteotomy reference point e, tibial plateau osteotomy reference point f etc. (as shown in Figure 3).With reference to completing the joint model of demarcation, realizing the importing of prosthese and osteotomy device 3D model, carrying out simulation lower limb osteotomy on this basis and the virtual of prosthese is inserted; Also according to mechanical analysis result, surgical prosthesis optimal displacement position and angle can be determined; System can calculate and show parameter information accurately, as shown in Fig. 4-6 in real time.Doctor can adjust the osteotomy back rake angle of femur and tibia, interior valgus angle, joint line position and osteotomy amount according to practical situation, adjusts the implantation site of prosthese; Using adjustment after parameter and prosthese information as operation plan stored in described back-end data administration module.
Step 4, orthopaedics spacer designs and produces: after completing preoperative planning, the preoperative programme made is imported to orthopaedics spacer and manufacture and design the design that module can carry out femur, Tibial osteotomy spacer easily, wherein in orthopaedics spacer, the determination method flow diagram of crucial locating hole is as shown in Figure 7.The femur determined according to above-mentioned preoperative planning, the prosthese position of tibia and the osteotomy device model of correspondence, determine position and the axis of the locating hole of conventional metals osteotomy device on femur, tibia, thus determine the position of spacer locating hole and axial (as shown in Figure 8), the means such as recycling curved surface thickens, Boolean calculation, design single location type orthopaedics spacer.
Step 5, the storage and management of data: the STL of the spacer model after design or extended formatting file are deposited into back-end data administration module, and are produced the spacer matched with femur, tibia by 3D printing technique or other processing methods.Doctor can login the formulation situation etc. that personalized orthopaedics spacer aided design system consults the medical datas such as the CT/MRI of patient, personalized orthopaedics spacer, operation plan, and can modify to it and preserve.
Step 6, clinical practice: respectively femur spacer and tibia spacer are placed on condyle of femur, tibial plateau, as shown in Fig. 9,10.The position of the locating hole of metal osteotomy device can be determined by single location type orthopaedics spacer, carry out osteotomy operation, decrease the use of Conventional positioners tool, achieve personalized accurate location.
Embodiment two
Embodiment two describes the step and the method that utilize orthopaedics spacer aided design system to design compound spacer, wherein step 1-3,5 identical with embodiment one, does not repeat them here, only describes step 4,6 in detail.
Step 4, orthopaedics spacer designs and produces: after completing preoperative planning, the preoperative programme made is imported to orthopaedics spacer and manufactures and designs the design that module can carry out femur, Tibial osteotomy spacer easily.The prosthese position of femur and tibia determined according to above-mentioned preoperative planning, the size of osteotomy amount, determine the placement location of four-in-one osteotomy device, again by the locating hole on four-in-one osteotomy device, Osteotomy position, determine that the position axis of compound orthopaedics spacer locating hole is to the plan-position with osteotomy part, designs compound orthopaedics spacer on this basis.
Step 6, clinical practice: compound femur spacer is placed on condyle of femur (as shown in figs. 11-19), wherein, the internal face of Figure 12 and the tibia wall of Figure 13 are fitted completely, and figure is as shown in Figure 14,15 for its coupling; The internal face of Figure 17 and the femur wall of Figure 18 are fitted completely, and its coupling figure as shown in figure 19.After nailing is fixing, the osteotomy operation of distal femur can be carried out, afterwards, coordinate the use of four-in-one osteotomy device (as shown in figure 20), complete five osteotomy of femur end; Tibia spacer is placed on tibial plateau, after nailing is fixing, the osteotomy operation of ligament tibia end can be carried out.By the use of compound orthopaedics spacer, osteotomy operation can be completed separately, decrease the use of Conventional positioners tool and conventional metals osteotomy device, achieve personalized accurate osteotomy.
To the above-mentioned explanation of the disclosed embodiments, professional and technical personnel in the field are realized or uses the present invention.To be apparent for those skilled in the art to the multiple amendment of these embodiments, General Principle as defined herein can without departing from the spirit or scope of the present invention, realize in other embodiments.Therefore, the present invention can not be restricted to these embodiments shown in this article, but will meet the widest scope consistent with principle disclosed herein and features of novelty.
Claims (11)
1. a set of personalized orthopaedics spacer for knee replacements, be divided into single location type and compound, include femur osteotomy spacer and Tibial osteotomy spacer, described personalized orthopaedics spacer, match with distal femur, proximal tibia, described single location type can realize the location of auxiliary conventional metals osteotomy device, carries out precision navigation to knee osteotomy; The described compound effect replacing traditional osteotomy device, has location and osteotomy dual function.
2. personalized orthopaedics spacer according to claim 1, is characterized in that, described femur osteotomy spacer comprises personalized detent mechanism, condyle osteotomy device locating hole before and after distal femur osteotomy device locating hole, femur.
3. personalized orthopaedics spacer according to claim 1, is characterized in that, described Tibial osteotomy spacer comprises personalized detent mechanism, tibial plateau osteotomy device locating hole, Tibial osteotomy spacer locating hole.
4. personalized orthopaedics spacer according to claim 1, it is characterized in that, the model inwall of described femur osteotomy spacer and Tibial osteotomy spacer is the shape of skeleton, first design the surface of orthopaedics spacer, match with the skeleton model reconstructed again and obtain the shape of skeleton inwall, can realize fitting with the perfection of skeleton, realize personalized accurate location.
5. single location type orthopaedics spacer according to claim 1, it is characterized in that, utilize the skeleton threedimensional model of described reconstruct to extract local outer surface to thicken, then determine locating hole according to the position of conventional femoral osteotomy of distal device locating hole, and complete global design.
6. compound orthopaedics spacer according to claim 1, is characterized in that, the orthopaedics spacer of described unitary type personalization and traditional osteotomy device is combined, and compound is the combination of single location type spacer and osteotomy device, can realize osteotomy positioning function; This design can at the raised line of spacer outer surface Design Orientation monitoring, wherein, distal femur with Whiteside line parallel, proximal tibia vertical with the line of force, for doctor's position monitor; Also can determine that position location or facet make it match with artificial knee joint prosthesis according to the requirement of any needs.
7. the personalized orthopaedics spacer aided design system for replacement knee in arthroplasty, it is characterized in that, described design system comprises: reconstruction of medical images module, visual preoperative planning module, orthopaedics spacer design module and back-end data administration module.
8. reconstruction of medical images module according to claim 7, it is characterized in that, patient CT/MRI or other medical images (are comprised hip joint, the architectural feature of knee joint and ankle joint or part-structure feature) import to three-dimensional reconstruction module, take filtering, the means such as noise reduction carry out the pre-treatment of two dimensional image, again gray threshold is set according to bone contours, in transverse section, on coronalplane and sagittal plane, corresponding chosen area carries out Iamge Segmentation, reconstruct the threedimensional model of lower limb skeletons, save as STL form or alternative document, be stored in the data base of described back-end data administration module.
9. visual preoperative planning module according to claim 7, it is characterized in that, under visual condition, doctor can on the lower limb skeletons reconstructed (or part-structure feature) threedimensional model gauge point, line, determine the lower limb line of force, femoral rotation axle and osteotomy reference point; And the importing of prosthese and osteotomy device 3D model can be realized, simulation lower limb osteotomy and the virtual of prosthese are inserted on this basis; Also according to mechanical analysis result, surgical prosthesis optimal displacement position and angle can be determined; Doctor can adjust the osteotomy back rake angle of femur and tibia, interior valgus angle, femoral rotation axle and osteotomy amount according to practical situation, adjusts the implantation site of prosthese; Using adjustment after parameter and prosthese information as operation plan stored in described back-end data administration module.
10. orthopaedics spacer design module according to claim 7, it is characterized in that, according to the operation plan that claim 9 is determined, the locus of corresponding osteotomy device is set according to condyle osteotomy surface before and after tibial plateau osteotomy surface, distal femur osteotomy surface, femur, according to the locating hole on conventional metals osteotomy device, determine position and the axis of single location type orthopaedics spacer locating hole described in claim 1; According to the locating hole of four-in-one osteotomy device and the size of osteotomy amount, determine that the position axis of compound orthopaedics spacer locating hole described in claim 1 is to the plan-position with osteotomy part, and on the distal femur reconstructed, tibial plateau, design the spacer matched on this basis, and 3D printing technique or other processing methods is utilized to create.
11. back-end data administration modules according to claim 7, it is characterized in that, doctor can login the formulation situation that personalized orthopaedics spacer aided design system consults corresponding patient's operation plan, and can modify to it and preserve, and carries out designing and producing of orthopaedics spacer.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410764299.8A CN104622572A (en) | 2014-12-15 | 2014-12-15 | Individual orthopedics department positioning sheet based on medical images |
| CN201521024068.XU CN205215373U (en) | 2014-12-15 | 2015-12-11 | Customize shin bone cutting guiding piece |
| CN201521024069.4U CN205286452U (en) | 2014-12-15 | 2015-12-11 | Special operation guide setting element of patient |
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| CN201410764299.8A CN104622572A (en) | 2014-12-15 | 2014-12-15 | Individual orthopedics department positioning sheet based on medical images |
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| CN201521024069.4U Active CN205286452U (en) | 2014-12-15 | 2015-12-11 | Special operation guide setting element of patient |
| CN201521024068.XU Active CN205215373U (en) | 2014-12-15 | 2015-12-11 | Customize shin bone cutting guiding piece |
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| CN201521024068.XU Active CN205215373U (en) | 2014-12-15 | 2015-12-11 | Customize shin bone cutting guiding piece |
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| CN105193475A (en) * | 2015-08-18 | 2015-12-30 | 长沙市第三医院 | Individualized bone cutting guide plate suite and design method thereof |
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| CN108056800A (en) * | 2016-11-09 | 2018-05-22 | 上海微创医疗器械（集团）有限公司 | knee joint osteotomy tool and manufacturing system and manufacturing method thereof |
| CN108888340A (en) * | 2018-06-27 | 2018-11-27 | 上海昕健医疗技术有限公司 | Personalized preoperative planning system |
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| CN107320153B (en) * | 2017-08-17 | 2023-11-07 | 苏州中科生物医用材料有限公司 | Tibia medial high-level osteotomy auxiliary tool |
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2014
- 2014-12-15 CN CN201410764299.8A patent/CN104622572A/en active Pending
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2015
- 2015-12-11 CN CN201521024069.4U patent/CN205286452U/en active Active
- 2015-12-11 CN CN201521024068.XU patent/CN205215373U/en active Active
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| CN205286452U (en) | 2016-06-08 |
| CN205215373U (en) | 2016-05-11 |
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